Multi-degree-of-freedom anchor point positioning type lane line identification equipment

Abstract

The invention relates to the technical field of intelligent driving, in particular to a multi-degree-of-freedom anchor point positioning type lane line recognition device which comprises a shell, an air inlet assembly and a partition plate assembly, the shell is connected to the front side of a recognition device, the air inlet assembly is connected to the upper side of the shell, and the partition plate assembly is connected with the shell. The air inlet assembly enables processed air flow to form an air curtain for blocking sand grains coming from the front face, so that the mirror face of the recognition device is protected, meanwhile, the flow speed of the front face air is slowed down through the partition plate assembly, the front face air is separated from the air flow through different inertia of the sand grains, and therefore the original speed of the front face air is lost. And finally, the air curtain is taken out of the shell or discharged from the through groove, so that the situation that the mirror surface of the recognition device is impacted to affect the recognition effect of the lane line is avoided, and the use safety of equipment is ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a multi-degree-of-freedom anchor point positioning lane line recognition device. Background Art

[0002] With the continuous advancement of intelligent transportation systems and assisted driving technologies, artificial intelligence (AI) vision technology, with its wide detection range, complete target information, and low cost, has shown tremendous potential for application in autonomous driving. Lane detection, a key research area in autonomous driving and computer vision, plays an irreplaceable role in lane keeping, adaptive cruise control, and lane departure warnings and trajectory planning for fully autonomous vehicles.

[0003] In autonomous driving and advanced driver assistance systems (ADAS), the reliability of lane recognition equipment is directly related to vehicle safety. However, in harsh, windy and sandy environments such as the northwest and desert regions, dust particles' interference with optical recognition equipment has become a key challenge hindering the implementation of these technologies.

[0004] Existing lane recognition equipment exhibits significant limitations when dealing with dusty environments. Traditional mainstream equipment typically utilizes static sealing structures, such as IP67-rated seals, to physically isolate and prevent dust intrusion. However, this protection is limited in windy and sandy environments. When a vehicle is traveling at high speeds, the gas-solid two-phase flow formed by sand particles and airflow can easily penetrate the seal gap, causing seal failure. Furthermore, sand particles are typically harder than lens protective glass, and long-term wear can severely affect the lens's light transmittance.

[0005] To address the problem of dust adhesion, some solutions use physical contact cleaning structures, such as wipers or rotating brushes. However, this type of cleaning method not only increases equipment wear, but also introduces new problems. During the scraping process, sand particles may be embedded in the cleaning blade, forming fixed grinding points, increasing the roughness of the glass surface, and affecting the image quality. At the same time, the external scraper will generate aerodynamic resistance when driving at high speeds, inducing vortex-induced vibrations, posing a threat to the stability and service life of the equipment. In addition, the cleaning mechanism relies on vehicle electricity or wind energy to drive, and cannot continue to work when driving at low speeds or when parked, causing sand and dust to accumulate on the lens surface, further affecting the recognition effect.

[0006] To this end, a multi-degree-of-freedom anchor point positioning lane line recognition device is proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a multi-degree-of-freedom anchor point positioning lane line recognition device, which solves the problem of wind and sand adhering to the mirror surface or sand scratching the mirror surface and affecting the recognition effect of lane lines. An air curtain is formed through the air intake component to protect the mirror surface of the recognition device, and a baffle component is used to slow down the front gas flow rate to ensure the flow rate difference between it and the air curtain gas, thereby preventing sand from breaking through the barrier of the air curtain and ensuring the service life of the mirror surface.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A multi-degree-of-freedom anchor point positioning lane line recognition device, used in conjunction with a recognition device, includes a shell, an air intake assembly and a baffle assembly. The shell is connected to the front side of the recognition device, the air intake assembly is connected to the upper side of the shell, and the baffle assembly is connected to the shell. When the car is stationary, the baffle assembly is used to isolate the lens of the recognition device from the outside world. When the car is moving, the frontal airflow is used to cause the baffle assembly to open and the baffle assembly is used to slow down the frontal airflow. At the same time, the air intake assembly forms an air curtain on the front side of the mirror of the recognition device with a flow rate greater than the decelerated frontal airflow.

[0010] Through the above scheme, when the car is in a stationary state, the outer shell and the partition assembly are used to cover the mirror of the identification device located in the front, so that it can isolate the sand blown by the wind, thereby ensuring the cleanliness of the mirror, and then ensuring its use effect during identification; when the car is driving, in order to prevent the sand particles attached to the front airflow from hitting the mirror surface and scratching it, thereby affecting the recognition effect, this scheme uses the air intake assembly to form an air curtain in front of the mirror after the filtered airflow, so as to block the sand particles coming from the front, thereby protecting the mirror surface. At the same time, in order to enhance the protection effect, this scheme also uses the partition assembly to slow down the flow rate of the gas coming from the front, so that its speed is not enough to break through the protection of the air curtain, and flows out of the outer shell with the gas flow of the air curtain, thereby realizing the protection of the mirror of the identification device, thereby ensuring the recognition effect of the lane line.

[0011] Preferably, the shell is square and has a cavity inside, and the shell is made of transparent polycarbonate.

[0012] Through the above solution, the light transmittance of polycarbonate is greater than 92%, and it is a transparent material with excellent light transmittance, which ensures that sufficient light can enter the recognition device when performing lane line recognition, thereby ensuring the recognition effect; at the same time, because the field of view of the recognition device only needs to meet the horizontal viewing angle of 120° and the vertical viewing angle of 40°, the arrangement of the housing and partition assembly in front of the recognition device does not affect the normal operation of the recognition device.

[0013] Preferably, an upper edge and a lower edge are respectively provided on the upper and lower sides of the interior of the shell, and the upper edge and the lower edge are both inclined, and their thickness gradually becomes thinner from back to front, and a through groove communicating with the outside of the shell is opened on the frontmost side of the lower edge.

[0014] Through the above scheme, when the front airflow passes through the baffle assembly and is slowed down, the sand particles lose a certain forward speed. At this time, some sand particles leave the inside of the shell with the flow of the air curtain, and some sand particles fall on the lower side of the shell, that is, the lower edge, and slide from the lower edge to the through groove, and then discharged to the outside of the shell; the cooperation of the upper edge and the lower edge can shorten the flow path of the air curtain, ensure the strength of the air curtain, and thus ensure the protection effect of the mirror.

[0015] Preferably, both the upper edge and the lower edge are provided with air ducts, and the air ducts are gradually tilted backward from top to bottom; the air intake assembly includes a wind cover and a filter, and an annular flow channel is opened in the wind cover, and the flow channel is connected to the air duct.

[0016] Through the above scheme, the inclined direction of the air duct ensures that the gas flow rate of the air curtain will not be slowed down too much, and the gas is accelerated through the gradually narrowing flow channel and the air duct at the upper edge, thereby ensuring the strength of the air curtain; the filter can ensure that there are no particles such as sand in the airflow forming the air curtain, thereby avoiding damage to the mirror surface.

[0017] Preferably, the filter screen is made of TiAlN coated tool steel material, and the filter screen is tilted and gradually tilted forward from bottom to top.

[0018] Through the above solution, the inclined setting of the filter can make most of the sand blocked by the filter fall under the action of gravity, avoiding excessive impact on the use effect of the filter.

[0019] Preferably, the partition assembly includes a baffle, a connecting member, a wind plate, an inclined plate, a pull rope, a slider and a reset spring, the connecting member is connected to the shell, the baffle is arranged at the front opening of the shell through the connecting member, the wind plate is arranged on the left and right sides of the shell, the inclined plate is connected to the wind plate, one end of the pull rope is connected to the wind plate, and the other end passes through the connecting member and is connected to the baffle, the slider is connected to the wind plate and is slidably connected to the shell, and the two ends of the reset spring are respectively connected to the slider and the shell.

[0020] Through the above solution, in the initial state, the baffle closes the outer shell to prevent the ingress of dust, sand and other debris. When the car is in motion, the airflow pushes the air plate backward, thereby pulling the baffle open via the pull rope. Since the middle section of the pull rope passes through the connector, and the distance between the connector and the air plate is much larger than the distance between the connector and the baffle, the air plate only requires a very small force to pull the baffle open. At the same time, the inclined plate is used to increase the force-bearing area of ​​the baffle, ensuring the position of the baffle so that the baffle limits the size of the opening of the outer shell and forms a moving cavity that gradually increases from front to back, thereby gradually increasing the flow cross-sectional area of ​​the gas, thereby slowing its flow rate and preventing it from breaking through the barrier of the air curtain. When the car stops moving, the air plate moves to the right under the action of the return spring, so that the baffle continues to ensure the closed state of the outer shell. In addition, the arrangement of the air plate and the inclined plate can block the airflow on both sides of the outer shell to a certain extent, thereby preventing sand carried by the side airflow from scratching the lens on the side of the identification device.

[0021] Preferably, an inner cavity is provided inside the outer shell, and a plug plate is connected to the front end of the slider, and the plug plate is provided in the inner cavity. The outer shell and the side wall of the wind hood are provided with air ducts that are interconnected, and the lower end of the air duct is connected to the inner cavity. The inner wall of the wind hood is also provided with multiple air outlets, and the air outlets are connected to the air ducts.

[0022] Through the above solution, when the wind plate moves to the left, the slider will drive the plug plate to move to the left, and the air outlet and air duct will be used to draw the clean airflow entering the flow channel into the inner cavity. When the car stops moving, the wind plate needs to squeeze out the gas in the inner cavity before it can be reset, so that it can be reset slowly, thereby avoiding the baffle from closing quickly and causing collision.

[0023] Preferably, the plurality of air outlets are all arranged to be inclined toward the filter screen, and the slope thereof gradually decreases from front to back.

[0024] Through the above solution, when the plug plate continues to move to the right, the gas in the inner cavity is blown from the air outlet to the surface of the filter through the air duct, thereby blowing off sand and other debris adhering to the filter, ensuring its use effect. The opening directions of multiple air outlets are different, so that the blown air flow can be fully blown to various positions of the filter, ensuring its use effect.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. This solution adopts a multi-degree-of-freedom anchor-point positioning lane line recognition device. The air intake assembly forms an air curtain after processing the airflow to block the sand particles coming from the front, thereby protecting the mirror surface of the recognition device. At the same time, the baffle assembly slows down the flow rate of the front gas. The difference in inertia of the sand particles is used to separate them from the airflow, causing them to lose their original speed and eventually be carried out of the housing by the air curtain or discharged from the through slot, preventing them from impacting the mirror surface of the recognition device and affecting its lane line recognition effect, thereby ensuring the safety of the equipment.

[0027] 2. This solution is a multi-degree-of-freedom anchor point positioning lane line recognition device. By setting an inner cavity and a plug plate, when the wind plate drives the plug plate to move left, the clean airflow entering the flow channel will be drawn into the inner cavity through the air outlet and the air channel. When the car stops moving, the plug plate needs to squeeze out the gas in the inner cavity before it can reset, so that it can reset slowly, thereby avoiding the baffle from closing quickly and causing collisions. At the same time, multiple air outlets are set towards the filter, so that the gas squeezed out of the inner cavity can blow toward the filter surface, thereby blowing off sand and other debris adhering to the filter, ensuring its use effect.

[0028] 3. The multi-degree-of-freedom anchor point positioning lane line recognition device of this scheme, by setting a partition assembly and using the baffle to form a conical opening, gradually increases the flow cross-sectional area of ​​the gas coming from the front, thereby slowing down its flow rate and preventing it from breaking through the barrier of the air curtain, thereby ensuring the safety of the mirror of the recognition device. At the same time, when the baffle is opened, the positions of the wind plates and inclined plates on both sides will gradually approach the lens on the side of the recognition device. The setting of the wind plates and inclined plates can block the airflow on both sides of the casing to a certain extent, thereby preventing sand carried by the side airflow from scratching the lens on the side of the recognition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of the present invention and the relative position of the identification device;

[0030] Figure 2 It is a schematic structural diagram of the present invention as a whole;

[0031] Figure 3 Schematic diagram of the structure of the housing of the present invention;

[0032] Figure 4 It is a structural schematic diagram of the air intake assembly of the present invention;

[0033] Figure 5 Schematic diagram of the structure of the partition assembly of the present invention;

[0034] Figure 6 For the present invention Figure 5 A magnified view of point A;

[0035] Figure 7 This is a structural diagram of the positional relationship between the inner cavity and the plug plate of the present invention;

[0036] Figure 8 It is a structural schematic diagram of the air outlet of the present invention;

[0037] Figure 9 A diagram of the gas flow state for forming the air curtain according to the present invention.

[0038] In the figure: 1. Identification device; 2. Housing; 3. Air intake assembly; 301. Wind hood; 302. Filter; 303. Flow channel; 4. Partition assembly; 401. Baffle; 402. Connector; 403. Wind plate; 404. Inclined plate; 405. Pull rope; 406. Slider; 407. Return spring; 5. Upper edge; 6. Lower edge; 7. Through groove; 8. Air duct; 9. Inner cavity; 10. Plug plate; 11. Air duct; 12. Air outlet. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0040] See also Figures 1 to 9 The present invention provides a multi-degree-of-freedom anchor point positioning lane line recognition device, and the technical solution is as follows:

[0041] For details, please refer to Figure 1 、 Figure 2 and Figure 3 , a multi-degree-of-freedom anchor point positioning lane line recognition device, used in conjunction with a recognition device 1, the recognition device 1 is installed on the roof of the car, and a plurality of recognition lenses for detecting lane lines are provided on the recognition device 1. The road surface image is collected through the above lenses, and the lane lines are detected by using image processing and pattern recognition technology. The device comprises a shell 2, an air intake assembly 3 and a baffle assembly 4. The shell 2 is connected to the front side of the recognition device 1. Since the field of view of the recognition device 1 only needs to meet a horizontal viewing angle of 120° and a vertical viewing angle of 40°, the shell 2 does not affect the recognition effect of the recognition device 1 for the lane line. At the same time, it can also prevent the front recognition device 1 from being hit by sand particles in the front airflow during the driving process of the car. The shell 2 is square and has a cavity inside. The shell 2 is made of transparent polycarbonate. The light transmittance of polycarbonate is greater than 92%. It is a transparent material with excellent light transmittance, which ensures that sufficient light can enter the recognition device 1 when performing lane line recognition, thereby ensuring the recognition effect;

[0042] An upper edge 5 and a lower edge 6 are provided on the upper and lower sides of the interior of the shell 2, respectively. The upper edge 5 and the lower edge 6 are both inclined, and their thickness gradually becomes thinner from the back to the front. The upper edge 5 and the lower edge 6 cooperate to shorten the flow path of the air curtain, ensure the strength of the air curtain, and thus ensure the protection effect of the mirror surface. A through groove 7 is provided on the front side of the lower edge 6, which is connected to the outside of the shell 2. Part of the sand that loses speed due to deceleration by the partition assembly 4 will fall on the lower edge 6 on the lower side of the shell 2, and slide from the lower edge 6 to the through groove 7, thereby being discharged to the outside of the shell 2;

[0043] The air intake assembly 3 is connected to the upper side of the outer shell 2. The air intake assembly 3 allows the filtered air flow to form an air curtain in front of the mirror, thereby blocking the sand coming from the front and protecting the mirror. The partition assembly 4 is connected to the outer shell 2 to slow down the flow rate of the gas coming from the front, so that its speed is not enough to break through the protection of the air curtain, thereby enhancing the protection effect of the identification device 1.

[0044] As an embodiment of the present invention, refer to Figure 3 and Figure 4 The upper edge 5 and the lower edge 6 are both provided with air ducts 8, and the air ducts 8 are gradually tilted backward from top to bottom. The tilt direction of the air ducts 8 prevents the gas flow rate of the air curtain from being slowed down too much, and accelerates the gas through the gradually narrowing flow channel 303 and the air duct 8 where the upper edge 5 is located, thereby ensuring the strength of the air curtain;

[0045] The air intake assembly 3 includes a hood 301 and a filter 302. The filter 302 is used to ensure that there are no particles such as sand in the airflow forming the air curtain, thereby avoiding damage to the mirror surface. The filter 302 is made of TiAlN-coated tool steel material, which has a rebound rate of more than 90% for sand particles, thereby preventing sand particles from adhering to the filter 302 to the greatest extent. At the same time, the filter 302 is tilted and gradually tilted forward from bottom to top, so that most of the sand particles blocked by the filter 302 can fall under the action of gravity, avoiding excessive impact on the use effect of the filter 302; an annular flow channel 303 is opened in the hood 301, and the flow channel 303 is connected to the air duct 8. The cross-sectional area of ​​the flow channel 303 gradually decreases from front to back, so that the air flow velocity passing through it can gradually increase, thereby ensuring the air curtain's blocking effect on sand particles.

[0046] As an embodiment of the present invention, refer to Figure 2 、 Figure 5 and Figure 6The partition assembly 4 includes a baffle 401, a connector 402, an air plate 403, an inclined plate 404, a pull rope 405, a slider 406 and a return spring 407. The connector 402 is connected to the housing 2. The baffle 401 is arranged at the front opening of the housing 2 through the connector 402. The baffle 401 can rotate to a certain extent through the connector 402. In the initial state, the baffle 401 closes the housing 2 to prevent dust, sand and other debris from entering. When the car is in a driving state, the airflow pushes the air plate 403 to move backward, thereby pulling the baffle 401 open through the pull rope 405. Since the middle section of the pull rope 405 passes through the connector 402, the distance between the connector 402 and the air plate 403 is much larger than the distance between the connector 402 and the baffle 401. The distance forms a kind of sliding rope with a labor-saving structure, so the wind plate 403 only needs a small force to pull the baffle 401 open; the wind plate 403 is arranged on the left and right sides of the shell 2, and the inclined plate 404 is connected to the wind plate 403, and the inclined plate 404 is used to increase the force area of ​​the baffle 401 to ensure the position state of the baffle 401, one end of the pull rope 405 is connected to the wind plate 403, and the other end is connected to the baffle 401 through the connecting piece 402, the slider 406 is connected to the wind plate 403 and slidably connected to the shell 2, and the two ends of the reset spring 407 are respectively connected to the slider 406 and the shell 2. When the car stops moving, the wind plate 403 moves to the right under the action of the reset spring 407, so that the baffle 401 continues to ensure the closed state of the shell 2.

[0047] As an embodiment of the present invention, refer to Figure 7 and Figure 8 , the shell 2 is provided with an inner cavity 9, the front end of the slider 406 is connected to the plug plate 10, the plug plate 10 is provided in the inner cavity 9, the shell 2 and the side wall of the wind cover 301 are provided with an air duct 11 that is interconnected, and the lower end of the air duct 11 is connected to the inner cavity 9, the inner wall of the wind cover 301 is also provided with a plurality of air ports 12, the air ports 12 are connected to the air duct 11, when the air plate 403 moves to the left, the plug plate 10 will be driven to the left by the slider 406, and the air ports 12 and the air duct 11 will be used to move the air duct 11 to the left. The clean airflow entering the flow channel 303 is drawn into the inner cavity 9. When the plug plate 10 continues to move to the right, the gas in the inner cavity 9 is blown from the air outlet 12 through the air channel 11 to the surface of the filter 302, thereby blowing off sand and other debris adhering to the filter 302, ensuring its use effect. The multiple air outlets 12 are all inclined toward the direction of the filter 302, and the slope thereof gradually decreases from front to back, so that the blown airflow can be fully blown to various positions of the filter 302, thereby ensuring its use effect.

[0048] The specific working principle is: in order to prevent the airflow from the front of the car from carrying sand and hitting the mirror surface of the identification device 1 when the car is driving, thereby causing damage to the mirror surface, this solution forms a protective air curtain in front of the mirror through the air intake component 3. At the same time, in order to avoid the problem that the gas flow rate in the treated air curtain is reduced and the airflow from the front cannot be effectively prevented from penetrating, this solution slows down the front airflow through the partition component 4, so that the sand loses its original speed and reduces its impact force, thereby preventing it from penetrating the air curtain and hitting the mirror surface of the identification device 1.

[0049] Specifically, during the process of forming the air curtain, the airflow from the front passes through the filter 302. At this time, the filter 302 blocks sand and other debris in the airflow outside the flow channel 303, while the clean air continues to move along the gradually narrowing flow channel 303 toward the air duct 8. During this process, the airflow speed gradually increases, and then blows out from the air duct 8 at the upper edge 5 to the air duct 8 at the lower edge 6, thereby forming a protective air curtain in front of the mirror surface of the identification device 1. The air curtain can also carry sand and other debris entering from the front of the housing 2 away from the interior of the housing 2 through the air duct 8 at the lower edge 6;

[0050] When the car is moving, the airflow blows the air plate 403 and the inclined plate 404 and causes them to move backward. At this time, the air plate 403 opens the baffle 401 through the pull rope 405, and forms a tapered opening with the baffle 401, thereby limiting the opening size of the shell 2. The flow cross-sectional area of ​​the air coming from the front gradually increases, thereby slowing down its flow rate and preventing it from breaking through the barrier of the air curtain, thereby ensuring the safety of the mirror of the identification device 1; at the same time, the air plate 403 and the inclined plate 404 located on the side of the shell 2 can also block the airflow on both sides of the shell 2 to a certain extent, thereby preventing sand carried by the side airflow from scratching the lens of the side of the identification device 1;

[0051] During the left movement of the wind plate 403, the slider 406 will drive the plug plate 10 to move in the inner cavity 9, thereby filling the inner cavity 9 with gas through the air duct 11 and the air outlet 12. Therefore, when the wind plate 403 needs to be reset, the gas in the inner cavity 9 must be squeezed out before it can be reset. The cross-section of the air duct 11 is small, so it can only be reset slowly, thereby avoiding the baffle 401 from closing quickly and causing collision. In addition, in the process of squeezing out the gas in the inner cavity 9, the gas in the inner cavity 9 will pass through the air duct 11 and be blown from the air outlet 12 to the surface of the filter 302, thereby blowing off sand and other debris adhering to the filter 302, ensuring its use effect. The openings of the multiple air outlets 12 are in different directions, so that the blown air flow can be fully blown to various positions of the filter 302, ensuring its use effect.

[0052] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom anchor point positioning lane line recognition device, used in conjunction with a recognition device (1), characterized by: The invention comprises a housing (2), an air intake assembly (3) and a partition assembly (4), wherein the housing (2) is connected to the front side of the recognition device (1), the air intake assembly (3) is connected to the upper side of the housing (2), and the partition assembly (4) is connected to the housing (2); when the car is stationary, the partition assembly (4) is used to isolate the lens of the recognition device (1) from the outside world; when the car is moving, the front airflow is used to cause the partition assembly (4) to open, and the partition assembly (4) is used to slow down the front airflow velocity; at the same time, the air intake assembly (3) forms an air curtain on the front side of the mirror of the recognition device (1) with a velocity greater than the velocity of the front airflow after the velocity is slowed down.

2. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 1, characterized in that: The outer shell (2) is square and has a cavity inside. The outer shell (2) is made of transparent polycarbonate.

3. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 2, characterized in that: An upper edge (5) and a lower edge (6) are respectively provided on the upper and lower sides of the interior of the shell (2); the upper edge (5) and the lower edge (6) are both inclined, and their thickness gradually decreases from the back to the front; a through groove (7) communicating with the outside of the shell (2) is provided on the frontmost side of the lower edge (6).

4. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 3, characterized in that: The upper edge (5) and the lower edge (6) are both provided with an air duct (8), and the air duct (8) is gradually tilted backward from top to bottom; the air intake assembly (3) comprises an air cover (301) and a filter (302), an annular flow channel (303) is provided in the air cover (301), and the flow channel (303) is communicated with the air duct (8).

5. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 4, characterized in that: The filter screen (302) is made of TiAlN coated tool steel material, and the filter screen (302) is tilted and gradually tilted forward from bottom to top.

6. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 4, characterized in that: The partition assembly (4) comprises a baffle (401), a connecting member (402), a wind plate (403), an inclined plate (404), a pull rope (405), a slider (406) and a return spring (407); the connecting member (402) is connected to the housing (2); the baffle (401) is arranged at the front opening of the housing (2) through the connecting member (402); the wind plate (403) is arranged on the left and right sides of the housing (2); the inclined plate (404) is connected to the wind plate (403); one end of the pull rope (405) is connected to the wind plate (403) and the other end passes through the connecting member (402) and is connected to the baffle (401); the slider (406) is connected to the wind plate (403) and is slidably connected to the housing (2); and the two ends of the return spring (407) are respectively connected to the slider (406) and the housing (2).

7. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 6, characterized in that: An inner cavity (9) is provided inside the shell (2), a plug plate (10) is connected to the front end of the slider (406), and the plug plate (10) is provided in the inner cavity (9). The shell (2) and the side wall of the wind hood (301) are both provided with air ducts (11) that are interconnected, and the lower end of the air duct (11) is connected to the inner cavity (9). The inner wall of the wind hood (301) is also provided with a plurality of air ports (12), and the air ports (12) are connected to the air duct (11).

8. The multi-degree-of-freedom anchor point positioning lane line recognition device according to claim 7, characterized in that: The plurality of air outlets (12) are all arranged to be inclined toward the filter (302), and their slopes gradually decrease from front to back.

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