Laser radar anti-collision protection device for automatic driving in dangerous scene

Abstract

The invention relates to the technical field of vehicle sensors, in particular to a laser radar anti-collision protection device for automatic driving in a dangerous scene, which comprises a protection box and a radar body, the radar body is fixed on a floating base arranged in the protection box, and the floating base is supported on the inner bottom surface of the protection box through a multi-directional composite energy absorption bracket. A deflectable protective cover is arranged on the front portion of the protective box, the two sides of the deflectable protective cover are connected with the front side wall of the protective box through flexible hinge arms, a guide rail flange is arranged on the edge of the inner side of the deflectable protective cover, and the guide rail flange is arranged in an arc-shaped limiting groove formed in the front side wall of the protective box in a sliding fit mode. According to the laser radar anti-collision protection device for automatic driving in the dangerous scene, direct damage of impact force to the laser radar body can be effectively reduced, and the protection reliability of the laser radar body in a complex dangerous environment is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle sensor technology, specifically to a lidar collision avoidance protection device for autonomous driving in dangerous scenarios. Background Technology

[0002] With the rapid development of autonomous driving technology, LiDAR, as a key sensor for environmental perception and obstacle recognition, has been widely used in various intelligent vehicles. In high-risk driving environments such as construction zones, narrow alleyways, or areas with frequent unexpected obstacles, LiDAR is highly susceptible to external impacts, scratches, or foreign object intrusion, which can affect its normal operation or even lead to equipment damage. Therefore, designing reliable and effective physical protection structures for LiDAR has become a necessary measure to improve the safety of autonomous driving systems in hazardous scenarios.

[0003] In the prior art, patent number CN222014457U discloses a protective structure for a lidar used in autonomous driving. This device uses a lifting assembly in conjunction with a sliding rail to move the lidar up and down, and integrates a cleaning mechanism to maintain surface cleanliness. However, the protective box of this structure uses a fixed rigid front wall, and the lidar is directly connected to the lifting mechanism via a mounting plate, lacking effective buffering capacity against lateral impacts. When the vehicle encounters a side collision or scrape, the impact force will be directly transmitted to the lidar body through the rigid box, which can easily cause deformation of the outer shell, displacement or breakage of internal optical components. In addition, this structure does not have any energy absorption mechanism that can undergo controllable deformation at the moment of impact, relying solely on static shielding for protection, which is difficult to cope with complex and ever-changing dangerous conditions, resulting in limited protective effect and insufficient reliability. Summary of the Invention

[0004] The purpose of this invention is to provide a lidar collision avoidance protection device for autonomous driving in dangerous scenarios, in order to solve the problems mentioned in the background art, such as the lack of an effective buffer mechanism in current lidar protection devices when encountering side collisions, and the easy direct transmission of impact force to the lidar body, resulting in equipment damage.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a lidar collision avoidance protection device for autonomous driving in dangerous scenarios, comprising a protective box and a radar body, wherein the radar body is fixed on a floating base provided inside the protective box, the floating base is supported on the bottom surface of the protective box by a multi-directional composite energy-absorbing bracket, and a deflectable protective cover is provided at the front of the protective box, both sides of the deflectable protective cover are connected to the front sidewall of the protective box by flexible hinge arms, and a guide rail flange is provided on the inner edge of the deflectable protective cover, the guide rail flange being slidably engaged in an arc-shaped limiting groove opened in the front sidewall of the protective box.

[0006] Preferably, the multi-directional composite energy-absorbing support includes an annular elastic buffer pad, a V-shaped elastic support arm, and a stacked damping block. The annular elastic buffer pad is located between the bottom of the floating base and the bottom plate of the protective box. The V-shaped elastic support arm is disposed on both sides of the floating base, with one end connected to the side wall of the floating base and the other end connected to the front side wall of the protective box. The stacked damping block is embedded in the hinge area of ​​the two arm segments of the V-shaped elastic support arm.

[0007] Preferably, the laminated damping block is formed by hot pressing and vulcanizing five or more layers of alternately stacked stainless steel sheets and high-damping rubber layers, with the edges of adjacent stainless steel sheets staggered to form shear deformation gaps.

[0008] Preferably, the two arm segments of the V-shaped elastic support arm are provided with mating cavities at the hinge, and the laminated damping block is embedded in the mating cavity as a whole, and the two arm segments and the damping block are fixed together by through rivets.

[0009] Preferably, the guide rail flange is a T-shaped protrusion extending rearward along the inner edge of the deflectable protective cover, and its cross-section is trapezoidal.

[0010] Preferably, the arc-shaped limiting groove is opened along an arc trajectory with the hinge center of the flexible hinge arm as the center, the groove width is greater than the guide rail flange thickness, and the bottom of the groove is provided with a polytetrafluoroethylene liner.

[0011] Preferably, the outer surface of the deflectable protective cover is provided with a plurality of transversely distributed guide strips, the guide strips being thin metal sheets with a trapezoidal cross section, arranged obliquely outward along the surface of the protective cover.

[0012] Preferably, the bottom of the floating base is provided with a downwardly extending positioning post, which passes through the central hole of the annular elastic buffer pad and forms a clearance fit with the limiting sleeve on the bottom plate of the protective box.

[0013] Preferably, a sealing lip is provided between the bottom edge of the deflectable protective cover and the front side wall of the protective box, and the sealing lip is made of silicone material.

[0014] Preferably, the protective box has U-shaped reinforcing ribs at the four corners of its outer wall, and the U-shaped reinforcing ribs are welded to the outer wall of the protective box.

[0015] Compared with existing technologies, the beneficial effects of this invention are: the lidar anti-collision protection device for autonomous driving in hazardous scenarios can achieve controllable deformation and energy absorption in lateral collisions, effectively reducing the direct damage of impact force to the lidar body and improving its protective reliability in complex and hazardous environments. This lidar anti-collision protection device for autonomous driving in hazardous scenarios achieves deflection and unloading in the initial stage of impact through the linkage guiding design of a deflectable protective cover, flexible hinged arm, guide rail flange, and arc-shaped limiting groove. Simultaneously, combined with a multi-directional composite energy-absorbing bracket providing multi-directional buffer support for the floating base, a graded energy absorption mechanism is formed, significantly improving the overall impact resistance and structural recovery capability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a lidar collision avoidance protection device for autonomous driving in dangerous scenarios according to the present invention.

[0017] Figure 2 This is a top view of the connection between the floating base and the protective box of a lidar collision avoidance and protection device for autonomous driving in dangerous scenarios according to the present invention. Figure 3 This is a schematic diagram of the external structure of the front end of the protective box of a lidar anti-collision protection device for autonomous driving in dangerous scenarios according to the present invention; Figure 4 This is a schematic diagram of the back structure of a floating base for a lidar collision avoidance and protection device for autonomous driving in dangerous scenarios according to the present invention. Figure 5 This is a schematic diagram of the inner bottom structure of the protective box of a lidar anti-collision protection device for autonomous driving in dangerous scenarios according to the present invention.

[0018] In the diagram: 1. Protective box; 2. Radar body; 3. Floating base; 4. Multi-directional composite energy-absorbing bracket; 41. Annular elastic buffer pad; 42. V-shaped elastic support arm; 43. Stacked damping block; 5. Deflectable protective cover; 6. Flexible hinged arm; 7. Guide rail flange; 8. Arc-shaped limiting groove; 9. Guide strip; 10. Positioning post; 11. Limiting sleeve; 12. Sealing lip; 13. U-shaped reinforcing rib. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1-5This invention provides a technical solution: a lidar collision avoidance device for autonomous driving in dangerous scenarios, comprising a protective box 1 and a radar body 2. The radar body 2 is fixed to a floating base 3 inside the protective box 1. After the radar body 2 is aligned with the positioning groove on the upper surface of the floating base 3 via a bottom flange, it is fastened with four M6 countersunk screws. The floating base 3 is supported on the inner bottom surface of the protective box 1 by a multi-directional composite energy-absorbing bracket 4. The front of the protective box 1 is provided with a deflectable protective cover 5. The upper end of the deflectable protective cover 5 is hinged to the upper part of the front side wall of the protective box 1 via a pin. Both sides of the deflectable protective cover 5 are connected to the front side wall of the protective box 1 via flexible hinge arms 6. The inner edge of the deflectable protective cover 5 is provided with a guide rail flange 7, which is connected to the deflectable protective cover. 5 is an integral stamped structure. The guide rail flange 7 slides in the arc-shaped limiting groove 8 opened in the front side wall of the protective box 1. When the vehicle encounters a frontal or side collision impact, the deflectable protective cover 5 is first subjected to force and deflects backward, causing the flexible hinge arms 6 on both sides to rotate around the connection point. At the same time, the guide rail flange 7 on the inner edge of the deflectable protective cover 5 slides along the arc-shaped limiting groove 8 in the front side wall of the protective box 1, guiding the entire deflectable protective cover 5 to rotate controllably around the hinge center of the flexible hinge arm 6, thereby converting part of the impact energy into the rotational kinetic energy of the deflectable protective cover 5 and absorbing it through the elastic deformation of the flexible hinge arm 6. Meanwhile, the radar body 2 fixed on the floating base 3, along with the floating base 3, generates vertical and horizontal forces under the action of the multi-directional composite energy-absorbing bracket 4. Lateral coordinated displacement and deformation effectively attenuate the residual impact force transmitted to the radar body 2. Throughout the process, the protective box 1, as the overall load-bearing shell, maintains structural integrity. The flexible hinged arm 6, the deflectable protective cover 5, the guide rail flange 7, and the arc-shaped limiting groove 8 form a linkage guidance-buffering-limiting integrated mechanism. The multi-directional composite energy-absorbing bracket 4 provides core energy-absorbing support. The coordinated action of each component achieves graded dissipation of impact energy and precise constraint of the motion path, thereby significantly reducing the instantaneous load borne by the lidar body 2 and avoiding shell breakage, optomechanical misalignment, or internal component breakage caused by rigid transmission. This effectively solves the problem that existing lidar protective structures lack an effective buffering and energy-absorbing mechanism in dangerous scenarios, and the impact force is directly transmitted to the radar body, leading to equipment damage. To address the issue of insufficient protective reliability, the multi-directional composite energy-absorbing support 4 includes an annular elastic buffer pad 41, a V-shaped elastic support arm 42, and a laminated damping block 43. The annular elastic buffer pad 41 is located between the bottom of the floating base 3 and the bottom plate of the protective box 1. The V-shaped elastic support arm 42 is located on both sides of the floating base 3, with one end connected to the side wall of the floating base 3 and the other end connected to the front side wall of the protective box 1. The laminated damping block 43 is embedded inside the hinge area of ​​the two arm sections of the V-shaped elastic support arm 42. This structure can deform collaboratively under vertical and lateral impacts, achieving multi-directional buffering and energy dissipation, and improving the overall energy absorption efficiency. The laminated damping block 43 is formed by hot-pressing and vulcanizing five or more layers of alternately stacked stainless steel sheets and high-damping rubber layers. The edges of adjacent stainless steel sheets are staggered to form shear deformation gaps.This structure generates a high damping effect through interlayer shear when the V-shaped elastic support arm 42 swings, effectively suppressing vibration and rapidly attenuating impact energy, avoiding rebound oscillation. The two arm sections of the V-shaped elastic support arm 42 have mating cavities at the hinge points, and the laminated damping block 43 is integrally embedded in these cavities. The two arm sections and the damping block are fixed together by through rivets. This structure ensures that the laminated damping block 43 is stably embedded and does not fall off during stress, while simultaneously ensuring that deformation force is evenly transmitted to the damping material, improving structural reliability and service life. The guide rail flange 7 is a T-shaped protrusion extending rearward along the inner edge of the deflectable protective cover 5, with a trapezoidal cross-section. This structure, when the deflectable protective cover 5... The protective cover 5 provides stable sliding guidance during deflection, preventing derailment or jamming and ensuring the accuracy and repeatability of the motion trajectory. The arc-shaped limiting groove 8 is opened along an arc trajectory centered on the hinge center of the flexible hinge arm 6. The width of the groove is greater than the thickness of the guide rail flange 7, and the bottom of the groove is provided with a polytetrafluoroethylene lining. This structure provides a low-friction, high-wear-resistant sliding path for the guide rail flange 7, reducing deflection resistance, while limiting the range of motion of the deflectable protective cover 5 to prevent excessive deflection. The outer surface of the deflectable protective cover 5 is provided with multiple transversely distributed guide strips 9. The guide strips 9 are laser-cut from 304 stainless steel, bonded with structural adhesive, and fixed to the deflectable protective cover 5 by spot welding. On the outer surface, each guide strip 9 is a thin metal sheet with a trapezoidal cross-section, arranged outwards along the surface of the protective cover. This structure can effectively guide rainwater, silt, etc., to flow along the slope to both sides for discharge, preventing accumulation that could affect radar wave transmission performance or obstruct the scanning field of view. The bottom of the floating base 3 is provided with a downwardly extending positioning post 10, which passes through the central hole of the annular elastic buffer pad 41 and forms a clearance fit with the limiting sleeve 11 on the bottom plate of the protective box 1. This structure allows the floating base 3 to buffer vertically while limiting its excessive horizontal displacement, ensuring the attitude stability of the radar body 2 during the buffering process. The bottom edge of the deflectable protective cover 5 is positioned between the front side wall of the protective box 1 and the protective cover 5. A sealing lip 12 is provided, which is attached to the inner perimeter of the deflectable protective cover 5 with double-sided adhesive. The overlapping ends are sealed using ultrasonic welding. The sealing lip 12 is made of silicone. This structure ensures that the deflectable protective cover 5 remains in contact with the gaps in the enclosure during deflection, dynamically preventing dust and moisture from entering the protective enclosure 1, thus improving the overall environmental adaptability and sealing reliability. U-shaped reinforcing ribs 13 are provided at the four corners of the outer wall of the protective enclosure 1, welded to the outer wall. This structure significantly enhances the overall rigidity and torsional resistance of the protective enclosure 1, effectively resisting deformation caused by external impacts and providing a stable support foundation for the internal buffer system.

[0021] Working Principle: When using the lidar collision avoidance device for autonomous driving in dangerous scenarios, the radar body 2 is first installed on the floating base 3. The floating base 3 is supported on the bottom surface of the protective box 1 by a multi-directional composite energy-absorbing bracket 4. The deflectable protective cover 5 is located at the front of the protective box 1, and its two sides are connected to the front side wall of the protective box 1 by flexible hinge arms 6. The guide rail flange 7 on the inner edge of the deflectable protective cover 5 is embedded in the arc-shaped limiting groove 8 in the front side wall of the protective box 1. When the vehicle encounters a frontal or side collision, the deflectable protective cover 5 is deflected backward by the external force, causing the flexible hinge arm 6 to rotate around its hinge point. At the same time, the guide rail flange 7 slides along the arc-shaped limiting groove 8, so that the deflectable protective cover 5... The flexible articulated arm 6 rotates around the hinge center. At this time, the floating base 3 undergoes vertical and lateral displacement relative to the protective box 1 under the impact transmission. The positioning column 10 slides in the limiting sleeve 11, the annular elastic buffer pad 41 is compressed and deformed, and the V-shaped elastic support arm 42 swings accordingly. The laminated damping block 43 in its hinge area undergoes shear deformation due to the relative misalignment between the stainless steel sheet and the high-damping rubber layer. Throughout the process, the sealing lip 12 deforms synchronously with the deflectable protective cover 5 and remains in contact with the front side wall of the protective box 1. The guide strip 9 is always exposed on the outer surface of the deflectable protective cover 5. The U-shaped reinforcing rib 13 maintains the overall structural stability of the protective box 1, thereby completing a series of tasks.

[0022] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lidar collision avoidance protection device for autonomous driving in dangerous scenarios, comprising a protective housing (1) and a radar body (2), characterized in that: The radar body (2) is fixed on a floating base (3) provided inside the protective box (1). The floating base (3) is supported on the bottom surface of the protective box (1) by a multi-directional composite energy-absorbing bracket (4). The front of the protective box (1) is provided with a deflectable protective cover (5). Both sides of the deflectable protective cover (5) are connected to the front side wall of the protective box (1) through flexible hinge arms (6). The inner edge of the deflectable protective cover (5) is provided with a guide rail flange (7). The guide rail flange (7) slides in the arc-shaped limiting groove (8) opened in the front side wall of the protective box (1).

2. The lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 1, characterized in that: The multi-directional composite energy-absorbing support (4) includes an annular elastic buffer pad (41), a V-shaped elastic support arm (42), and a laminated damping block (43). The annular elastic buffer pad (41) is located between the bottom of the floating base (3) and the bottom plate of the protective box (1). The V-shaped elastic support arm (42) is set on both sides of the floating base (3), with one end connected to the side wall of the floating base (3) and the other end connected to the front side wall of the protective box (1). The laminated damping block (43) is embedded in the hinge area of ​​the two arm sections of the V-shaped elastic support arm (42).

3. The lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 2, characterized in that: The laminated damping block (43) is formed by hot pressing and vulcanizing five or more layers of alternately stacked stainless steel sheets and high-damping rubber layers. The edges of adjacent stainless steel sheets are staggered to form a shear deformation gap.

4. The lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 2, characterized in that: The two arm segments of the V-shaped elastic arm (42) are provided with mating cavities at the hinge. The laminated damping block (43) is embedded in the mating cavity as a whole, and the two arm segments and the damping block are fixed together by through rivets.

5. The lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 1, characterized in that: The guide rail flange (7) is a T-shaped protrusion extending rearward along the inner edge of the deflectable protective cover (5), and its cross-section is trapezoidal.

6. The lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 1, characterized in that: The arc-shaped limiting groove (8) is opened along an arc trajectory with the hinge center of the flexible hinge arm (6) as the center. The width of the groove is greater than the thickness of the guide rail flange (7), and the bottom of the groove is provided with a polytetrafluoroethylene liner.

7. A lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 1, characterized in that: The outer surface of the deflectable protective cover (5) is provided with a plurality of transversely distributed guide strips (9), the guide strips (9) being thin metal sheets with a trapezoidal cross section, which are arranged outwardly along the surface of the protective cover.

8. A lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 2, characterized in that: The bottom of the floating base (3) is provided with a downwardly extending positioning post (10). The positioning post (10) passes through the center hole of the annular elastic buffer pad (41) and forms a clearance fit with the limiting sleeve (11) on the bottom plate of the protective box (1).

9. A lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 1, characterized in that: The deflectable protective cover (5) is provided with a sealing lip (12) between the bottom edge and the front side wall of the protective box (1), and the sealing lip (12) is made of silicone material.

10. A lidar collision avoidance device for autonomous driving in dangerous scenarios according to claim 1, characterized in that: The protective box (1) is provided with U-shaped reinforcing ribs (13) at the four corners of the outer wall, and the U-shaped reinforcing ribs (13) are welded to the outer wall of the protective box (1).

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