Crash testing apparatus for mobile chassis and autonomous vehicles

Abstract

The present disclosure provides a kind of mobile chassis and automatic driving vehicle collision test device, it is related to the field of automatic driving, especially it is related to the field of automatic driving test.The specific implementation scheme is: mobile chassis, assembly component and locking assembly, the shell is equipped with accommodating cavity, and the shell is equipped with multiple first openings, the accommodating cavity is equipped with mounting bracket;The assembly component is arranged in the accommodating cavity, the assembly component includes assembly plate and multiple wheels, the multiple wheels are connected with the assembly plate, and the multiple wheels correspond to the multiple first openings one by one, and the assembly plate includes first clamping part;The locking assembly includes first trigger, the first trigger is rotatably connected with the mounting bracket, the first end of the first trigger is equipped with second clamping part, and the second end of the first trigger is used to connect the corresponding bearing device of the mobile chassis.The present disclosure can improve the service life of mobile chassis.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of autonomous driving, in particular to the field of autonomous driving testing. Specifically, it relates to a collision testing device of a mobile chassis and an autonomous driving vehicle. BACKGROUND

[0002] An autonomous driving vehicle perceives the environment around the vehicle based on environmental perception technology, and autonomously controls the steering and speed of the vehicle according to the information obtained by perception, so that the vehicle can safely and reliably travel. The testing of an autonomous driving vehicle usually needs to be carried out in an environment with various traffic elements such as pedestrians and vehicles. However, due to the high risk during the testing process, models of various traffic elements are usually used for testing. SUMMARY

[0003] The present disclosure provides a collision testing device of a mobile chassis and an autonomous driving vehicle.

[0004] According to a first aspect of the present disclosure, a mobile chassis is provided, comprising:

[0005] a housing, a receiving cavity is arranged in the housing, and a plurality of first openings are arranged on the housing, and a mounting bracket is arranged in the receiving cavity;

[0006] an assembly assembly is arranged in the receiving cavity, the assembly assembly comprises an assembly plate and a plurality of wheels, the plurality of wheels are connected with the assembly plate, and the plurality of wheels correspond one-to-one with the plurality of first openings, and the assembly plate comprises a first clamping part;

[0007] a locking assembly, the locking assembly comprises a first trigger, the first trigger is rotationally connected with the mounting bracket, a second clamping part is arranged at a first end of the first trigger, and a second end of the first trigger is used to connect a corresponding bearing device of the mobile chassis;

[0008] wherein, in the case that the mobile chassis is in a first working state, the first clamping part is clamped with the second clamping part, and the wheels are extended out of the housing through the corresponding first openings;

[0009] in the case that the mobile chassis is in a second working state, the first clamping part is unclamped with the second clamping part, and the wheels are retracted into the housing.

[0010] According to a second aspect of the present disclosure, a collision testing device of an autonomous driving vehicle is provided, comprising a bearing device and the mobile chassis of the first aspect, and the bearing device is connected with the first connecting part.

[0011] In the process of collision test of the autonomous vehicle, the carried device can be driven to move by the moving chassis connection. In this way, when the carried device collides with the autonomous vehicle, the first trigger member can drive the first clamping part and the second clamping part to be disengaged. After disengagement, the wheels can be retracted into the shell, thereby avoiding the problem that the wheels are damaged due to further rolling of the autonomous vehicle on the moving chassis after the collision, and thereby facilitating to improve the service life of the moving chassis.

[0012] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0014] Figure 1 is one of the internal structure schematic diagrams of the moving chassis provided by the embodiments of the present disclosure;

[0015] Figure 2 is the second internal structure schematic diagram of the moving chassis provided by the embodiments of the present disclosure;

[0016] Figure 3 is a structure schematic diagram of the moving chassis provided by the embodiments of the present disclosure;

[0017] Figure 4 is the third internal structure schematic diagram of the moving chassis provided by the embodiments of the present disclosure;

[0018] Figure 5 is the fourth internal structure schematic diagram of the moving chassis provided by the embodiments of the present disclosure;

[0019] Figure 6 is a connection schematic diagram between the locking member and the connecting bracket in the embodiments of the present disclosure;

[0020] Figure 7 is a structure schematic diagram of the assembly plate in the embodiments of the present disclosure;

[0021] Figure 8 is a cross-sectional view of the elastic reset assembly in the embodiments of the present disclosure;

[0022] Figure 9 is a structure schematic diagram of the cover in the embodiments of the present disclosure;

[0023] Figure 10 is a structure schematic diagram of the first trigger member in the embodiments of the present disclosure;

[0024] Figure 11A structural schematic diagram of a second trigger in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, which should be considered in a descriptive sense only. Thus, it will be apparent to one of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted from the following description.

[0026] Referring to Figures 1 to 11 , Figures 1 to 11 A structural schematic diagram of a mobile chassis provided by the embodiment of the present disclosure, the mobile chassis comprising:

[0027] A housing 100, a containing cavity is arranged in the housing 100, and a plurality of first openings 121 are arranged on the housing 100, and a mounting bracket 110 is arranged in the containing cavity;

[0028] An assembly component 200, the assembly component 200 is arranged in the containing cavity, the assembly component 200 comprises an assembly plate 201 and a plurality of wheels 202, the plurality of wheels 202 are connected with the assembly plate 201, and the plurality of wheels 202 correspond to the plurality of first openings 121 one by one, and the assembly plate 201 comprises a first clamping part 206;

[0029] A locking component, the locking component comprises a first trigger 300, the first trigger 300 is rotationally connected with the mounting bracket 110, a second clamping part 301 is arranged at a first end of the first trigger 300, and a second end of the first trigger 300 is used for connecting a corresponding bearing device of the mobile chassis;

[0030] Wherein, in the case that the mobile chassis is in a first working state, the first clamping part 206 is clamped with the second clamping part 301, and the wheel 202 extends out of the housing 100 through the corresponding first opening 121;

[0031] In the case that the mobile chassis is in a second working state, the first clamping part 206 is unclamped with the second clamping part 301, and the wheel 202 is retracted into the housing 100.

[0032] It can be understood that the mounting bracket 110 can be fixedly connected with the inner wall of the containing cavity, so as to mount the internal devices of the housing 100. The mounting bracket 110 only needs to be able to realize the mounting of the internal devices of the containing cavity, and the shape of the mounting bracket 110 is not limited by the present disclosure. For example, referring to Figure 2In an embodiment of the present disclosure, the mounting bracket 110 can include a first mounting rod 111 and a second mounting rod 112, the first mounting rod 111 and the second mounting rod 112 are arranged in parallel, and the two ends of the first mounting rod 111 and the second mounting rod 112 are respectively fixedly connected with the inner wall of the accommodating cavity.

[0033] The assembly 200 can be similar to the assembly of the mobile chassis in the related art, and the number of wheels 202 of the assembly 200 can be selected as needed, for example, the number of wheels 202 can be 3, 4, 6, etc. Please refer to Figure 1 In an embodiment of the present disclosure, the assembly 200 includes four wheels 202. Correspondingly, the housing 100 is provided with four first openings 121, and the first opening 121 is opposite to the corresponding wheel 202, so that the wheel 202 can be extended out of the housing 100 through the corresponding first opening 121, or the wheel 202 can be retracted into the housing 100 through the corresponding first opening 121.

[0034] The first trigger 300 can include a second connecting portion 306 between the first end and the second end, and the first trigger 300 can be rotatably connected with the mounting bracket 110 through the second connecting portion 306. The rotatable connection between the second connecting portion 306 and the mounting bracket 110 can adopt the commonly used rotatable connection in the related art, for example, please refer to Figure 10 In an embodiment of the present disclosure, the second connecting portion 306 is a shaft hole arranged on the first trigger 300, and the first mounting rod 111 is arranged in the shaft hole, so that the first trigger 300 can rotate around the first mounting rod 111, thereby realizing the rotatable connection between the second connecting portion 306 of the first trigger 300 and the mounting bracket 110.

[0035] The mobile chassis can be used as a walking part of various mobile objects, for example, the mobile chassis can be applied to the collision test scene of the automatic driving vehicle, and used as a walking part of various movable road traffic elements.

[0036] Specifically, the carried device can be a physical model of various movable road traffic elements in a collision test scene of an autonomous vehicle, to simulate various movable road traffic elements in the collision test scene. The road traffic elements can be pedestrians, animals, bicycles in a driving state, etc. For example, when a pedestrian in the collision test process needs to be simulated, the carried device can be a dummy model, i.e., by connecting the dummy model with the first connecting part 302, so that the moving chassis can drive the dummy model to move, thereby simulating a pedestrian walking on the road. In this way, since the physical model can be used instead of the real moving object to participate in the collision test process, the safety of the collision test process can be improved.

[0037] The clamping mode between the first clamping part 206 and the second clamping part 301 can be a clamping mode commonly used in related technologies. For example, one of the first clamping part 206 and the second clamping part 301 is a clamping groove, and the other is a clamping buckle. When the clamping buckle is embedded in the clamping groove, the first clamping part 206 and the second clamping part 301 are in a clamped state. When the clamping buckle is separated from the clamping groove, the first clamping part 206 and the second clamping part 301 are in an unclamped state.

[0038] It can be understood that when the first clamping part 206 and the second clamping part 301 are in a clamped state, if the first trigger 300 rotates around the mounting bracket 110, the first clamping part 206 can be unclamped from the second clamping part 301. When the first clamping part 206 and the second clamping part 301 are unclamped, the moving chassis is switched from the first working state to the second working state.

[0039] Specifically, in the process of applying the moving chassis to the collision test scene of the autonomous vehicle, the first connecting part 302 can be connected to the carried device, and at the same time, the moving chassis is in the first working state, so as to drive the carried device to move. When the autonomous vehicle collides with the carried device, since the carried device is connected to the second end of the first trigger 300, under the action of the collision force, the first trigger 300 will rotate around the mounting bracket 110, and then drive the first clamping part 206 at the first end of the first trigger 300 to separate from the second clamping part 301, thereby realizing the unclamping of the first clamping part 206 and the second clamping part 301. After unclamping, the wheels 202 are retracted, thereby avoiding the problem that the wheels 202 are damaged due to further rolling of the moving chassis by the autonomous vehicle.

[0040] Please refer to Figure 10In an embodiment of the present disclosure, the first trigger 300 can be a rod-shaped trigger. The second end of the first trigger 300 can form a first connecting portion 302, which is used to connect the carried device.

[0041] In this embodiment, during the collision test of the autonomous vehicle, the carried device can be connected to the moving chassis to drive the carried device to move. In this way, when the carried device collides with the autonomous vehicle, the first trigger 300 can drive the first clamping portion 206 and the second clamping portion 301 to be disengaged. After disengagement, the wheel 202 is retracted into the shell 100, thereby avoiding the problem that the wheel 202 is damaged due to further rolling of the autonomous vehicle on the moving chassis after the collision, and thereby facilitating to improve the service life of the moving chassis.

[0042] Optionally, the moving chassis further comprises an elastic reset assembly 400, a fixed end of the elastic reset assembly 400 being connected to the shell 100, and a movable end of the elastic reset assembly 400 being connected to the assembly plate 201.

[0043] In the case where the moving chassis is in the first working state, the elastic reset assembly 400 is in an elastic deformation state.

[0044] In the case where the moving chassis is in the second working state, the elastic reset assembly 400 is in a reset state.

[0045] The elastic reset assembly 400 described above can be used to drive the moving chassis to switch from the first working state to the second working state. Specifically, when the first clamping portion 206 and the second clamping portion 301 are in the clamped state, the relative positions of the first clamping portion 206 and the second clamping portion 301 are in a locked state, thereby causing the relative positions between the assembly plate 201 and the shell 100 to be in a locked state. At this time, the wheel 202 is in an extended state to facilitate normal walking of the moving chassis. When the first clamping portion 206 and the second clamping portion 301 are disengaged, the assembly plate 201 and the shell 100 are disengaged from the locked state. At this time, since the elastic reset assembly 400 is in an elastic compression state, the assembly plate 201 can be driven to move relative to the shell 100 towards the side facing away from the ground under the action of the elastic reset force of the elastic reset assembly 400. The wheel 202 will move synchronously with the assembly plate 201, thereby achieving retraction of the wheel 202 into the shell 100, so as to switch the moving chassis to the second working state.

[0046] In the process of applying the mobile chassis to the crash test scene of the autonomous vehicle, the first connecting part 302 is connected to the carried device, and at the same time, the mobile chassis is in the first working state, so as to drive the carried device to move. When the autonomous vehicle collides with the carried device, since the carried device is connected to the second end of the first trigger 300, under the action of the collision force, the first trigger 300 rotates around the mounting bracket 110, and in turn drives the first clamping part 206 at the first end of the first trigger 300 to separate from the second clamping part 301, so as to realize the disengagement of the first clamping part 206 and the second clamping part 301. In this way, the elastic reset assembly 400 can drive the wheel 202 to retract, thereby avoiding the problem of damage to the wheel 202 caused by the further rolling of the autonomous vehicle on the mobile chassis.

[0047] In this embodiment, by arranging the elastic reset assembly 400, when the first clamping part 206 and the second clamping part 301 are disengaged, the elastic reset assembly 400 can drive the mobile chassis to switch from the first working state to the second working state, so that the wheel 202 can retract into the shell 100.

[0048] Optionally, the elastic reset assembly 400 includes a first spring 403, a guide rod 402, and a sleeve 401. The sleeve 401 includes an open end and a closed end, and the closed end is provided with a guide hole matched with the guide rod 402. The guide rod 402 is sequentially arranged through the guide hole and the open end. The first spring 403 is sleeved on the guide rod 402, and the first spring 403 is located between the guide rod 402 and the inner wall of the sleeve 401.

[0049] The assembly plate 201 is provided with a fourth opening matched with the open end. The open end of the sleeve 401 is connected with the assembly plate 201, and the open end is arranged in alignment with the fourth opening. One end of the guide rod 402 is connected with the shell 100 through the fourth opening, and the other end of the guide rod 402 is connected with the mounting bracket 110. One end of the first spring 403 is connected with the shell 100 through the fourth opening, and the other end of the first spring 403 abuts against the inner wall of the closed end.

[0050] Please refer to Figure 1One end of the guide rod 402 can be fixedly connected with a bottom plate (not shown in the figure) of the shell 100, and the other end of the guide rod 402 is connected with the mounting bracket 110, so that the position of the guide rod 402 is relatively fixed. Since the sleeve 401 is fixedly connected with the assembly plate 201, during the lifting movement of the assembly plate 201, the sleeve 401 can slide along the guide rod 402, and during the process, the position of the guide rod 402 remains unchanged.

[0051] Specifically, since the first spring 403 is in an elastic compression state when the mobile chassis is in the first working state, when the position between the assembly plate 201 and the shell 100 is unlocked, the first spring 403 can push the closed section of the sleeve 401 to move towards the side away from the bottom plate of the shell 100, and correspondingly, the assembly plate 201 will move synchronously with the sleeve 401 to realize the retraction process of the wheel 202.

[0052] In this embodiment, by making the elastic return assembly 400 include the first spring 403, the guide rod 402 and the sleeve 401, the switching process of the wheel 202 from the extended state to the retracted state driven by the elastic return assembly 400 can be realized.

[0053] Optionally, the mobile chassis includes at least two groups of the elastic return assembly 400, and the at least two groups of the elastic return assembly 400 are arranged at intervals.

[0054] Please refer to Figure 1 In an embodiment of the present disclosure, the mobile chassis includes four groups of the elastic return assembly 400, and the mounting bracket 110 further includes a first plate 113, a second plate 114, a first square profile 116 and a second square profile 117, and the first plate 113 and the second plate 114 are fixedly connected by the first square profile 116 and the second square profile 117 respectively. The first plate 113 and the second plate 114 can be fixedly connected with the inner wall of the accommodating cavity through the support steel plate 115 respectively. The upper ends of the guide rods 402 of two groups of the elastic return assembly 400 among the four groups of the elastic return assembly 400 are fixedly connected with the first plate 113, and the upper ends of the guide rods 402 of the other two groups of the elastic return assembly 400 are fixedly connected with the second plate 114. Thus, the installation and fixation of the guide rods 402 of the four groups of the elastic return assembly 400 are realized.

[0055] In this embodiment, the mobile chassis comprises at least two groups of elastic reset components 400, and the at least two groups of elastic reset components 400 are arranged at intervals. When the assembly plate 201 is unlocked from the shell 100, the at least two groups of elastic reset components 400 can respectively push the assembly plate 201 to move towards the side of the bottom plate opposite to the shell 100 from different positions, so as to realize the rapid recovery of the wheels 202.

[0056] Optionally, the mobile chassis further comprises a pushing assembly 500, the pushing assembly 500 is connected with the shell 100, and the pushing assembly 500 can push the assembly plate 201 to move along the first trigger to the side of the first end.

[0057] The pushing assembly 500 can be various telescopic components with telescopic function. When the mobile chassis is in the second working state, the assembly plate 201 can be moved along the first trigger to the side of the first end by the pushing assembly 500, so that the wheels 202 are extended out of the shell 100. When the first clamping part 206 moves to the opposite side of the second clamping part 301, the first clamping part 206 and the second clamping part 301 can be clamped, so as to realize the relative locking of the positions of the assembly assembly 200 and the shell 100, and further ensure that the wheels 202 remain in the extended state, so as to facilitate the rotation of the wheels 202 driven by the assembly assembly 200 to move the mobile chassis.

[0058] It can be understood that after the pushing assembly 500 drives the assembly plate 201 to move to the opposite side of the first clamping part 206 and the second clamping part 301, and the first clamping part 206 and the second clamping part 301 are clamped, the pushing assembly 500 can be retracted, so as to avoid the problem that the assembly plate 201 cannot be raised due to the blocking of the pushing assembly 500 in the subsequent crash test.

[0059] In this embodiment, the mobile chassis comprises a pushing assembly 500, so that the mobile chassis can be switched from the second working state to the first working state by the pushing assembly 500, so that the wheels can be automatically extended.

[0060] Optionally, the pushing assembly 500 comprises a driving part 501, a sliding block 503, a first sliding rail 504 and a lead screw 502, the driving part 501 and the first sliding rail 504 are respectively connected with the mounting bracket 110, and the first sliding rail 504 and the lead screw 502 are respectively arranged perpendicular to the assembly plate 201.

[0061] The sliding block 503 is in sliding connection with the first slide rail 504, a threaded hole is formed in the sliding block 503, and the sliding block 503 is in threaded connection with the lead screw 502 through the threaded hole; the driving member 501 comprises a rotating shaft, and the rotating shaft is in transmission connection with the lead screw 502.

[0062] The driving member 501 can be various driving components capable of outputting rotating motion, for example, the driving member 501 can be a motor. Please refer to Figure 1 The pushing assembly 500 further comprises a mounting seat 505, the mounting seat 505 is in fixed connection with the mounting support 110, the driving member 501 is fixedly installed on the mounting seat 505, and the rotating shaft of the driving member 501 extends out from the through hole in the surface of the mounting seat 505 and towards the side of the assembly plate 201. The rotating shaft and the lead screw 502 can be fixedly connected through a shaft coupling, so that the rotating shaft can drive the lead screw 502 to rotate synchronously.

[0063] The number of the first slide rail 504 can be two, a slide channel is formed between the two first slide rails 504, the sliding block 503 is located between the two first slide rails 504, and the sliding block 503 is in sliding connection with the two first slide rails 504 respectively, so that the sliding block 503 can slide along the length direction of the first slide rail 504. Since the first slide rail 504 has a limiting effect, the sliding block 503 cannot rotate with the lead screw 502, so that the sliding block 503 will slide along the length direction of the first slide rail 504 under the driving of the lead screw 502 during the rotation of the lead screw 502.

[0064] It can be understood that the lead screw 502 is arranged spaced apart from the assembly plate 201, and the first slide rail 504 is arranged spaced apart from the assembly plate 201, so that the assembly plate 201 has a movement space for lifting movement, so as to ensure that the mobile chassis can switch between the first working state and the second working state.

[0065] Please refer to Figure 1The assembly plate 201 can include a supporting block 209 protruding towards one side of the sliding block 503, and the supporting block 209 is arranged opposite to the sliding block 503. A gap is provided between the lead screw 502 and the supporting block 209 to ensure that the assembly plate 201 has a movement space for lifting. Since the sliding block 503 has a certain thickness, when the sliding block 503 is moved towards the supporting block 209 by the lead screw 502, when the lower end of the sliding block 503 is aligned with the lower end of the lead screw 502, the sliding block 503 can continue to move downwards to push the assembly plate 201 to move along the first trigger towards one side of the first end, and since the upper end of the sliding block 503 is connected to the lead screw 502, the sliding block 503 can avoid being separated from the lead screw 502.

[0066] It can be understood that during the process of switching the mobile chassis from the second working state to the first working state, the moving distance of the assembly plate 201 is less than the thickness of the sliding block 503. In this way, it can be ensured that the pushing assembly 500 can push the mobile chassis from the second working state to the first working state, and it can also avoid the sliding block 503 from being separated from the lead screw 502. After the pushing assembly 500 pushes the mobile chassis from the second working state to the first working state, the driving member 501 can drive the sliding block 503 to rise by the lead screw 502 to avoid the sliding block 503 blocking the upward movement of the assembly plate 201 during the collision.

[0067] In this embodiment, by providing the pushing assembly 500 with the driving member 501, the sliding block 503, the first sliding rail 504 and the lead screw 502, the pushing assembly 500 can drive the mobile chassis to switch from the second working state to the first working state, so that the wheels can be automatically extended.

[0068] Optionally, a second opening 204 is formed in the assembly plate 201, the first clamping part 206 is arranged adjacent to the second opening 204, and the first trigger 300 is arranged in the second opening 204.

[0069] It can be understood that the cross-sectional area of the second opening 204 can be greater than the cross-sectional area of the first trigger 300, so that the first trigger 300 can swing in the second opening 204 during the rotation of the first trigger 300 around the first mounting rod 111.

[0070] In the embodiment, the second opening 204 is formed on the assembly plate 201, the first clamping portion 206 is arranged adjacent to the second opening 204, and the first trigger 300 is arranged in the second opening 204. In the process of rotating the first trigger 300, the first trigger 300 can swing in the second opening 204, so that the first clamping portion 206 and the second clamping portion 301 are separated, and the first clamping portion 206 and the second clamping portion 301 are disengaged.

[0071] Optionally, the mobile chassis further comprises a second trigger 600 and a first connecting rod 700. The second trigger 600 is rotationally connected with the mounting bracket 110. A third opening 205 is formed on the assembly plate 201. The second trigger 600 is arranged in the third opening 205, and the second trigger 600 is parallel to the first trigger 300. One end of the second trigger 600 opposite to the first end forms a third clamping portion 601. The other end of the second trigger 600 opposite to the second end is rotationally connected with one end of the first connecting rod 700. The other end of the first connecting rod 700 is rotationally connected with the second end of the first trigger 300. The assembly plate 201 further comprises a fourth clamping portion 207.

[0072] When the mobile chassis is in the first working state, the third clamping portion 601 is clamped with the fourth clamping portion 207.

[0073] When the mobile chassis is in the second working state, the third clamping portion 601 is disengaged from the fourth clamping portion 207.

[0074] Please refer to Figure 11 In an embodiment of the present disclosure, the second trigger 600 can be a rod-shaped trigger. Please refer to Figure 10 The first trigger 300 can comprise a first shaft hole 304, and the second trigger 600 can comprise a second shaft hole 603. The first trigger 300 is rotationally connected with one end of the first connecting rod 700 through the first shaft hole 304, and the second trigger 600 is rotationally connected with the other end of the first connecting rod 700 through the second shaft hole 603.

[0075] The second trigger 600 can comprise a third connecting portion 602, and the second trigger 600 can be rotationally connected with the mounting bracket 110 through the third connecting portion 602. The rotational connection between the third connecting portion 602 and the mounting bracket 110 can adopt a rotational connection commonly used in related technologies, for example, please refer to Figure 11In one embodiment of the present disclosure, the third connecting part 602 is a shaft hole arranged on the second trigger piece 600, and the second mounting rod 112 is arranged in the shaft hole of the second trigger piece 600, so that the second trigger piece 600 can rotate around the second mounting rod 112, thereby realizing the rotational connection between the third connecting part 602 of the second trigger piece 600 and the mounting bracket 110.

[0076] It can be understood that the cross-sectional area of the third opening 205 can be greater than the cross-sectional area of the second trigger piece 600, so that the second trigger piece 600 can swing in the third opening 205 during the rotation of the second trigger piece 600 around the second mounting rod 112.

[0077] Specifically, when the mobile chassis is in the first working state, the second clamping part 301 and the third clamping part 601 can lock the position of the assembly plate 201 from different positions respectively, thereby improving the locking effect of the relative position between the assembly plate 201 and the shell 100. Accordingly, during the collision test of the autonomous vehicle, when the carried device collides with the autonomous vehicle, the carried device can drive the first trigger piece 300 to rotate around the first mounting rod 111, and since the two ends of the first connecting rod 700 are rotatably connected to the two ends of the first trigger piece 300 and the second trigger piece 600 respectively, during the rotation of the first trigger piece 300, the second trigger piece 600 is pushed to rotate around the second mounting rod 112 synchronously by the first connecting rod 700, thereby realizing the unlocking of the first clamping part 206 and the second clamping part 301, and realizing the unlocking of the third clamping part 601 and the fourth clamping part 207, so as to release the position locking between the assembly plate 201 and the shell 100.

[0078] In this embodiment, by arranging the mobile chassis to include the second trigger piece 600 and the first connecting rod 700, the locking effect of the position locking between the assembly plate 201 and the shell 100 in the first working state is further improved.

[0079] Optionally, the assembly plate 201 includes a first boss, the first boss protrudes towards the second end side, a first clamping groove is arranged on the side wall of the first boss, and the first clamping groove forms the first clamping part 206.

[0080] The first boss is arranged adjacent to the second opening 204, and the opening of the first clamping groove faces the side of the second opening 204, the first end of the first trigger piece 300 is formed with a first clasp matched with the first clamping groove, and the first clasp forms the second clamping part 301.

[0081] It can be understood that, in the process of rotating the first trigger 300 around the first mounting rod 111, the first trigger 300 can drive the first buckle to move towards or away from the side of the first clamping groove.

[0082] Specifically, when the first buckle is embedded in the first clamping groove, the first clamping part 206 and the second clamping part 301 are in a clamped state. When the first buckle is separated from the first clamping groove, the first clamping part 206 and the second clamping part 301 are in an unclamped state. Before the collision test, the first buckle can be embedded in the first clamping groove to make the mobile chassis in the first working state, and during the collision test, when the carried device collides with the autonomous vehicle, since the first trigger 300 will rotate around the first mounting rod 111, in the process of rotating the first trigger 300, the first buckle can be separated from the first clamping groove, thereby realizing the unclamped state between the first clamping part 206 and the second clamping part 301.

[0083] In this embodiment, by forming the first clamping groove as the first clamping part 206, and forming the first buckle as the second clamping part 301, the first buckle can be separated from the first clamping groove in the process of rotating the first trigger 300, so as to realize the automatic unclamping of the first clamping part 206 and the second clamping part 301 in the case of collision.

[0084] Optionally, the assembly plate 201 further comprises a second boss, the second boss protrudes towards the side of the second end, and the sidewall of the second boss is provided with a second clamping groove, the second clamping groove forms the fourth clamping part 207.

[0085] The second boss is arranged adjacent to the third opening 205, and the opening of the second clamping groove faces the side of the third opening 205, and the openings of the first clamping groove and the second clamping groove face the same direction; the second trigger 600 is formed with a second buckle matched with the second clamping groove at the end opposite to the first end, and the second buckle forms the third clamping part 601.

[0086] It can be understood that, in the process of rotating the second trigger 600 around the second mounting rod 112, the second trigger 600 can drive the second buckle to move towards or away from the side of the second clamping groove.

[0087] Specifically, when the second buckle is embedded in the second card slot, the third clamping part 601 and the fourth clamping part 207 are in a clamped state. When the second buckle is separated from the second card slot, the third clamping part 601 and the fourth clamping part 207 are in a released state. Before the collision test, the second buckle can be embedded in the second card slot to make the mobile chassis in the first working state, and during the collision test, when the carried device collides with the autonomous vehicle, since the second trigger 600 will rotate around the second mounting rod 112, during the rotation of the second trigger 600, the second buckle can be separated from the second card slot, thereby realizing the release of the clamping state between the third clamping part 601 and the fourth clamping part 207.

[0088] In this embodiment, by forming the second card slot as the fourth clamping part 207 and forming the second buckle as the third clamping part 601, the second buckle can be separated from the second card slot during the rotation of the second trigger 600, so as to realize the automatic release of the clamping state between the third clamping part 601 and the fourth clamping part 207 in the case of collision.

[0089] Optionally, the shell 100 further comprises a first mounting plate 210 and a second mounting plate, the first mounting plate 210 is opposite to the side of the first trigger 300 away from the first card slot, the second mounting plate is opposite to the side of the second trigger 600 away from the second card slot, a first elastic member 211 is arranged between the first trigger 300 and the first mounting plate 210, one end of the first elastic member 211 is connected with the first trigger 300, and the other end of the first elastic member 211 is connected with the first mounting plate 210, a second elastic member 212 is arranged between the second trigger 600 and the second mounting plate, one end of the second elastic member 212 is connected with the second trigger 600, and the other end of the second elastic member 212 is connected with the second mounting plate.

[0090] In the case where the mobile chassis is in the first working state, the first elastic member 211 and the second elastic member 212 are respectively in an elastic compression state.

[0091] Specifically, the first elastic member 211 and the second elastic member 212 can be springs, please refer to Figure 1 and Figure 2When the mobile chassis is in the first working state, the first elastic member 211 and the second elastic member 212 are in the elastic compression state, so that the first elastic member 211 and the second elastic member 212 can prevent the first buckle from being separated from the first clamping groove and the second buckle from being separated from the second clamping groove due to the road bumps during the movement of the mobile chassis.

[0092] In addition, during the process that the pushing assembly 500 pushes the assembly plate 201 to descend, when the assembly plate 201 descends to the position that the first clamping part 206 is opposite to the second clamping part 301 and the third clamping part 601 is opposite to the fourth clamping part 207, the first buckle can be embedded in the first clamping groove and the second buckle can be embedded in the second clamping groove under the pushing of the first elastic member 211 and the second elastic member 212, so as to realize the automatic clamping between the first clamping part 206 and the second clamping part 301 and realize the automatic clamping between the third clamping part 601 and the fourth clamping part 207, so that the mobile chassis is switched to the first working state.

[0093] Please refer to Figure 9 The shell 100 can include a cover 120 and a bottom plate (not shown in the figure) for closing the opening at the lower end of the cover 120, wherein the assembly plate 201 can be located between the bottom plate and the cover 120, and the assembly plate 201 is arranged in parallel with the bottom plate. The first mounting plate 210 and the second mounting plate can be plate bodies protruding from the inner side of the bottom plate to the side of the assembly plate 201, and the first mounting plate 210 can pass through the second opening 204, so that the first mounting plate 210 can be opposite to the side surface of the first trigger 300. Correspondingly, the second mounting plate can pass through the third opening 205, so that the second mounting plate can be opposite to the side surface of the second trigger 600.

[0094] It can be understood that during the lifting movement of the assembly plate 201, the first trigger 300 and the second trigger 600 do not follow the assembly plate 201 to move up and down, that is, the assembly plate 201 can move relative to the first trigger 300 and the second trigger 600 in the direction perpendicular to the bottom plate. In this way, during the descending of the assembly plate 201, the assembly plate 201 can move to the position that the first clamping part 206 is opposite to the second clamping part 301 and the third clamping part 601 is opposite to the fourth clamping part 207. When the first clamping part 206 is opposite to the second clamping part 301, the third clamping part 601 is opposite to the fourth clamping part 207.

[0095] In addition, in the process of the bearing device colliding with the autonomous vehicle, under the action of the collision force, the first trigger 300 rotates around the first mounting rod 111, at this time, the first end of the first trigger 300 can swing towards the side of the first elastic member 211, the first elastic member 211 is compressed, so that the first buckle is separated from the first clamping groove; correspondingly, under the pushing of the first trigger 300, the second trigger 600 rotates around the second mounting rod 112, at this time, the end of the second trigger 600 opposite to the first end can swing towards the side of the second elastic member 212, the second elastic member 212 is compressed, so that the second buckle is separated from the second clamping groove, thereby realizing the position unlocking between the assembly plate 201 and the shell 100.

[0096] Please refer to Figure 5 A first protrusion 307 can be arranged on the first trigger 300, so that one end of the first elastic member 211 can be sleeved on the first protrusion 307 to realize the connection between the first elastic member 211 and the first trigger 300, and correspondingly, the first mounting plate 210 can be arranged on the third protrusion connected to the other end of the first elastic member 211. A second protrusion 604 can be arranged on the second trigger 600, so that one end of the second elastic member 212 can be sleeved on the second protrusion 604 to realize the connection between the second elastic member 212 and the second trigger 600, and correspondingly, the second mounting plate can be arranged on the fourth protrusion connected to the other end of the second elastic member 212.

[0097] In this embodiment, by further comprising a first mounting plate 210 and a second mounting plate in the shell 100, and arranging a first elastic member 211 between the first trigger 300 and the first mounting plate 210 and a second elastic member 212 between the second trigger 600 and the second mounting plate, the locking effect between the assembly plate 201 and the shell 100 in the first working state can be further improved. At the same time, in the process of the pushing assembly 500 pushing the assembly plate 201 to descend, automatic clamping of the first clamping part 206 and the second clamping part 301 can be realized, and automatic clamping of the third clamping part 601 and the fourth clamping part 207 can be realized, so as to realize the switching process of the mobile chassis from the second working state to the first working state.

[0098] Optionally, the first trigger 300 further comprises a second connecting portion 306 between the first end and the second end, the second trigger 600 comprises a third connecting portion 602 opposite to the second connecting portion 306, the first trigger 300 is rotationally connected with the mounting bracket 110 through the second connecting portion 306, and the second trigger 600 is rotationally connected with the mounting bracket 110 through the third connecting portion 602.

[0099] In this embodiment, the second connecting portion 306 is arranged opposite to the third connecting portion 602, that is, the rotation position of the first trigger 300 is opposite to the rotation position of the second trigger 600, and the second clamping portion 301 is also opposite to the third clamping portion 601. Therefore, in the process of synchronous rotation of the first trigger 300 and the second trigger 600, the displacement of the second clamping portion 301 is always the same as the displacement of the third clamping portion 601. Thus, when the first buckle is separated from the first clamping groove, the second buckle can also be separated from the second clamping groove at the same time. That is, when the second clamping portion 301 is disengaged from the first clamping portion 206, the third clamping portion 601 is disengaged from the fourth clamping portion 207 at the same time, so that the locking assembly is switched from the locked state to the unlocked state.

[0100] Optionally, the plurality of wheels 202 form at least two wheel groups, each wheel group comprises two wheels 202 arranged opposite to each other, and the two wheels 202 in each wheel group are respectively arranged on two opposite sides of the assembly plate 201. In the direction from the second end to the first end, the distance between the two wheels 202 in each wheel group gradually increases.

[0101] Please refer to Figure 1 In one embodiment of the present disclosure, the mobile chassis comprises two wheel groups, and in the direction from the second end to the first end, the distance between the two wheels 202 in each wheel group gradually increases. Specifically, the two wheels 202 in each wheel group are arranged in a “splayed” manner on the assembly plate 201.

[0102] In this embodiment, since the two wheels 202 arranged opposite to each other in the mobile chassis are arranged in a splayed manner, according to the principle of force, the overturning of the chassis during turning can be prevented, and the turning stability of the vehicle is improved.

[0103] Optionally, the mobile chassis further comprises a connecting bracket 800, one end of the connecting bracket 800 is connected with the second end (i.e., the first connecting portion 302) of the first trigger 300, the other end of the connecting bracket 800 is located outside the housing 100, and the end of the connecting bracket 800 outside the housing 100 is used to connect the carried device.

[0104] It can be understood that the first connecting portion 302 of the first trigger 300 is used to be connected with the carried device through the connecting support 800. Please refer to Figure 3 and Figure 9 The connecting support 800 can include a support rod 810 and a third mounting plate 820, the surface of the shell 100 can be provided with a fifth opening 122, one end of the support rod 810 can be connected with the first connecting portion 302 through the fifth opening 122, the other end of the support rod 810 is connected with the third mounting plate 820, the third mounting plate 820 is located outside the shell 100, and the third mounting plate 820 is used to mount the carried device.

[0105] In this embodiment, one end of the connecting support 800 is connected with the first connecting portion 302, and the other end of the connecting support 800 is located outside the shell 100, so that the carried device located outside the shell 100 is connected with the first connecting portion 302 through the connecting support 800.

[0106] Optionally, the second end of the first trigger 300 has a connecting plate, the connecting plate is provided with a connecting hole 303, the extending direction of the connecting hole 303 is perpendicular to the extending direction of the first trigger 300, the connecting support 800 includes a second connecting rod 830 matched with the connecting hole 303, and the second connecting rod 830 is arranged in the connecting hole 303;

[0107] The mobile chassis further includes a locking member 900 connected with the first trigger 300, the locking member 900 includes an extendable locking rod 901, the connecting plate includes a first locking hole, the second connecting rod 830 includes a second locking hole 831, and the first locking hole is arranged in alignment with the second locking hole 831.

[0108] When the mobile chassis is in the first working state, the locking rod 901 is in an extended state, and the locking rod 901 respectively penetrates the first locking hole and the second locking hole 831.

[0109] When the mobile chassis is in the second working state, the locking rod 901 is in a retracted state, and the locking rod 901 is located outside the first locking hole and the second locking hole 831.

[0110] Please refer to Figure 10The first trigger 300 can include a mounting position 305 for mounting the locking member 900. The connecting plate can be integrally formed with the first trigger 300, and the connecting plate can be parallel to the assembly plate 201. The connecting hole 303 is a through hole penetrating through two sides of the connecting plate. Please refer to Figure 6 The second connecting rod 830 can be integrally formed with the connecting bracket 800. The first locking hole of the connecting plate can be formed on the end face of the connecting plate facing the assembly plate 201, and the locking member 900 can be located on the side of the connecting plate facing the assembly plate 201. Please refer to Figure 4 and Figure 6 The second connecting rod 830 can be inserted into the connecting hole 303 of the connecting plate until the first locking hole and the second locking hole 831 are opposite. When the first locking hole and the second locking hole 831 are opposite, the end of the locking rod 901 of the locking member 900 is opposite to the first locking hole and the second locking hole 831. At this time, the locking rod 901 of the locking member 900 can be controlled to extend so that the locking rod 901 is inserted into the first locking hole and the second locking hole 831 at the same time, thereby realizing the position locking between the connecting bracket 800 and the connecting plate. The locking member 900 can be various types of electromagnetic locks.

[0111] In the embodiment, when the mobile chassis is in the first working state, the locking rod 901 is in the extended state, and the locking rod 901 penetrates the first locking hole and the second locking hole 831 respectively. In this way, it can be ensured that the carried device is stably connected with the mobile chassis before the collision occurs. Correspondingly, when the mobile chassis is in the second working state, the locking rod 901 is in the retracted state, and the locking rod 901 is located outside the first locking hole and the second locking hole 831. At this time, the connecting bracket 800 can be separated relative to the connecting hole 303. In this way, after the collision occurs, the connecting bracket 800 and the carried component can be separated relative to the mobile chassis, so as to avoid the influence of the connecting bracket 800 on the rolling of the mobile chassis. That is, after the connecting bracket 800 and the carried component are separated from the mobile chassis, the mobile chassis can roll under the action of the collision force to move away from the autonomous vehicle, thereby avoiding the problem that the mobile chassis is further crushed and damaged by the autonomous vehicle after the collision.

[0112] Optionally, a strain gauge sensor is arranged on the connecting bracket 800.

[0113] In this embodiment, the strain gauge sensor can be attached to the surface of the connecting bracket 800, for example, the strain gauge sensor can be attached to the surface of the support rod 810. Since the support rod 810 will deform during the collision between the carried device and the autonomous vehicle, at this time, the strain gauge sensor can detect the size of the collision force according to the deformation degree of the support rod 810, and then the detected collision force can be transmitted to the control circuit board 1000 of the mobile chassis as a collision test parameter, so as to obtain more collision test parameters for the tester.

[0114] Optionally, referring to Figure 9 , the shell 100 includes a bottom plate (not shown in the figure) and a cover 120, the bottom plate is connected with the opening end of the cover 120, and the cross section of the cover 120 is in the shape of a circular arc.

[0115] In this embodiment, after the collision between the carried device and the autonomous vehicle, since the cross section of the cover 120 is in the shape of a circular arc, this is conducive to the rolling of the mobile chassis, and further conducive to the mobile chassis quickly returning to the collision accident point, so as to avoid the problem that the mobile chassis is further crushed and damaged by the autonomous vehicle after the collision.

[0116] Optionally, the assembly component 200 further includes a driving assembly 203, and the driving assembly 203 is connected with the plurality of wheels 202.

[0117] Specifically, referring to Figure 1 , the assembly plate 201 can include a fourth mounting plate 208 for mounting the driving assembly 203. The driving assembly 203 can include a plurality of driving motors corresponding to the plurality of wheels 202, and the driving motors can be connected with the corresponding wheels 202 through a gearbox and a drive shaft in sequence, so as to drive the corresponding wheels 202 to rotate through the driving motor, thereby realizing the automatic walking process of the mobile chassis.

[0118] It can be understood that, referring to Figure 2 , the mobile chassis can further include a control circuit board 1000, and the control circuit board 1000 can be arranged on the second plate member 114. The electrical components in the mobile chassis, such as the driving assembly 203, the electromagnetic lock, the pushing assembly 500 and the strain gauge sensor, can be electrically connected with the control circuit board 1000 respectively, so as to control the working state of the mobile chassis based on the control circuit board 1000.

[0119] In this embodiment, by making the assembly component 200 further include the driving assembly 203, the wheels 202 can be driven to rotate by the driving assembly 203, so as to realize the automatic walking process of the mobile chassis.

[0120] In addition, the mobile chassis provided by the present disclosure mainly realizes the beneficial effects as follows:

[0121] The mobile chassis provided by the present disclosure can effectively avoid the damage of the automatic driving vehicle to the mobile chassis, increase the service life of the mobile chassis, and reduce the problem of test stagnation caused by the damage of the chassis wheel.

[0122] The mobile chassis provided by the present disclosure actually simulates the principle that the four limbs of a turtle quickly retract under external stimulation, thereby realizing the function of protecting itself, that is, the mobile chassis provided by the present disclosure can quickly retract after being collided by using bionics and mechanical structure, and has rapid and sensitive reaction, which can effectively protect the wheel 202 motor device of the chassis.

[0123] The mobile chassis provided by the present disclosure adopts a cylindrical structure, which can avoid being rolled by the automatic driving vehicle when being collided, and can also reduce the damage of the chassis caused by the impact by using the rolling force.

[0124] The mobile chassis provided by the present disclosure is installed in a splayed structure, which can avoid the tipping caused by the high center of gravity of the chassis and the acceleration of the chassis during turning, and improve the turning stability of the vehicle.

[0125] The elastic reset assembly 400 of the mobile chassis provided by the present disclosure uses four compression springs to quickly lift the assembly plate 201 under stress, and has simple structure and high efficiency.

[0126] The mobile chassis provided by the present disclosure can be conveniently installed by separating the connecting bracket 800 from the mobile chassis during collision, and can also quickly separate the connecting bracket 800 from the mobile chassis during collision to avoid the damage of the connecting bracket 800 to the mobile chassis.

[0127] Another embodiment of the present disclosure provides a collision test device of an automatic driving vehicle, which comprises a carried device and the mobile chassis described in the above embodiment, and the carried device is connected with the second end of the first trigger 300.

[0128] In this embodiment, since the collision test device of the automatic driving vehicle comprises the mobile chassis described in the above embodiment, the collision test device of the automatic driving vehicle can realize the whole action process of the mobile chassis and has the same beneficial effects. To avoid repetition, it will not be described again.

[0129] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure are achieved, which is not limited herein.

[0130] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A mobile chassis, comprising: a shell, a containing cavity is arranged in the shell, a plurality of first openings are arranged on the shell, and a mounting support is arranged in the containing cavity; an assembly component, the assembly component is arranged in the containing cavity, the assembly component comprises an assembly plate and a plurality of wheels, the plurality of wheels are connected with the assembly plate, the plurality of wheels correspond to the plurality of first openings one by one, and the assembly plate comprises a first clamping part; a locking component, the locking component comprises a first trigger, the first trigger is rotationally connected with the mounting support, a second clamping part is arranged at a first end of the first trigger, and a second end of the first trigger is used for connecting a corresponding bearing device of the mobile chassis; wherein, in a first working state of the mobile chassis, the first clamping part is clamped with the second clamping part, and the wheels are extended out of the shell through the corresponding first openings; in a second working state of the mobile chassis, the first clamping part is unclamped with the second clamping part, and the wheels are retracted into the shell; the mobile chassis further comprises an elastic reset component, a fixed end of the elastic reset component is connected with the shell, and a movable end of the elastic reset component is connected with the assembly plate; wherein, in the first working state of the mobile chassis, the elastic reset component is in an elastic deformation state; in the second working state of the mobile chassis, the elastic reset component is in a reset state.

2. The mobile chassis of claim 1, wherein, the elastic reset component comprises a sleeve, a guide rod and a first spring, the sleeve comprises an open end and a closed end, the closed end is arranged with a guide hole matched with the guide rod, the guide rod is sequentially arranged through the guide hole and the open end, the first spring is sleeved on the guide rod, and the first spring is located between the guide rod and the inner wall of the sleeve; the assembly plate is arranged with a fourth opening matched with the open end, the open end of the sleeve is connected with the assembly plate, the open end is arranged in alignment with the fourth opening, one end of the guide rod is connected with the shell through the fourth opening, the other end of the guide rod is connected with the mounting support, one end of the first spring is connected with the shell through the fourth opening, and the other end of the first spring is in abutment with the inner wall of the closed end.

3. The mobile chassis of claim 2, wherein, the mobile chassis comprises at least two groups of the elastic reset components, and the at least two groups of the elastic reset components are arranged at intervals.

4. The mobile chassis of claim 1, wherein, the mobile chassis further comprises a pushing component, the pushing component is connected with the shell, and the pushing component can push the assembly plate to move along one side of the first trigger towards the first end.

5. The mobile chassis of claim 4, wherein, the pushing component comprises a driving member, a sliding block, a first sliding rail and a lead screw, the driving member and the first sliding rail are respectively connected with the mounting support, and the first sliding rail and the lead screw are respectively arranged perpendicular to the assembly plate; The sliding block is in sliding connection with the first sliding rail, a threaded hole is formed in the sliding block, and the sliding block is in threaded connection with the lead screw through the threaded hole; the driving member comprises a rotating shaft, and the rotating shaft is in transmission connection with the lead screw.

6. The mobile chassis of claim 1, wherein, A second opening is formed in the assembly plate, the first clamping part is arranged adjacent to the second opening, and the first trigger member penetrates the second opening.

7. The mobile chassis of claim 6, wherein, The locking assembly further comprises a second trigger member and a first connecting rod, the second trigger member is in rotational connection with the mounting bracket, a third opening is formed in the assembly plate, the second trigger member penetrates the third opening, and the second trigger member is arranged parallel to the first trigger member, one end of the second trigger member opposite to the first end forms a third clamping part, one end of the second trigger member opposite to the second end is in rotational connection with one end of the first connecting rod, and the other end of the first connecting rod is in rotational connection with the second end of the first trigger member; the assembly plate further comprises a fourth clamping part; In the case where the mobile chassis is in the first working state, the third clamping part is clamped with the fourth clamping part; In the case where the mobile chassis is in the second working state, the third clamping part is unclamped with the fourth clamping part.

8. The mobile chassis of claim 7, wherein, The assembly plate comprises a first boss, the first boss protrudes towards the side of the second end, a first clamping groove is formed in the side wall of the first boss, and the first clamping groove forms the first clamping part; The first boss is arranged adjacent to the second opening, and the opening of the first clamping groove faces the side of the second opening, the first end of the first trigger member is formed with a first clasp matched with the first clamping groove, and the first clasp forms the second clamping part.

9. The mobile chassis of claim 8, wherein, The assembly plate further comprises a second boss, the second boss protrudes towards the side of the second end, a second clamping groove is formed in the side wall of the second boss, and the second clamping groove forms the fourth clamping part; The second boss is arranged adjacent to the third opening, and the opening of the second clamping groove faces the side of the third opening, and the openings of the first clamping groove and the second clamping groove face the same direction; the end of the second trigger member opposite to the first end is formed with a second clasp matched with the second clamping groove, and the second clasp forms the third clamping part.

10. The mobile chassis of claim 9, wherein, The housing further comprises a first mounting plate and a second mounting plate, the first mounting plate is opposite to the side of the first trigger member away from the first clamping groove, the second mounting plate is opposite to the side of the second trigger member away from the second clamping groove, a first elastic member is arranged between the first trigger member and the first mounting plate, one end of the first elastic member is connected with the first trigger member, the other end of the first elastic member is connected with the first mounting plate, a second elastic member is arranged between the second trigger member and the second mounting plate, one end of the second elastic member is connected with the second trigger member, and the other end of the second elastic member is connected with the second mounting plate; The first elastic member and the second elastic member are in elastic compression state when the mobile chassis is in the first working state.

11. The mobile chassis of claim 7, wherein, The first trigger member further comprises a second connecting portion between the first end and the second end, and the second trigger member comprises a third connecting portion opposite to the second connecting portion, the first trigger member is rotationally connected with the mounting bracket through the second connecting portion, and the second trigger member is rotationally connected with the mounting bracket through the third connecting portion.

12. The mobile chassis of any one of claims 1 to 11, wherein, The plurality of wheels form at least two wheel groups, each wheel group comprises two oppositely arranged wheels, and the two wheels in each wheel group are respectively arranged on two opposite sides of the assembly plate; the distance between the two wheels in each wheel group gradually increases in a direction from the second end to the first end.

13. The mobile chassis of any one of claims 1 to 11, wherein, The mobile chassis further comprises a connecting bracket, one end of the connecting bracket is connected with the second end of the first trigger member, the other end of the connecting bracket is located outside the shell, and the end of the connecting bracket outside the shell is used for connecting the carried device.

14. The mobile chassis of claim 13, wherein, The second end of the first trigger member has a connecting plate, the connecting plate is provided with a connecting hole, the extending direction of the connecting hole is perpendicular to the extending direction of the first trigger member, the connecting bracket comprises a second connecting rod matched with the connecting hole, and the second connecting rod is arranged in the connecting hole; The mobile chassis further comprises a locking member connected with the first trigger member, the locking member comprises an extendable locking rod, the connecting plate comprises a first locking hole, the second connecting rod comprises a second locking hole, and the first locking hole and the second locking hole are arranged in alignment; When the mobile chassis is in the first working state, the locking rod is in an extended state, and the locking rod respectively penetrates the first locking hole and the second locking hole; When the mobile chassis is in the second working state, the locking rod is in a retracted state, and the locking rod is located outside the first locking hole and the second locking hole.

15. The mobile chassis of claim 13, wherein, The connecting bracket is provided with a strain gauge sensor.

16. The mobile chassis of any one of claims 1 to 11, wherein, The shell comprises a bottom plate and a cover body, the bottom plate is connected with the open end of the cover body, and the cross section of the cover body is in the shape of a circular arc.

17. The mobile chassis of any one of claims 1 to 11, wherein, The assembly assembly further comprises a driving assembly connected with the plurality of wheels.

18. A collision test device of an automatic driving vehicle, comprising a carried device and the mobile chassis according to any one of claims 1 to 17, and the carried device is connected with the second end of the first trigger member.

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