A road pothole identification and inspection device for an autonomous driving vehicle

Abstract

The present invention provides a road pothole identification and inspection device for an autonomous driving vehicle, comprising: a test track, an adjustment cover, a horizontal moving device, a vertical adjustment device, two mounting plates and two support frames; a test slot is provided on the test track, two mounting plates are embedded in the test track and are located on both sides of the test slot, two support frames are arranged in a one-to-one correspondence with the two mounting plates, one end of one support frame extends to the inside of a corresponding mounting plate, and the other ends of the two support frames support the adjustment cover, and the adjustment cover includes a center plate and a plurality of U-shaped plates. The road pothole identification and inspection device for an autonomous driving vehicle provided by the present invention can adjust the size and depth of the pits according to the detection requirements, can detect the operation of the autonomous driving vehicle when facing different potholes, and can more comprehensively detect the autonomous driving vehicle's ability to identify and judge road potholes.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving vehicle testing, and in particular to a road pothole recognition and inspection device for autonomous driving vehicles. Background Art

[0002] Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, allowing computers to automatically and safely operate motor vehicles without any active human operation.

[0003] Before using, self-driving cars need to be fully tested for their safety performance. Safety testing of self-driving cars includes testing the vehicle's ability to identify road conditions. In the prior art, testing the vehicle's ability to identify road conditions usually includes using props to simulate pedestrians crossing the road, simulating the vehicle's emergency response when a cyclist suddenly crosses the road, and simulating the ability to stop and change lanes in different situations. However, there are potholes on the road surface that affect the operation of the vehicle. Self-driving vehicles need to have the ability to identify holes so that they can better pass through roads with potholes. However, in the prior art, there is a lack of equipment specifically designed to detect the ability of self-driving vehicles to identify potholes on the road.

[0004] Therefore, it is necessary to provide a road pothole identification and inspection device for an autonomous driving vehicle to solve the above technical problems. Summary of the invention

[0005] The present invention provides a road pothole recognition and inspection device for an autonomous driving vehicle, which solves the problem in the prior art of lack of equipment specifically for detecting the road pothole recognition capability of an autonomous driving vehicle.

[0006] In order to solve the above technical problems, the present invention provides an automatic driving vehicle road pothole identification and inspection device, comprising: a test track, an adjustment cover plate, a horizontal moving device, a vertical adjustment device, two mounting plates and two support frames;

[0007] A test slot is provided on the test track, two mounting plates are embedded in the test track and located on both sides of the test slot, two support frames are arranged in one-to-one correspondence with the two mounting plates, one end of one support frame extends to the inside of a corresponding mounting plate, and the other ends of the two support frames support the adjustment cover plate;

[0008] The adjustment cover plate includes a central plate and a plurality of U-shaped plates, the diameters of the U-shaped plates are increased in sequence, and the U-shaped plates are sleeved in sequence, and the U-shaped plate located at the innermost side is sleeved on the central plate;

[0009] The vertical adjustment device includes a lifting cylinder, a support arm and a connecting column, wherein the lifting cylinder is installed inside the test slot through a fixing plate, the output shaft of the lifting cylinder is connected to the center plate, the support arm is connected to the output shaft of the lifting cylinder through the connecting column, and the support arm is located below the adjustment cover plate;

[0010] The horizontal moving device is used to drive the two support frames to close or separate.

[0011] Preferably, the road pothole identification and inspection device for the autonomous driving vehicle further includes an interference vehicle, and the interference vehicle is disposed on an interference track, and the interference track is disposed adjacent to the test track.

[0012] Preferably, the number of the support arms and the connecting column is two, the two support arms are respectively located on both sides of the lifting cylinder, and one support arm is connected to the lifting cylinder through a corresponding one of the connecting columns.

[0013] Preferably, the support frame includes a driving plate, a plurality of support columns and a plurality of connecting plates, one end of the support column extends to the interior of the mounting plate through a cylindrical hole, each connecting plate connects two adjacent driving plates, the driving plate is installed at one end of the support column away from the mounting plate, the output end of the horizontal moving device is detachably connected to the driving plate, two adjacent cylindrical holes are connected by a distance-shaped hole, and each distance-shaped hole is aligned with a corresponding connecting plate.

[0014] Preferably, the horizontal moving device includes a screw rod, a driving device, two assembly plates, two nuts and two connecting arms. The two assembly plates are respectively mounted on the two ends of the fixed plate, the screw rod is rotatably mounted on the assembly plates, the two ends of the screw rod are provided with opposite threaded surfaces, the two nuts are correspondingly threadedly connected to the two ends of the screw rod, the two connecting arms are respectively mounted on the two nuts, the top ends of the two connecting arms are respectively detachably connected to the driving plates in the two support frames, and the driving device is used to drive the screw rod to rotate.

[0015] Preferably, the horizontal moving device further comprises a sliding rod, the sliding rod is connected between the two assembly plates, and the bottom end of the nut is sleeved on the sliding rod.

[0016] Preferably, the road pothole identification and inspection device for an autonomous driving vehicle further comprises a plurality of supporting devices, wherein the plurality of supporting devices are centrally symmetrically mounted on the fixed plate, wherein the supporting device comprises a supporting plate and a plurality of telescopic rods, wherein the plurality of telescopic rods are linearly mounted on the fixed plate, wherein the supporting plate is connected to output ends of the plurality of telescopic rods, and a portion of the supporting plate located below the support arm is configured as a recessed portion.

[0017] Preferably, the telescopic rod includes a mounting tube, a piston block, a support shaft and a spring, the mounting tube is mounted on the fixed plate, the piston block is arranged inside the mounting tube, the spring connects the piston block and the mounting tube, the bottom end of the support shaft passes through the top end of the mounting tube and is connected to the piston block, the mounting tube is provided with an assembly hole, the support shaft is provided with a plurality of positioning holes, and the road pothole identification and inspection device for autonomous driving vehicles also includes a positioning device, which is used to connect the assembly hole with one of the positioning holes.

[0018] Preferably, there are two positioning devices, each of which includes a bracket, a driving device and a plurality of positioning pins. The two brackets are suspended below the fixed plate and located on both sides of the lifting cylinder. The plurality of positioning pins are installed on the brackets at intervals, and each positioning pin is aligned with the positioning hole on each support shaft. When one positioning hole is aligned with the positioning hole, the driving device is used to drive the bracket to move so that the positioning pin is inserted into the positioning hole and the positioning hole.

[0019] Preferably, the driving device is a driving arm, and the positioning device also includes a plurality of support rods, which are installed on the inner wall of the test slot and are located below the fixed plate. One end of the driving device is sleeved on the support rod, and the other end of the driving device is connected to the bracket. The top end of the connecting arm passes through the driving plate, and the bottom end of the connecting arm passes through the nut. The vertical adjustment device also includes a sliding plate, one end of the sliding plate is connected to the connecting arm, and the other end of the sliding plate is slidably connected to one of the support arms. A strip hole is provided on the fixed plate and below the connecting arm, and a plurality of driving holes are provided on the driving device and below the strip hole.

[0020] Compared with the related art, the road pothole identification and inspection device for an autonomous driving vehicle provided by the present invention has the following beneficial effects:

[0021] The present invention provides a road pothole identification and inspection device for an autonomous driving vehicle. The detection device simulates potholes on the road surface and can adjust the size and depth of the potholes according to detection requirements. When simulating the smallest pothole, firstly, a horizontal moving device drives two support frames to separate so that the support frames are separated and staggered from a center plate, and then a lifting cylinder drives the center plate to descend. At this time, the center of the cover plate is adjusted to form a depression of a size equivalent to the center plate, thereby realizing a simulated pothole.

[0022] When adjusting a pothole of a larger area, the horizontal moving device drives the two support frames to separate, so that the support frames are separated and staggered from the center plate and the innermost U-shaped plate. At this time, the support arm supports the innermost U-shaped plate, and the lifting cylinder drives the support arm to descend, while driving the center plate to descend, and the innermost U-shaped plate follows the support arm to descend through gravity. Subsequently, the horizontal moving device drives the two support frames to separate from the outer U-shaped plates to change the size of the pothole, and the lifting cylinder adjusts the height of the center plate and the U-shaped plate to adjust the depth of the pothole, thereby realizing the change of the size and depth of the pothole according to needs, and can detect the operation of the autonomous driving vehicle when facing different potholes, and can more comprehensively detect the autonomous driving vehicle's ability to recognize and judge potholes in the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a preferred embodiment of the road pothole identification and inspection device for an autonomous driving vehicle provided by the present invention;

[0024] Figure 2 A schematic diagram of the three-dimensional structure of the road pothole identification and inspection device for an autonomous driving vehicle provided by the present invention after removing the adjustment cover plate;

[0025] Figure 3 for Figure 2 A schematic diagram of the local structure after the support frame is removed is shown;

[0026] Figure 4 for Figure 2 A schematic diagram of the local structure after the support device is removed as shown;

[0027] Figure 5 for Figure 2 The cross-sectional view along AA is shown;

[0028] Figure 6 for Figure 5 A schematic diagram of the structure after the support device is removed as shown;

[0029] Figure 7 A schematic diagram of the center plate provided by the present invention descending to form a pit;

[0030] Figure 8 A bottom view of the fixing plate provided by the present invention;

[0031] Fig. 9 A cross-sectional view of the telescopic rod provided by the present invention;

[0032] Fig.10 A schematic diagram of the top end of the connecting arm provided by the present invention being separated from the driving plate and the bottom end of the connecting arm being assembled with the driving hole;

[0033] Fig.11 A schematic diagram of the structure of inserting a plurality of positioning pins provided by the present invention into corresponding telescopic rods;

[0034] Fig.12 This is a structural schematic diagram of the positioning pin provided by the present invention being inserted into the assembly hole and the positioning hole.

[0035] Numbers in the figure:

[0036] 1. Test channel; 101. Test slot;

[0037] 2. Adjusting cover plate; 21. Center plate; 22. U-shaped plate;

[0038] 3. Mounting plate; 31. Columnar hole; 32. Pitch hole;

[0039] 4. Support frame; 41. Support column; 42. Connecting plate; 43. Driving plate;

[0040] 5. Horizontal moving device; 51. Screw rod; 52. Nut; 53. Connecting arm; 54. Sliding rod; 55. Driving device; 56. Assembly plate;

[0041] 6. Vertical adjustment device; 61. Lifting cylinder; 62. Support arm; 63. Connecting column; 64. Sliding plate;

[0042] 7. Support device; 71. Telescopic rod; 72. Support plate; 721. Recessed portion;

[0043] 711, mounting cylinder; 712, piston block; 713, support shaft; 714, spring;

[0044] 7111, assembly hole; 7131, positioning hole;

[0045] 8. Fixed plate; 81. Strip hole;

[0046] 9. Positioning device; 91. Bracket; 92. Positioning pin; 93. Driving device; 94. Support rod;

[0047] 931, driving hole;

[0048] 10. Interference vehicle; 20. Test vehicle. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The present invention provides a device for identifying and inspecting road potholes of an autonomous driving vehicle.

[0051] Please refer to Figures 1 to 3 , in one embodiment of the present invention, the test track 1, the adjustment cover plate 2, the horizontal moving device 5, the vertical adjustment device 6, the two mounting plates 3 and the two support frames 4;

[0052] The test track 1 is provided with a test slot 101, the two mounting plates 3 are embedded in the test track 1 and are located on both sides of the test slot 101, the two support frames 4 are arranged in one-to-one correspondence with the two mounting plates 3, one end of one support frame 4 extends to the inside of a corresponding mounting plate 3, and the other ends of the two support frames 4 support the adjustment cover plate 2;

[0053] The adjustment cover plate 2 includes a central plate 21 and a plurality of U-shaped plates 22, the diameters of the U-shaped plates 22 are increased in sequence, and the U-shaped plates 22 are sleeved in sequence, and the innermost U-shaped plate 22 is sleeved on the central plate 21;

[0054] The vertical adjustment device 6 includes a lifting cylinder 61, a support arm 62 and a connecting column 63. The lifting cylinder 61 is installed inside the test slot 101 through a fixing plate 8. The output shaft of the lifting cylinder 61 is connected to the center plate 21. The support arm 62 is connected to the output shaft of the lifting cylinder 61 through the connecting column 63, and the support arm 62 is located below the adjustment cover plate 2.

[0055] The horizontal moving device 5 is used to drive the two support frames 4 to close or separate.

[0056] The detection device simulates the pits on the road surface, and can adjust the size and depth of the pits according to the detection requirements. When simulating the smallest pit, the horizontal moving device 5 first drives the two support frames 4 to separate, so that the support frames 4 are separated and staggered from the center plate 21, and then the lifting cylinder 61 drives the center plate 21 to descend. At this time, the center of the cover plate 2 is adjusted to form a depression of a size equivalent to the center plate 21, thereby realizing the simulation of the pit;

[0057] When adjusting a pit with a larger area, the horizontal moving device 5 drives the two support frames 4 to separate, so that the support frames 4 are separated and staggered from the center plate 21 and the innermost U-shaped plate 22. At this time, the support arm 62 supports the innermost U-shaped plate 22, and the lifting cylinder 61 drives the support arm 62 to descend, while driving the center plate 21 to descend, and the innermost U-shaped plate 22 follows the support arm 62 to descend through gravity. Subsequently, the horizontal moving device 5 drives the two support frames 4 to separate from the outer U-shaped plates 22 to change the size of the pit, and the lifting cylinder 61 adjusts the height of the descent of the center plate 21 and the U-shaped plate 22 to adjust the depth of the pit, thereby realizing the change of the size and depth of the pit according to needs, the operation of the autonomous driving vehicle when facing different pits can be detected, and the recognition and judgment capabilities of the autonomous driving vehicle for potholes in the road can be more comprehensively detected.

[0058] Among them, each time the size of the pit is adjusted, the lifting cylinder 61 preferably lifts the center plate 21 that has been descended last time, or the center plate 21 and the U-shaped plate 22 located on the inner side to the starting position (that is, embedded in the corresponding U-shaped plate 22), and then the horizontal moving device 5 adjusts the two support frames 4 to separate from the corresponding U-shaped plates 22. At this time, the U-shaped plate 22 that has lost the support of the support frame 4 can be supported by the support arm 62, and the lifting cylinder 61 descends, and can follow the support arm 62 to steadily descend, and the support arm 62 can subsequently drive the U-shaped plate 22 to be lifted up to the starting position again.

[0059] See also Figure 1 In this embodiment, there are two U-shaped plates 22, the central hole cavity of the U-shaped plate 22 with a smaller diameter is the same size as that of the U-shaped plate 22 with a larger diameter, and the central plate 21 is the same size as the central cavity of the U-shaped plate 22 with a smaller diameter, thereby achieving sequential arrangement.

[0060] Of course, the number of the U-shaped plates 22 may be more than two.

[0061] As an optional method of this embodiment, different types of frames can be provided. For example, when the center plate 21 descends to form a pit, a frame of corresponding size and width can be placed in the formed pit, so as to simulate the pit wall. The frame can also include a frame with inclined surfaces on both sides, so as to facilitate the wheels of the autonomous driving vehicle to enter and move out of the pit.

[0062] See also Figure 1 The test slot 101 can be eccentrically arranged on the test track 1. The eccentric arrangement makes it easier to correspond to the wheels of the test vehicle 20, and can more easily detect the adjustment ability of the vehicle when facing a pothole.

[0063] When testing an autonomous vehicle, first simulate a pothole with a smaller diameter. The autonomous vehicle can pass through the pothole by adjusting the vehicle body so that the pothole is located between the two wheels. By adjusting to the smallest pothole, test whether the vehicle can recognize the pothole and whether it can adjust the vehicle body to the best position to pass through.

[0064] Then, a pothole with a larger area can be simulated. When simulating a pothole with a larger area, the side of the pothole is closer to the distance between the two wheels of the test vehicle 20, so as to further test whether the test vehicle 20 can adjust the body position more accurately so that the vehicle can cross the pothole. When the depth of the simulated pothole is shallow, the wheel of one side of the test vehicle 20 will not cause the vehicle to tilt beyond the preset angle after entering (for example, when the wheel of one side of the test vehicle 20 enters the pothole, the lowest part of the vehicle chassis is still at least 3-5 cm away from the road surface, etc.), and the test vehicle 20 determines that the wheel on one side can enter the pothole and pass through it. When the depth of the pothole is set to be deeper, the test vehicle 20 can also determine to change lanes according to the situation;

[0065] Finally, the largest pothole can be simulated. The test vehicle 20 cannot pass through by adjusting the body of the vehicle so that the wheels are located on both sides of the pothole. At this time, it is tested whether the test vehicle 20 can change lanes after identifying the pothole, or when it is judged that the depth of the pothole is shallow, it can directly drive the wheels into the pothole to pass; when the depth of the pothole is deep, whether it can change lanes safely, etc.

[0066] The passing condition of the test vehicle 20 is detected by setting potholes of different sizes and depths.

[0067] See also Figure 1 As a preferred embodiment of this embodiment, the road pothole identification and inspection device for the autonomous driving vehicle further includes an interference vehicle 10, and the interference vehicle 10 is arranged on an interference track, and the interference track is arranged adjacent to the test track 1.

[0068] The interference vehicle 10 comprises a driving vehicle and an interference board, and the interference board is preferably in the shape of a human.

[0069] By setting the interference car 10 on the interference track, it can be simulated that when a pothole is recognized in front of the test vehicle 20 and it is determined that a lane change is required, the interference car 10 is set to travel along the interference track toward the test track 1, or move from the test track 1 toward the interference track, to detect whether the test vehicle 20 can slow down and stop to wait for the interference car to move to a safe position before changing lanes. At the same time, the parking distance of the test vehicle 20 can be detected to see whether there is enough turning distance to prevent the test vehicle 20 from driving into the pothole when turning.

[0070] Preferably, interference tracks are provided on both sides of the test track 1 , and interference vehicles 10 are provided on the interference tracks on both sides.

[0071] By setting interference tracks and interference vehicles 10 on both sides, when the above situation occurs, it can be detected that when an interference vehicle 10 moves on an interference track, whether the test vehicle 20 can judge whether to drive into another interference track to avoid the pit;

[0072] When there are interfering cars 10 moving on both interfering lanes, can the vehicle slow down and stop, and wait for the interfering car 10 to move to a safe position before changing lanes?

[0073] Alternatively, two interference vehicles 10 are set to stay on the two interference tracks for a long time. At this time, when the depth of the pit allows the test vehicle 20 to pass through, the test vehicle 20 will wait for a long time to choose to drive directly into the pit to pass, or stay and wait.

[0074] See also Figure 3 As an optional method of this embodiment, the number of the support arms 62 and the connecting column 63 is two, the two support arms 62 are respectively located on both sides of the lifting cylinder 61, and one support arm 62 is connected to the lifting cylinder 61 through a corresponding connecting column 63.

[0075] By providing two supporting arms 62 , the U-shaped plate 22 is supported from both sides, so that the U-shaped plate 22 can be driven to descend or rise more stably.

[0076] See also Figure 4 In this embodiment, the support frame 4 includes a driving plate 43, a plurality of support columns 41 and a plurality of connecting plates 42. One end of the support column 41 extends to the interior of the mounting plate 3 through a cylindrical hole 31. Each connecting plate 42 connects two adjacent driving plates 43. The driving plate 43 is installed at one end of the support column 41 away from the mounting plate 3. The output end of the horizontal moving device 5 is detachably connected to the driving plate 43. Two adjacent cylindrical holes 31 are connected through a distance-shaped hole 32. Each distance-shaped hole 32 is aligned with a corresponding connecting plate 42.

[0077] By setting up multiple support columns 41 to support the adjustment cover 2, it is convenient to arrange the support arm 62, etc. The support arm 62 can be set between adjacent support columns 41, and the diameter of the support column 41 can be conveniently set to ensure the stability of the support; multiple support columns 41 are connected by connecting plates 42, and when the horizontal moving device 5 drives the driving plate 43 to move, multiple support columns 41 can be driven to move simultaneously.

[0078] Among them, the mounting plate 3 is preferably made of a concrete plate to ensure a stable supporting effect on the support column 41. During production, corresponding embedded grooves are set on both sides of the test slot 101, and then a template is set and concrete is poured; in the initial state, no less than one-third of the length of the support column 41 is located in the cylindrical hole 31 of the mounting plate 3, thereby ensuring the stability of the support column 41 supporting the U-shaped plate 22. When the test vehicle 20 passes over the U-shaped plate 22, the support column 41 has sufficient supporting force.

[0079] In other embodiments, the support frame 4 may also be a support plate, a rectangular groove is correspondingly opened on the mounting plate 3, one end of the support plate extends into the rectangular groove, and an opening is set at the position of the support plate corresponding to the support arm 62.

[0080] See also Figure 3 and Figure 6 In this embodiment, the horizontal moving device 5 includes a screw rod 51, a driving device 55, two assembly plates 56, two nuts 52 and two connecting arms 53. The two assembly plates 56 are respectively mounted on the two ends of the fixed plate 8, and the screw rod 51 is rotatably mounted on the assembly plates 56. The two ends of the screw rod 51 are provided with opposite threaded surfaces, and the two nuts 52 are correspondingly threadedly connected to the two ends of the screw rod 51. The two connecting arms 53 are respectively mounted on the two nuts 52. The top ends of the two connecting arms 53 are respectively detachably connected to the driving plates 43 in the two support frames 4, and the driving device 55 is used to drive the screw rod 51 to rotate.

[0081] When it is necessary to control the two support frames 4 to separate or close, the driving device 55 drives the screw rod 51 to rotate clockwise or counterclockwise, and the two nuts 52 move along the screw rod 51 to the opposite side or the separated side, and the nuts 52 drive the two support frames 4 to move to the opposite side or the separated side through the connecting arm 53, thereby controlling the two support frames 4 to close or separate.

[0082] As an optional method of this embodiment, the driving device 55 includes a motor, a main gear and a slave gear. The motor is mounted on an assembly plate 56. The main gear and the slave gear are respectively mounted on the screw rod 51 and the output shaft of the motor, and the main gear and the slave gear are meshed. The motor drives the screw rod 51 to rotate through the main gear and the slave gear.

[0083] Both ends of the screw rod 51 respectively penetrate through a corresponding assembly plate 56 and are rotatably connected to the assembly plate 56 .

[0084] In other embodiments, the driving device 55 may also use only a motor. An installation cavity is opened on one side of the test slot 101, and the motor is installed in the installation cavity through a mounting frame. The output shaft of the motor is connected to the screw rod 51 to drive the screw rod 51 to rotate.

[0085] Please refer again Figure 6 As a preferred embodiment of this embodiment, the horizontal moving device 5 also includes a sliding rod 54 , which is connected between the two assembly plates 56 , and the bottom end of the nut 52 is sleeved on the sliding rod 54 .

[0086] By providing the slide rod 54 , the bottom end of the nut 52 is sleeved on the slide rod 54 to form a sliding assembly, which directly limits the nut 52 axially, so that the nut 52 can move along the surface of the screw rod 51 more stably.

[0087] When the slide rod 54 is not provided, since the connecting arm 53 connects the driving plate 43 and the nut 52, the driving plate 43 is limited by the support column 41 and cannot rotate axially, thereby indirectly limiting the axial position of the nut 52 and allowing the nut 52 to move along the screw rod 51.

[0088] See also Figure 3 and Figure 5 As a preferred method in this embodiment, the road pothole identification and inspection device for the autonomous driving vehicle further includes a plurality of supporting devices 7, and the plurality of supporting devices 7 are centrally symmetrically mounted on the fixing plate 8. The supporting device 7 includes a supporting plate 72 and a plurality of telescopic rods 71, and the plurality of telescopic rods 71 ​​are linearly mounted on the fixing plate 8. The supporting plate 72 is connected to the output ends of the plurality of telescopic rods 71, and the portion of the supporting plate 72 located below the supporting arm 62 is set as a recessed portion 721.

[0089] By setting a plurality of supporting devices 7, when the center plate 21 and the U-shaped plate 22 descend to form a concave cavity, the supporting devices 7 can support the descending center plate 21 and the U-shaped plate 22; when the wheels of the test vehicle 20 enter the concave cavity and act on the U-shaped plate 22 and the center plate 21, the supporting devices 7 can support the U-shaped plate 22 and the center plate 21, thereby preventing the weight of the test vehicle 20 from acting entirely on the lifting cylinder 61, making the lifting cylinder 61 easily damaged, especially when the front wheels or rear wheels of the test vehicle 20 act alone with the U-shaped plate 22, the center of gravity of the test vehicle 20 deviates from the output shaft of the lifting cylinder 61, resulting in uneven force on the output shaft of the lifting cylinder 61.

[0090] By providing the telescopic rod 71 , the height of the support plate 72 can be adjusted accordingly according to the depth of the lowering of the U-shaped plate 22 and the central plate 21 .

[0091] A recessed portion 721 is provided on the support plate 72 below the support arm 62. When the lifting cylinder 61 drives the support arm 62 to descend through the connecting column 63, thereby driving the center plate 21 and the U-shaped plate 22 to descend to form a pit, the support arm 62 enters the recessed portion 721, and the top of the support arm 62 is flush with the top of the support plate 72, thereby not affecting the support of the support plate 72 to the center plate 21 and the U-shaped plate 22.

[0092] Please refer to Figure 3 and Figure 8 In this embodiment, four support devices 7 are provided, and the number of telescopic rods 71 ​​in each support device 7 is three. The three telescopic rods 71 ​​are linearly installed on the fixed plate 8, that is, they are arranged in a row, and the telescopic rods 71 ​​in the four support devices 7 form an X-shape, so that each support plate 72 can support the central plate 21 and each U-shaped plate 22.

[0093] See also Fig. 9 As an optional method of this embodiment, the telescopic rod 71 includes a mounting tube 711, a piston block 712, a support shaft 713 and a spring 714. The mounting tube 711 is installed on the fixing plate 8, and the piston block 712 is arranged inside the mounting tube 711. The spring 714 connects the piston block 712 and the mounting tube 711. The bottom end of the support shaft 713 passes through the top end of the mounting tube 711 and is connected to the piston block 712. The mounting tube 711 is provided with an assembly hole 7111, and the support shaft 713 is provided with a plurality of positioning holes 7131. The road pothole identification and inspection device for an autonomous driving vehicle also includes a positioning device 9, and the positioning device 9 is used to connect the assembly hole 7111 with one of the positioning holes 7131.

[0094] When the lifting cylinder 61 drives the support arm 62 to descend through the connecting column 63, the center plate 21 and the U-shaped plate 22 are driven to descend to form a pit. During this process, the support arm 62 is embedded in the recessed portion 721 of the support plate 72, and then the support arm 62 drives the support plate 72 to follow and descend. The support plate 72 pushes the piston block 712 to compress the spring 714 through the support shaft 713, so that the support plate 72 can adaptively adjust the height to meet the support of the center plate 21 and the U-shaped plate 22 of different heights. When the support plate 72 moves to a preset height driven by the support arm 62, the positioning hole 7131 on the support shaft 713 and the assembly hole 7111 on the mounting tube 711 are aligned, and the positioning hole 7131 and the assembly hole 7111 are connected by the positioning device 9, so that the support shaft 713 and the mounting tube 711 can be relatively limited, thereby realizing the stable support of the adjustment cover 2 by the support device 7.

[0095] After the current test is completed, the positioning device 9 moves out of the positioning hole 7131, and the lifting cylinder 61 lifts the support arm 62 to drive the center plate 21 and the U-shaped plate 22 to the starting position. The spring 714 lifts the piston block 712 to drive the support shaft 713 to lift the support plate 72 to the starting height.

[0096] The number of positioning holes 7131 is set corresponding to the depths of several conventionally set center plates 21 and U-shaped plates 22. When the lifting cylinder 61 descends and drives the center plate 21 and the U-shaped plate 22 to a preset depth, a corresponding positioning hole 7131 is aligned with the assembly hole 7111.

[0097] See also Fig. 9 There are two assembly holes 7111 , which are symmetrically arranged on both sides of the mounting tube 711 .

[0098] See also Figure 8 and Fig.11 There are two positioning devices 9, each of which includes a bracket 91, a driving device 93 and a plurality of positioning pins 92. The two brackets 91 are suspended below the fixing plate 8 and are located on both sides of the lifting cylinder 61. A plurality of positioning pins 92 are installed on the bracket 91 at intervals, and each positioning pin 92 is aligned with the positioning hole 7131 on each support shaft 713. When one positioning hole 7131 is aligned with the positioning hole 7131, the driving device 93 is used to drive the bracket 91 to move so that the positioning pin 92 is inserted into the positioning hole 7131 and the positioning hole 7131.

[0099] The telescopic rods 71 ​​are divided into two groups with the vertical center line of the fixed plate 8 as the boundary. Figure 8 The number of each group of telescopic rods 71 ​​is six, and each positioning device 9 corresponds to a group of telescopic rods 71. Six positioning pins 92 are correspondingly arranged on each bracket 91, and each positioning pin 92 is correspondingly arranged with each telescopic rod 71.

[0100] When the positioning hole 7131 on the support shaft 713 is aligned with the assembly hole 7111 on the mounting tube 711 , the driving device 93 drives the bracket 91 , driving multiple positioning pins 92 to be inserted into the positioning holes 7131 from the assembly holes 7111 , thereby limiting the mounting tube 711 and the support shaft 713 .

[0101] See also Figure 7 and Fig.10As an optional method of this embodiment, the driving device 93 is a driving arm, and the positioning device 9 also includes a plurality of support rods 94, which are installed on the inner wall of the test slot 101 and are located below the fixed plate 8. One end of the driving device 93 is sleeved on the support rod 94, and the other end of the driving device 93 is connected to the bracket 91. The top end of the connecting arm 53 passes through the driving plate 43, and the bottom end of the connecting arm 53 passes through the nut 52. The vertical adjustment device 6 also includes a sliding plate 64, one end of the sliding plate 64 is connected to the connecting arm 53, and the other end of the sliding plate 64 is slidably connected to one of the support arms 62. A strip hole 81 is provided on the fixed plate 8 and located below the connecting arm 53, and a plurality of driving holes 931 are provided on the driving device 93 and located below the strip hole 81.

[0102] During the test, the horizontal moving device 5 is first used to drive the two support frames 4 to separate from the center plate 21 or the center plate 21 and the U-shaped plate 22, and then the lifting cylinder 61 drives the support arm 62 to descend, so that the center plate 21 or the corresponding U-shaped plate 22 follows the decline, and the support arm 62 will act with the support plate 72 to drive the support shaft 713 to follow the decline, when the center plate 21 is lowered to the preset depth, the assembly hole 7111 and the positioning hole 7131 are aligned, and in this process, the support arm 62 drives the connecting arm 53 to follow the decline through the sliding plate 64, so that the top end of the connecting arm 53 is separated from the driving plate 43, and the bottom end of the connecting arm 53 passes through the strip hole 81 and is inserted into the corresponding driving hole 931;

[0103] At this time, the horizontal moving device 5 is used to drive the two brackets 91 to move. When driving, the driving device 55 drives the screw rod 51 to rotate, driving the two nuts 52 to move in the direction of separation along the screw rod 51, thereby driving the bracket 91 to follow the movement along the support rod 94 through the connecting arm 53, and the bracket 91 drives the positioning pin 92 to insert into the corresponding assembly hole 7111 and positioning hole 7131 on the telescopic rod 71, so as to limit the installation tube 711 and the support shaft 713 in the telescopic rod 71, so that the supporting device 7 can support the U-shaped plate 22 and the center plate 21, so that it has sufficient supporting force to support the test vehicle 20.

[0104] That is, while the vertical adjustment device 6 adjusts the depth of the center plate 21 and the U-shaped plate 22, thereby adjusting the depth of the pit, the use status of the horizontal moving device 5 can be adjusted, so that the horizontal moving device 5 switches from adjusting the position of the two support frames 4 to adjusting the position of the positioning device 9.

[0105] Subsequently, when the current test is completed, the horizontal moving device 5 first drives the two brackets 91 to close, so that the positioning pin 92 is separated from the telescopic rod 71 and moves to the starting position, and then the vertical adjustment device 6 lifts the center plate 21 and the U-shaped plate 22 to the starting position. At this time, the support arm 62 drives the top end of the connecting arm 53 to be inserted into the driving plate 43 again, and the horizontal moving device 5 switches again to drive the two support frames 4 to separate or close.

[0106] Among them, it is set that when the lifting cylinder 61 drives the center plate 21 and the U-shaped plate 22 to move down to the highest position, that is, when the adjusted pit depth is shallowest, the connecting arm 53 can be separated from the driving plate 43 and inserted into the corresponding driving hole 931. When the depth is increased subsequently, the connecting arm 53 continues to move down along the driving hole 931.

[0107] The number of the driving holes 931 corresponds to the sum of the number of the U-shaped plates 22 and the number of the center plates 21. When the connecting arm 53 drives the support frame 4 to separate from the center plate 21 or the corresponding U-shaped plate 22, the connecting arm 53 corresponds to the corresponding driving hole 931 on the driving device 93.

[0108] A rubber sleeve is sleeved on the support rod 94 to increase the friction between the support rod 94 and the driving device 93, so that the driving device 93 will not move when it is not affected by external force, thereby ensuring that the subsequent driving hole 931 and the connecting arm 53 can correspond.

[0109] The driving plate 43 is provided with an insertion hole for assembly with the top end of the connecting arm 53 . The bottom end of the connecting arm 53 penetrates the nut 52 and is staggered from the screw rod 51 .

[0110] In other embodiments, the driving device 93 may also include two driving cylinders and a mounting frame, the mounting frame is installed in the middle of the fixed plate 8, the two driving cylinders are symmetrically installed on the mounting frame, and the output ends of the driving cylinders are correspondingly connected to the two brackets 91 for pushing the two brackets 91 to close or separate.

[0111] The driving cylinder and the lifting cylinder 61 can be a hydraulic cylinder, a pneumatic cylinder, or an electric push cylinder, etc.

[0112] The working principle of the road pothole identification and inspection device for an autonomous driving vehicle provided by the present invention is as follows:

[0113] The detection device simulates the pits on the road surface, and can adjust the size and depth of the pits according to the detection requirements. When simulating the smallest pit, the horizontal moving device 5 first drives the two support frames 4 to separate, so that the support frames 4 are separated and staggered from the center plate 21, and then the lifting cylinder 61 drives the center plate 21 to descend. At this time, the center of the adjustment cover plate 2 leaks a depression equivalent to the center plate 21, thereby realizing the simulation of the pit;

[0114] When adjusting a larger pit, the horizontal moving device 5 drives the two support frames 4 to separate, so that the support frames 4 are separated and staggered from the center plate 21 and the innermost U-shaped plate 22. At this time, the support arm 62 supports the innermost U-shaped plate 22, and the lifting cylinder 61 drives the support arm 62 to descend, while driving the center plate 21 to descend, and the innermost U-shaped plate 22 follows the support arm 62 to descend through gravity. Subsequently, the horizontal moving device 5 drives the two support frames 4 to separate from the outer U-shaped plates 22 to change the size of the pit, and the lifting cylinder 61 adjusts the height of the descent of the center plate 21 and the U-shaped plate 22 to adjust the depth of the pit.

[0115] When the center plate 21 and the U-shaped plate 22 descend to form a concave cavity, the supporting device 7 can support the descending center plate 21 and the U-shaped plate 22. When the wheels of the test vehicle 20 enter the concave cavity and interact with the U-shaped plate 22 and the center plate 21, the supporting device 7 can support the U-shaped plate 22 and the center plate 21.

[0116] During the test, the horizontal moving device 5 is first used to drive the two support frames 4 to separate from the center plate 21 or the center plate 21 and the U-shaped plate 22, and then the lifting cylinder 61 drives the support arm 62 to descend, so that the center plate 21 or the corresponding U-shaped plate 22 follows the decline, and the support arm 62 will act with the support plate 72 to drive the support shaft 713 to follow the decline, when the center plate 21 is lowered to the preset depth, the assembly hole 7111 and the positioning hole 7131 are aligned, and in this process, the support arm 62 drives the connecting arm 53 to follow the decline through the sliding plate 64, so that the top end of the connecting arm 53 is separated from the driving plate 43, and the bottom end of the connecting arm 53 passes through the strip hole 81 and is inserted into the corresponding driving hole 931;

[0117] At this time, the horizontal moving device 5 is used to drive the two brackets 91 to move. When driving, the driving device 55 drives the screw rod 51 to rotate, driving the two nuts 52 to move in the direction of separation along the screw rod 51, thereby driving the bracket 91 to follow the movement along the support rod 94 through the connecting arm 53, and the bracket 91 drives the positioning pin 92 to insert into the corresponding assembly hole 7111 and positioning hole 7131 on the telescopic rod 71, so as to limit the installation tube 711 and the support shaft 713 in the telescopic rod 71, so that the supporting device 7 can support the U-shaped plate 22 and the center plate 21, so that it has sufficient supporting force to support the test vehicle 20.

[0118] That is, while the vertical adjustment device 6 adjusts the depth of the center plate 21 and the U-shaped plate 22, thereby adjusting the depth of the pit, the use status of the horizontal moving device 5 can be adjusted, so that the horizontal moving device 5 switches from adjusting the position of the two support frames 4 to adjusting the position of the positioning device 9.

[0119] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A road pothole identification and inspection device for an autonomous driving vehicle, characterized in that: include: Test track, adjustment cover, horizontal moving device, vertical adjustment device, two mounting plates and two support frames; A test slot is provided on the test track, two mounting plates are embedded in the test track and located on both sides of the test slot, two support frames are arranged in one-to-one correspondence with the two mounting plates, one end of one support frame extends to the inside of a corresponding mounting plate, and the other ends of the two support frames support the adjustment cover plate; The adjustment cover plate includes a central plate and a plurality of U-shaped plates, the diameters of the U-shaped plates are increased in sequence, and the U-shaped plates are sleeved in sequence, and the U-shaped plate located at the innermost side is sleeved on the central plate; The vertical adjustment device includes a lifting cylinder, a support arm and a connecting column, wherein the lifting cylinder is installed inside the test slot through a fixing plate, the output shaft of the lifting cylinder is connected to the center plate, the support arm is connected to the output shaft of the lifting cylinder through the connecting column, and the support arm is located below the adjustment cover plate; The horizontal moving device is used to drive the two support frames to close or separate.

2. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 1, characterized in that: The road pothole identification and inspection device for an autonomous driving vehicle also includes an interference vehicle, which is arranged on an interference track, and the interference track is arranged adjacent to the test track.

3. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 1, characterized in that: There are two support arms and two connecting columns, the two support arms are respectively located on both sides of the lifting cylinder, and one support arm is connected to the lifting cylinder through a corresponding connecting column.

4. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 1, characterized in that: The support frame includes a driving plate, a plurality of supporting columns and a plurality of connecting plates, one end of the supporting column extends to the interior of the mounting plate through a cylindrical hole, each connecting plate connects two adjacent driving plates, the driving plate is installed on the end of the supporting column away from the mounting plate, the output end of the horizontal moving device is detachably connected to the driving plate, two adjacent cylindrical holes are connected through a distance-shaped hole, and each distance-shaped hole is aligned with a corresponding connecting plate.

5. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 1, characterized in that: The horizontal moving device includes a screw rod, a driving device, two assembly plates, two nuts and two connecting arms. The two assembly plates are respectively installed at the two ends of the fixed plate, and the screw rod is rotatably installed on the assembly plate. The two ends of the screw rod are provided with opposite threaded surfaces, and the two nuts are correspondingly threadedly connected to the two ends of the screw rod. The two connecting arms are respectively installed on the two nuts, and the top ends of the two connecting arms are detachably connected to the driving plates in the two support frames, and the driving device is used to drive the screw rod to rotate.

6. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 5, characterized in that: The horizontal moving device also includes a sliding rod, which is connected between the two assembly plates, and the bottom end of the nut is sleeved on the sliding rod.

7. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 5, characterized in that: The road pothole identification and inspection device for an autonomous driving vehicle also includes a plurality of support devices, which are centrally symmetrically mounted on the fixed plate. The support device includes a support plate and a plurality of telescopic rods, which are linearly mounted on the fixed plate. The support plate is connected to output ends of the plurality of telescopic rods, and a portion of the support plate located below the support arm is configured as a recessed portion.

8. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 7, characterized in that: The telescopic rod includes a mounting tube, a piston block, a support shaft and a spring, wherein the mounting tube is mounted on the fixed plate, the piston block is arranged inside the mounting tube, the spring connects the piston block and the mounting tube, the bottom end of the support shaft passes through the top end of the mounting tube and is connected to the piston block, an assembly hole is provided on the mounting tube, and a plurality of positioning holes are provided on the support shaft, and the road pothole identification and inspection device for an autonomous driving vehicle also includes a positioning device, which is used to connect the assembly hole with one of the positioning holes.

9. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 8, characterized in that: There are two positioning devices, each of which includes a bracket, a driving device and a plurality of positioning pins. The two brackets are suspended below the fixed plate and are located on both sides of the lifting cylinder. A plurality of positioning pins are installed on the brackets at intervals, and each positioning pin is aligned with the positioning hole on each support shaft. When one positioning hole is aligned with the positioning hole, the driving device is used to drive the bracket to move so that the positioning pin is inserted into the positioning hole and the positioning hole.

10. The road pothole identification and inspection device for an autonomous driving vehicle according to claim 9, characterized in that: The driving device is a driving arm, and the positioning device also includes a plurality of support rods, which are installed on the inner wall of the test slot and are located below the fixed plate. One end of the driving device is sleeved on the support rod, and the other end of the driving device is connected to the bracket. The top end of the connecting arm passes through the driving plate, and the bottom end of the connecting arm passes through the nut. The vertical adjustment device also includes a sliding plate, one end of the sliding plate is connected to the connecting arm, and the other end of the sliding plate is slidably connected to one of the support arms. A strip hole is provided on the fixed plate and below the connecting arm, and a plurality of driving holes are provided on the driving device and below the strip hole.

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