A multi-degree-of-freedom anchor point positioning type lane line recognition device

Abstract

The application 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 curtain formed by the air inlet assembly after air treatment blocks the sand particles coming from the front, thereby protecting the mirror surface of the recognition device. Meanwhile, the flow rate of the front gas is slowed down through the partition plate assembly, the sand particles are separated from the airflow by virtue of the different inertia of the sand particles, so that the sand particles lose their original speed, are finally taken out of the shell interior by the air curtain or discharged from the through groove, and the impact of the sand particles on the mirror surface of the recognition device is avoided, thereby ensuring the use safety of the device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a multi-degree-of-freedom anchor point positioning type lane line recognition device. BACKGROUND

[0002] With the continuous progress of intelligent transportation systems and car auxiliary driving technology, artificial intelligence vision technology has shown great application potential in the field of automatic driving due to its wide detection range, complete target information, low cost and other advantages. Lane line detection, as a key research direction in the field of automatic driving and computer vision, plays an irreplaceable important role in lane keeping, adaptive cruise control and lane deviation warning or trajectory planning of fully automatic driving cars.

[0003] In automatic driving and advanced driver assistance systems (ADAS), the reliability of lane line recognition devices is directly related to the safety of vehicle driving. However, in special regions such as the northwest region and desert areas where the wind and sand environment is harsh, the interference of sand particles on optical recognition devices has become a core problem restricting the application of related technologies.

[0004] The existing lane line recognition device has significant limitations when dealing with sand and dust environments. Traditional mainstream devices usually adopt a static sealing structure, such as an IP67 protection level sealing ring, trying to prevent sand and dust from entering in this physical isolation way. However, in a wind and sand environment, this protection method has limited effect. When the vehicle is driving at high speed, the gas-solid two-phase flow formed by the sand particles with the airflow can easily penetrate the sealing gap, causing sealing failure. In addition, the hardness of sand particles is usually higher than that of the lens protection glass, and long-term wear and tear can seriously affect the light transmittance of the lens.

[0005] To deal with the problem of sand and dust adhesion, some solutions use physical contact cleaning structures, such as wipers or rotating brushes. However, this type of cleaning method not only aggravates the wear and tear of the device, but also introduces new problems. During the wiping process, sand particles may be embedded in the cleaning blade, forming fixed grinding points and increasing the roughness of the glass surface, affecting the imaging quality. At the same time, the external wiper will generate aerodynamic resistance when driving at high speed, inducing vortex-induced vibration, which threatens the stability and service life of the device. In addition, the cleaning mechanism relies on vehicle power or wind power to drive, and cannot work continuously in low-speed driving or parking state, causing sand and dust to accumulate on the lens surface, further affecting the recognition effect.

[0006] Therefore, a multi-degree-of-freedom anchor point positioning type lane line recognition device is proposed. SUMMARY

[0007] The purpose of the present application is to provide a multi-degree-of-freedom anchor point positioning type 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 the lane line, forms an air curtain to protect the mirror surface of the recognition device through the air inlet assembly, and slows down the flow rate of the front air flow using the baffle assembly to ensure the flow rate difference with the air curtain air, thereby avoiding the breakthrough of sand particles through the air curtain barrier and ensuring the service life of the mirror surface.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0009] A multi-degree-of-freedom anchor point positioning type lane line recognition device is used in cooperation with a recognition device, comprising a shell, an air inlet assembly, and a baffle assembly, the shell is connected to the front side of the recognition device, the air inlet 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 lens of the recognition device is isolated from the outside through the baffle assembly, and when the car is running, the baffle assembly is opened by using the front air flow, and the flow rate of the front air flow is slowed down by using the baffle assembly, and at the same time, an air curtain with a flow rate greater than that of the decelerated front air flow is formed in front of the mirror surface of the recognition device through the air inlet assembly.

[0010] Through the above-mentioned scheme, when the car is in a stationary state, the mirror surface of the recognition device located in front is covered by the shell and the baffle assembly, so that it can isolate the sand blown up when it is windy, thereby ensuring the cleanliness of the mirror surface and further ensuring its use effect when identifying; when the car is running, in order to avoid the sand particles carried by the front air flow from impacting on the mirror surface and scratching it to affect the recognition effect, the scheme forms an air curtain in front of the mirror surface by using the air inlet assembly to filter the air flow, so that it blocks the sand particles coming from the front, thereby protecting the mirror surface, and at the same time, in order to enhance the protection effect, the scheme also slows down the flow rate of the air coming from the front by using the baffle assembly, so that its speed is not enough to break through the protection of the air curtain and flow out of the inside of the shell along with the air of the air curtain, thereby realizing the protection of the mirror surface of the recognition device and further 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-mentioned scheme, the light transmittance of polycarbonate is greater than 92%, which is a transparent material with excellent light transmittance, ensuring that there is sufficient light when the recognition device identifies the lane line, thereby ensuring the recognition effect; at the same time, because the field of view of the recognition device only needs to meet a horizontal viewing angle of 120° and a vertical viewing angle of 40°, the setting of the shell and the baffle assembly in front of the recognition device does not affect the normal operation of the recognition device.

[0013] Preferably, upper and lower sides of the shell interior are respectively provided with upper and lower edges, the upper and lower edges are both arranged in an inclined manner, and the thicknesses thereof gradually decrease from the rear to the front, and the front side of the lower edge is provided with a through slot in communication with the outside of the shell.

[0014] Through the above scheme, when the front airflow is decelerated by passing through the baffle assembly, the sand particles lose a certain forward speed, at this time, part of the sand particles leave the shell interior along with the flow of the air curtain, part of the sand particles fall on the lower side of the shell, that is, the lower edge, and slide to the through slot from the lower edge, thereby being discharged to the outside of the shell; the upper edge and the lower edge cooperate to shorten the flow path of the air curtain, thereby ensuring the strength of the air curtain, and thus ensuring the protection effect on the mirror surface.

[0015] Preferably, the upper and lower edges are both provided with air ducts, the air ducts are arranged in an inclined manner from top to bottom and gradually backward; the air inlet assembly comprises a wind cover and a filter screen, the wind cover is provided with an annular flow channel therein, and the flow channel is in communication with the air ducts.

[0016] Through the above scheme, the inclined direction of the air ducts makes the gas flow rate of the air curtain not be slowed down too much, and the gradually narrowing flow channel and the air ducts where the upper edge is located accelerate the gas, thereby ensuring the strength of the air curtain; the filter screen can ensure that there are no sand particles or other particulate matters 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 arranged in an inclined manner and gradually inclined forward from bottom to top.

[0018] Through the above scheme, the inclined arrangement of the filter screen can make most of the sand particles blocked by the filter screen fall under the action of gravity, thereby avoiding excessive influence on the use effect of the filter screen.

[0019] Preferably, the baffle assembly comprises a baffle, a connecting piece, a wind plate, an inclined plate, a pull rope, a sliding block and a return spring, the connecting piece is connected with the shell, the baffle is arranged at the front opening of the shell through the connecting piece, the wind plate is arranged on the left and right sides of the shell, the inclined plate is connected with the wind plate, one end of the pull rope is connected with the wind plate, and the other end of the pull rope passes through the connecting piece and is connected with the baffle, the sliding block is connected with the wind plate and is in sliding connection with the shell, and the two ends of the return spring are respectively connected with the sliding block and the shell.

[0020] Through the above scheme, the baffle closes the shell in the initial state to avoid dust and sand and other sundries from entering, when the automobile is in a driving state, the airflow pushes the wind plate to move backward, thereby the baffle is pulled open by the pull rope, since the middle section of the pull rope passes through the connecting piece, and the distance between the connecting piece and the wind plate is much larger than the distance between the connecting piece and the baffle, therefore the wind plate only needs a very small force to pull open the baffle; meanwhile, the inclined plate increases the force bearing area of the baffle, guarantees the position state of the baffle, limits the opening size of the shell, and forms a moving cavity which gradually increases from front to back, so that the flow area of the gas gradually increases, thereby the flow speed is slowed down, and then the baffle avoids the gas curtain from being broken through; when the automobile stops moving, the wind plate moves right under the action of the return spring, thereby the baffle continues to guarantee the closed state of the shell; in addition, the wind plate and the inclined plate can block the airflow on both sides of the shell to a certain extent, thereby avoiding the sand carried by the side airflow from scratching the lens on the side of the recognition device.

[0021] Preferably, an inner cavity is arranged in the shell, a plug plate is connected to the front end of the sliding block, the plug plate is arranged in the inner cavity, air channels are arranged in the shell and the side wall of the air cover and are in communication with each other, the lower ends of the air channels are in communication with the inner cavity, and a plurality of air ports are arranged in the inner wall of the air cover and are in communication with the air channels.

[0022] Through the above scheme, when the wind plate moves left, the plug plate is driven to move left by the sliding block, and the clean airflow entering the flow channel is sucked into the inner cavity through the air ports and the air channels; when the automobile stops moving, the wind plate needs to squeeze out the gas in the inner cavity to reset, thereby the wind plate slowly resets, and then the baffle avoids knocking.

[0023] Preferably, the plurality of air ports are arranged in a direction inclined to the filter screen, and the inclination gradually decreases from front to back.

[0024] Through the above scheme, when the plug plate continuously moves right, the gas in the inner cavity is blown from the air ports to the surface of the filter screen through the air channels, thereby the sand and other sundries adhered to the filter screen are blown off, and the use effect is guaranteed; the openings of the plurality of air ports are in different directions, so that the airflow blown out can fully blow to each position of the filter screen, and the use effect is guaranteed.

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

[0026] 1. The multi-degree-of-freedom anchor point positioning type lane line recognition device has the air inlet assembly to form the air curtain to block the sand coming from the front, thereby protecting the mirror surface of the recognition device; the flow speed of the front gas is slowed down by the partition plate assembly, the sand is separated from the airflow by using the different inertia of the sand, thereby losing the original speed, and finally being taken out of the inside of the shell by the air curtain or being discharged from the through slot, thereby avoiding the sand from impacting on the mirror surface of the recognition device to affect the recognition effect of the lane line, and thereby guaranteeing the use safety of the device.

[0027] 2、The application discloses a multi-freedom degree anchor point positioning type lane line identification device, which is characterized in that: the inner cavity and the plug plate are arranged, when the wind plate drives the plug plate to move left, the clean airflow in the flow channel is sucked into the inner cavity through the air outlet and the air channel, when the automobile stops moving, the plug plate needs to squeeze the gas in the inner cavity to reset, so that the plug plate slowly resets, and the plug plate is prevented from being knocked due to the rapid closing of the baffle, and the plurality of air outlets are arranged towards the filter screen, so that the gas squeezed out of the inner cavity can blow the sand and other sundries adhered to the surface of the filter screen, and the use effect is ensured.

[0028] 3、The application discloses a multi-freedom degree anchor point positioning type lane line identification device, which is characterized in that: the baffle is arranged to form a conical opening, the flow area of the gas flowing from the front is gradually increased, so that the flow speed is slowed down, and the baffle is prevented from breaking through the air curtain, so that the safety of the mirror surface of the identification device is ensured, and when the baffle is opened, the positions of the wind plates and the inclined plates on the two sides gradually approach the lens on the side of the identification device, the wind plates and the inclined plates are arranged to block the airflow on the two sides of the shell to a certain extent, so that the sand carried by the airflow on the side is prevented from scratching the lens on the side of the identification device. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a structural schematic view of relative positions of the application and the identification device;

[0030] Figure 2 It is a structural schematic view of the whole application;

[0031] Figure 3 It is a structural schematic view of the shell of the application;

[0032] Figure 4 It is a structural schematic view of the air inlet assembly of the application;

[0033] Figure 5 It is a structural schematic view of the baffle assembly of the application;

[0034] Figure 6 It is an enlarged view of A of the application; Figure 5

[0035] Figure 7 It is a structural schematic view of the position relationship between the inner cavity and the plug plate of the application;

[0036] Figure 8 It is a structural schematic view of the air outlet of the application;

[0037] Figure 9 It is a gas flow state diagram of the air curtain formed by the application.

[0038] ​In the figure: 1, identification device; 2, shell; 3, air inlet assembly; 301, fan cover; 302, filter screen; 303, flow channel; 4, baffle assembly; 401, baffle; 402, connecting piece; 403, wind plate; 404, inclined plate; 405, pull rope; 406, sliding block; 407, reset spring; 5, upper edge; 6, lower edge; 7, through slot; 8, air duct; 9, inner cavity; 10, plug plate; 11, airway; 12, air port. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0040] Please refer to Figures 1 to 9 , the present application provides a multi-degree-of-freedom anchor point positioning type lane line identification device, and the technical solutions are as follows:

[0041] Specifically, please refer to Figure 1 , Figure 2 and Figure 3 , a multi-degree-of-freedom anchor point positioning type lane line identification device is used in cooperation with the identification device 1, the identification device 1 is installed on the roof of a car, the identification device 1 is provided with a plurality of identification lenses for detecting lane lines, road surface images are collected through the above-mentioned lenses, and lane lines are detected by using image processing and pattern recognition technology. The identification device 1 comprises a shell 2, an air inlet assembly 3 and a baffle assembly 4. The shell 2 is connected to the front side of the identification device 1. Since the field of view of the identification 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 identification effect of the identification device 1 on lane lines, and at the same time, the shell 2 can also enable the front identification device 1 to avoid being impacted by sand particles in the front airflow during the driving process of the car. The shell 2 is square and internally provided with a cavity. The shell 2 is made of transparent polycarbonate. The light transmittance of polycarbonate is greater than 92%, which is a transparent material with excellent light transmittance, ensuring that the identification device 1 can have sufficient light when identifying lane lines, and ensuring the identification effect.

[0042] The upper and lower sides of the shell 2 are respectively provided with upper edge 5 and lower edge 6, the upper edge 5 and lower edge 6 are both inclined to be arranged, and the thickness gradually thins from back to front, the cooperation of the upper edge 5 and lower edge 6 can shorten the flow path of the air curtain, ensure the strength of the air curtain, thereby ensuring the protection effect of the mirror surface, the front side of the lower edge 6 is provided with a through groove 7 which is communicated with the outside of the shell 2, part of sand particles which lose speed by the baffle assembly 4 will fall on the lower edge 6 of the lower side of the shell 2 and slide to the through groove 7 from the lower edge 6, thereby being discharged to the outside of the shell 2.

[0043] The air inlet assembly 3 is connected to the upper side of the shell 2, the filtered air flow is formed into an air curtain in front of the mirror surface by the air inlet assembly 3, so as to block the sand particles coming from the front, thereby protecting the mirror surface, the baffle assembly 4 is connected with the shell 2, the flow rate of the gas coming from the front is slowed down, so that the 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 application, referring to Figure 3 and Figure 4 , the upper edge 5 and lower edge 6 are both provided with air duct 8, the air duct 8 is gradually inclined to be arranged from top to bottom and rearward, the inclination direction of the air duct 8 makes the flow rate of the gas of the air curtain not be slowed down too much, and the gas is accelerated by 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 inlet assembly 3 includes a wind cover 301 and a filter screen 302, the filter screen 302 is used to ensure that there is no sand particle or other particulate matter in the air flow for forming the air curtain, thereby avoiding damaging the mirror surface, the filter screen 302 is made of TiAlN coated tool steel material, the rebound rate of the material to the sand particle is greater than 90%, so that the sand particle can be avoided to adhere to the filter screen 302 to the greatest extent, and the filter screen 302 is inclined to be arranged and gradually inclined to be arranged from bottom to top and forward, so that most of the sand particles blocked by the filter screen 302 can fall under the action of gravity, thereby avoiding excessively affecting the use effect of the filter screen 302; the wind cover 301 is provided with an annular flow channel 303, and the flow channel 303 is communicated with the air duct 8, the cross-sectional area of the flow channel 303 gradually decreases from front to back, so that the flow rate of the passing air flow can gradually increase, thereby ensuring the blocking effect of the air curtain to the sand particles.

[0046] As an embodiment of the present application, referring to Figure 2 , Figure 5 and Figure 6The baffle assembly 4 comprises a baffle 401, a connecting piece 402, a wind plate 403, an inclined plate 404, a pull rope 405, a sliding block 406 and a reset spring 407. The connecting piece 402 is connected with the shell 2. The baffle 401 is arranged at the front opening of the shell 2 through the connecting piece 402. The baffle 401 can rotate to a certain extent through the connecting piece 402. In the initial state, the baffle 401 closes the shell 2 to avoid dust and sand and other sundries from entering. When the automobile is in the running state, the airflow pushes the wind plate 403 to move backward, thereby pulling the baffle 401 apart through the pull rope 405. Since the middle section of the pull rope 405 passes through the connecting piece 402, and the distance between the connecting piece 402 and the wind plate 403 is much greater than the distance between the connecting piece 402 and the baffle 401, a kind of slide rope similar to the force-saving structure is formed. Therefore, the wind plate 403 only needs a small force to pull the baffle 401 apart. The wind plate 403 is arranged on the left and right sides of the shell 2. The inclined plate 404 is connected with the wind plate 403. The inclined plate 404 is used to increase the force receiving area of the baffle 401 and ensure the position state of the baffle 401. One end of the pull rope 405 is connected with the wind plate 403, and the other end passes through the connecting piece 402 and is connected with the baffle 401. The sliding block 406 is connected with the wind plate 403 and is in sliding connection with the shell 2. The two ends of the reset spring 407 are connected with the sliding block 406 and the shell 2 respectively. When the automobile stops moving, the wind plate 403 moves rightward under the action of the reset spring 407, thereby ensuring the closed state of the shell 2.

[0047] As an embodiment of the present application, referring to Figure 7 and Figure 8 , the shell 2 is internally provided with an inner cavity 9. The front end of the sliding block 406 is connected with a plug plate 10. The plug plate 10 is arranged in the inner cavity 9. The shell 2 and the side wall of the wind cover 301 are both provided with air channels 11 which are in communication with each other. The lower end of the air channel 11 is in communication with the inner cavity 9. A plurality of air ports 12 are further arranged on the inner wall of the wind cover 301. The air ports 12 are in communication with the air channels 11. When the wind plate 403 moves leftward, the plug plate 10 is driven to move leftward through the sliding block 406. The clean airflow entering the flow channel 303 is drawn into the inner cavity 9 through the air ports 12 and the air channels 11. When the plug plate 10 continuously moves rightward, the gas in the inner cavity 9 is blown from the air ports 12 to the surface of the filter screen 302 through the air channels 11, thereby blowing off the sundries such as sand particles adhered to the filter screen 302, and ensuring the use effect. The plurality of air ports 12 are all arranged in the direction of the filter screen 302 in an inclined manner, and the inclination gradually decreases from front to back. The blown airflow can be fully blown to each position of the filter screen 302, thereby ensuring the use effect.

[0048] Specific working principle is: in order to avoid the car from the front airflow entangled with sand particles impact on the mirror surface of the identification device 1, so as to cause damage to its mirror surface, the scheme through the air inlet assembly 3 in front of the mirror surface forming a protective air curtain, at the same time in order to avoid the gas flow rate in the treated air curtain is reduced, and can not effectively prevent the front airflow penetration problem, the scheme through the baffle assembly 4 to the front airflow deceleration, make sand particles lose the original speed and reduce its impact force, so as to avoid its penetration air curtain and impact on the mirror surface of the identification device 1.

[0049] Specifically, in the process of forming air curtain, the airflow from the front through the filter screen 302, at this time the filter screen 302 will be sand and other impurities in the airflow to keep outside the flow channel 303, while the clean gas continues to move along the gradually narrowing flow channel 303 to the air duct 8, in this process, the speed of airflow gradually increases, and then from the air duct 8 of the upper edge 5 to the air duct 8 of 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 take the sand and other impurities from the front of the shell 2 into the shell 2 from the air duct 8 of the lower edge 6;

[0050] When the car is running, the airflow blows the wind plate 403 and the inclined plate 404 and makes them move backward, at this time the wind plate 403 opens the baffle plate 401 through the pull rope 405, and forms a conical opening by using the baffle plate 401, so as to limit the opening size of the shell 2, and gradually increase the flow area of the front airflow, so as to slow down its flow rate, and further avoid its breaking through the barrier of the air curtain, thereby ensuring the safety of the mirror surface of the identification device 1; at the same time, the wind 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 avoiding the sand carried by the side airflow scratching the side lens of the identification device 1;

[0051] In the process of moving left of the wind plate 403, the plug plate 10 will be moved in the inner cavity 9 through the slider 406, so that the inner cavity 9 will be full of gas through the air duct 11 and the air port 12, therefore, when the wind plate 403 needs to reset, the gas in the inner cavity 9 must be squeezed out to reset, and the cross section of the air duct 11 is small, so that it can only reset slowly, thereby avoiding the baffle plate 401 to close quickly and produce bumping, in addition, in the process of squeezing out the gas in the inner cavity 9, the gas in the inner cavity 9 will blow to the surface of the filter screen 302 through the air duct 11 from the air port 12, thereby blowing off the sand and other impurities adhered on the filter screen 302, and ensuring the use effect, and the openings of the plurality of air ports 12 are oriented differently, so that the blown airflow can fully blow to each position of the filter screen 302, and ensure the use effect.

[0052] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A multi-degree of freedom anchor point positioning type lane line recognition device for use with a recognition device (1), characterized in that: The application relates to an identification device for a vehicle, which comprises a shell (2), an air inlet assembly (3) and a baffle assembly (4), the shell (2) is connected to the front side of the identification device (1), the air inlet assembly (3) is connected to the upper side of the shell (2), and the baffle assembly (4) is connected to the shell (2); when the vehicle is static, the lens of the identification device (1) is isolated from the outside through the baffle assembly (4); when the vehicle is running, the baffle assembly (4) is opened by using the front airflow, the front airflow speed is slowed down by using the baffle assembly (4), and an air curtain with a speed greater than that of the slowed-down front airflow is formed in front of the lens of the identification device (1) through the air inlet assembly (3). The upper and lower sides of the shell (2) are respectively provided with an upper edge (5) and a lower edge (6), the upper edge (5) and the lower edge (6) are both arranged in an inclined mode, the thicknesses of the upper edge (5) and the lower edge (6) gradually decrease from the rear to the front, and a through groove (7) is formed in the front side of the lower edge (6) and communicates with the outside of the shell (2). The upper edge (5) and the lower edge (6) are both provided with air ducts (8), the air ducts (8) are arranged in a gradually backward-inclined mode from the top to the bottom, the air inlet assembly (3) comprises a wind cover (301) and a filter screen (302), a ring-shaped flow channel (303) is formed in the wind cover (301), and the flow channel (303) communicates with the air ducts (8).

2. The multi-degree-of-freedom anchor point positioning type lane line recognition apparatus according to claim 1, characterized by: The shell (2) is square and internally provided with a cavity, and the shell (2) is made of transparent polycarbonate.

3. The multi-degree-of-freedom anchor point positioning type lane line recognition apparatus according to claim 1, characterized by: The filter screen (302) is made of TiAlN-coated tool steel material, and the filter screen (302) is arranged in an inclined mode and gradually forward-inclined from the bottom to the top.

4. The multi-degree-of-freedom anchor point positioning type lane line recognition apparatus according to claim 1, characterized by: The baffle assembly (4) comprises a baffle plate (401), a connecting piece (402), a wind plate (403), an inclined plate (404), a pull rope (405), a sliding block (406) and a reset spring (407), the connecting piece (402) is connected to the shell (2), the baffle plate (401) is arranged at the front opening of the shell (2) through the connecting piece (402), the wind plate (403) is arranged on the left and right sides of the shell (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), the other end of the pull rope (405) passes through the connecting piece (402) and is connected to the baffle plate (401), the sliding block (406) is connected to the wind plate (403) and is slidably connected to the shell (2), and the two ends of the reset spring (407) are respectively connected to the sliding block (406) and the shell (2).

5. The multi-degree-of-freedom anchor point positioning type lane line recognition apparatus according to claim 4, characterized by: The shell (2) is internally provided with an inner cavity (9), the front end of the sliding block (406) is connected with a plug plate (10), the plug plate (10) is arranged in the inner cavity (9), the shell (2) and the side wall of the wind cover (301) are both provided with air channels (11) which communicate with each other, the lower end of the air channel (11) communicates with the inner cavity (9), and a plurality of air ports (12) are formed in the inner wall of the wind cover (301) and communicate with the air channels (11).

6. The multi-degree-of-freedom anchor point positioning type lane line recognition apparatus according to claim 5, characterized by: The plurality of air ports (12) are all arranged in an inclined mode towards the direction of the filter screen (302), and the inclination gradually decreases from the front to the rear.

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