Collision testing device

Abstract

The utility model discloses a collision testing device which comprises a movable base, a testing obstacle is fixedly installed on the upper side of the movable base, a switching mechanism, guide wheels and universal wheels are arranged on the lower side of the movable base, and the switching mechanism can make the guide wheels / universal wheels make contact with the ground independently. When an obstacle is impacted by an automatic driving vehicle, the guide wheels can be quickly separated from the preset track, and the universal wheels are released to be in independent contact with the ground. By means of the design, the obstacle can flexibly move and be far away from the bottom of the automatic driving vehicle by means of impact force after collision, the risk that the obstacle is rolled is effectively avoided, and therefore the safety of the testing process is improved. The obstacle can automatically adjust the posture and continue to participate in the test after being impacted, so that test interruption and repeated setting caused by damage are reduced, and the repeatability of the test is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving testing, and in particular to a collision testing device. Background Art

[0002] Autonomous vehicles rely on environmental perception technology to identify their surroundings and autonomously adjust their driving direction and speed accordingly to ensure driving safety and reliability. To comprehensively evaluate the performance of autonomous vehicles, testing is usually conducted in a diverse environment containing various obstacles (such as static and dynamic obstacles). In particular, testing with movable obstacles can be closer to real road scenarios. During testing, tracks are laid on the ground to guide the obstacles along a predetermined path, such as simulating a pedestrian suddenly crossing the road. However, if the autonomous driving system fails to accurately identify such dynamic obstacles and respond appropriately, and collides with the obstacles, the directional moving wheels of the directional moving obstacles are easily stuck in the tracks when subjected to external forces in the non-moving direction, and the directional moving obstacles cannot maintain balance, causing them to fall and be crushed by the vehicle, causing damage. Its repeatability and economic efficiency are greatly restricted. Therefore, it can be seen that the existing technology needs to be further improved and enhanced. Utility Model Content

[0003] The utility model provides a collision test device to solve the problem that dynamic obstacles are easily overturned and crushed after being hit during the test of an autonomous driving vehicle.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] A collision test device includes a mobile base, a test obstacle is fixedly installed on the upper side of the mobile base, and a switching mechanism, guide wheels and universal wheels are provided on the lower side of the mobile base. The switching mechanism can make the guide wheels / universal wheels contact the ground independently. The guide wheels contacting the ground independently can make the obstacle move along a preset track; when the obstacle is subjected to an external impact, the switching mechanism makes the guide wheels leave the track and the universal wheels release to contact the ground independently, so that the obstacle is moved away from the bottom of the autonomous driving vehicle with the help of the impact force to avoid being crushed.

[0006] The collision test device of the present application, through the design of a switching mechanism, can quickly disengage the guide wheels from the preset track and release the universal wheels to independently contact the ground when the obstacle is hit by the autonomous vehicle. This design allows the obstacle to move flexibly with the help of the impact force after the collision, away from the bottom of the autonomous vehicle, effectively avoiding the risk of the obstacle being crushed, thereby improving the safety of the testing process. Since the obstacle can automatically adjust its posture after the collision and continue to participate in the test, the test interruption and repeated settings due to damage are reduced, thereby improving the repeatability of the test. By reducing the damage and repair costs of the obstacle, as well as reducing the time and resource waste caused by test interruptions, the device significantly improves the economic efficiency of the test. This enables the test team to complete more tests in a shorter time and accelerate the research and development process of autonomous driving technology.

[0007] In a preferred implementation, the switching mechanism includes an active drive shaft, a first driven shaft, a second driven shaft and an auxiliary transmission shaft. The first driven shaft and the second driven shaft are rotatably installed on the front and rear sides of the active drive shaft respectively. The auxiliary transmission shaft is arranged between the second driven shaft and the active drive shaft. The first driven shaft and the second driven shaft are installed with universal wheels. The rotation of the active drive shaft can drive the first driven shaft and the second driven shaft to rotate in opposite directions, so that the four universal wheels on them can adjust their positions synchronously, close to or away from the ground.

[0008] When the active drive shaft rotates, it drives the first and second driven shafts in opposite directions, ensuring that all four universal wheels adjust their positions synchronously. This design allows obstacles to quickly and smoothly adjust their height and posture when subjected to external impact or when they need to be moved. By tightly integrating the active drive shaft, driven shaft, and auxiliary transmission shaft, a compact and efficient structure is formed. This structure not only reduces manufacturing costs but also improves the reliability and durability of the entire system.

[0009] In a preferred implementation, the active drive shaft, the first driven shaft, the second driven shaft and the auxiliary transmission shaft are mounted on the lower side of the mobile base via a bearing seat.

[0010] In a preferred implementation, the active drive shaft is provided with a first cam and a driving gear, the auxiliary transmission shaft is provided with a second cam and a mating gear, the driving gear and the mating gear are meshed and connected, the first driven shaft and the second driven shaft are both connected to the transmission connecting rod, the universal wheel is fixed to the side of the first driven shaft and the second driven shaft opposite to the transmission connecting rod through an extended connecting rod, the transmission connecting rod abuts the first cam / second cam, and the active drive shaft and the auxiliary transmission shaft rotate so that the transmission connecting rod contacts the proximal point or distal point of the first cam / second cam, thereby causing the first driven shaft / second driven shaft to rotate in opposite rotation directions.

[0011] In a preferred implementation, the end of the transmission connecting rod is connected to one end of a compression spring, and the other end of the compression spring is connected to the movable base, so that the transmission connecting rod is in close contact with the first cam / the second cam.

[0012] In a preferred implementation, the end of the transmission connecting rod is rotatably connected to a roller, and the roller is in contact with the first cam / the second cam.

[0013] In a preferred implementation, the active drive shaft is connected to the drive motor and also includes a detection member that can detect whether an obstacle is hit to transmit a signal to a controller, and the controller controls the drive motor to rotate a designed angle to release the universal wheel.

[0014] The detection component can detect the status of obstacles in real time. Once it detects that an obstacle has been hit, it immediately transmits a signal to the controller. After receiving the signal, the controller can quickly control the drive motor to rotate to the designed angle, thereby releasing the universal wheel and allowing the obstacle to move flexibly. This rapid response mechanism helps reduce potential risks after a collision and prevents the obstacle from being further crushed or causing other damage.

[0015] In a preferred implementation, the detection element is a laser ranging sensor, which is installed on the obstacle to measure the distance between the autonomous driving vehicle and the obstacle. The controller controls the rotation of the drive motor according to the preset distance.

[0016] In a preferred implementation, the upper side of the mobile base is connected to a carrying platform through a universal support ball head structure, the obstacle is arranged on the carrying platform, and the detection part is arranged on the mobile base to detect whether the carrying platform is tilted, so as to transmit the signal to the controller, and the controller controls the rotation of the drive motor.

[0017] In a preferred implementation, the obstacle is detachably connected to the mobile base. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic structural diagram of a first exemplary embodiment of the collision test device of the present application is depicted;

[0020] Figure 2 A schematic structural diagram of a second exemplary embodiment of the collision test device of the present application is depicted;

[0021] Figure 3 A schematic structural diagram of a schematic implementation scheme of the switching mechanism of the present application is depicted;

[0022] Figure 4 A schematic structural diagram of an exemplary embodiment of the lower side of the mobile base of the present application is depicted;

[0023] Description of labels:

[0024] 1-Mobile base; 2-Obstacle; 3-Switching mechanism; 30-Active drive shaft; 300-First cam; 301-Drive gear; 31-First driven shaft; 310-Transmission link a; 32-Second driven shaft; 320-Transmission link b; 33-Auxiliary drive shaft; 330-Second cam; 331-Matching gear; 322-Compression spring; 323-Roller; 4-Guide wheel; 5-Universal wheel; 6-Bearing seat; 7-Drive motor; 8-Controller; 9-Detection component; 10-Universal support ball head; 11-Carrying platform. DETAILED DESCRIPTION

[0025] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0026] In the description of the present invention, it should be understood that the terms "center," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "axial," "radial," "circumferential," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In the present invention, unless otherwise expressly specified or limited, a first feature being "up" or "down" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0027] In this utility model, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integration; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or an interaction between two components. However, the phrase "direct connection" indicates that the two connected entities are not connected through an intermediate structure, but are connected to form a whole through a connecting structure. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0028] In this utility model, terms such as "first," "second," etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of such features.

[0029] The present invention will be described below with reference to the accompanying drawings.

[0030] The specific plans adopted are:

[0031] like Figure 1-4 As shown, the utility model provides a collision test device, including a mobile base 1, a test obstacle 2 is fixedly installed on the upper side of the mobile base, and a switching mechanism 3, a guide wheel 4 and a universal wheel 5 are provided on the lower side of the mobile base. The switching mechanism can make the guide wheel / universal wheel contact the ground alone, and the guide wheel 4 contacting the ground alone can make the obstacle move along a preset track; when the obstacle is subjected to external impact, the switching mechanism makes the guide wheel leave the track and the universal wheel 5 release to contact the ground independently, and use the impact force to move away from the bottom of the autonomous driving vehicle to avoid being crushed.

[0032] In the above structure, a test obstacle 2, such as a simulated pedestrian, is fixedly mounted on the upper side of the mobile base 1. Then, according to test requirements, a pre-set track is laid on the test site to guide the obstacle's movement. A switching mechanism 3 is used to bring the guide wheels below the mobile base into contact with the ground, while the universal wheels 5 remain in a non-contact state. Thus, when the mobile base is activated, obstacle 2 will move directionally along the pre-set track, simulating dynamic obstacles in real road scenarios. The autonomous vehicle will travel along a predetermined route and speed. When approaching an obstacle, the autonomous driving system's performance will be evaluated for its ability to accurately identify the obstacle and respond promptly. If the autonomous vehicle fails to avoid the obstacle and collides with it, the impact force of the collision will trigger the switching mechanism, causing the guide wheels 4 to quickly derail, while the universal wheels 5 release and independently contact the ground. Because the universal wheels are capable of omnidirectional movement, they help the mobile base and the obstacle above it quickly adjust their posture after an impact, preventing them from toppling over. Thanks to the flexibility of the universal wheels, the mobile base can quickly move away from the bottom of the autonomous vehicle after a collision, effectively avoiding being crushed. This not only protects the test equipment, but also ensures the continuity and safety of the test.

[0033] This device uses a switching mechanism to flexibly switch between guide wheels and universal wheels, resolving the problem of dynamic obstacles being easily toppled or crushed when subjected to external impact. In the event of a collision, the guide wheels derail, while the universal wheels release and independently contact the ground, allowing the obstacle to quickly adjust its position and move away from the danger zone. This reduces test interruptions and increased costs caused by obstacle damage, thereby improving the economic efficiency of the test.

[0034] As a preferred embodiment of this application, see Figure 3 The switching mechanism includes an active drive shaft 30, a first driven shaft 31, a second driven shaft 32, and an auxiliary transmission shaft 33. These shafts are mounted on the underside of the mobile base 1 via a bearing block 6 and are capable of rotation. The active drive shaft is equipped with a first cam 300 and a drive gear 301, while the auxiliary transmission shaft 33 is equipped with a second cam 330 and a mating gear 331. The drive and mating gears mesh together to ensure synchronous rotation of the active drive shaft and the auxiliary transmission shaft.

[0035] The first driven shaft is connected to the transmission link a310 and the second driven shaft is connected to the transmission link b320. One end of these links is connected to the shaft, and the other end abuts the cam. The shape of the cam is designed so that it can change the abutment position of the transmission link during rotation, thereby driving the driven shaft to rotate. The universal wheel is fixed to the side of the first driven shaft 31 and the second driven shaft 32 opposite the transmission link by an extension link (not shown). When the transmission link contacts the far center point of the cam, the driven shaft will be subjected to an outward force, causing the universal wheel to move closer to the ground; and when the transmission link contacts the near center point of the cam, the driven shaft will be subjected to an inward force, causing the universal wheel to move away from the ground.

[0036] For details, see Figure 3 When the active drive shaft rotates counterclockwise, the driving gear 301 drives the matching gear 331 to rotate, causing the auxiliary transmission shaft to rotate clockwise. Due to the shape and position of the cam, the transmission connecting rod will contact the proximal point and distal point of the cam in sequence, thereby causing the first driven shaft to rotate clockwise and the second driven shaft to rotate counterclockwise, causing the universal wheel 5 to gradually approach the ground until it contacts the ground. By accurately adjusting the length of the transmission connecting rod and the extension connecting rod, the distance between the universal wheels and the ground clearance can be accurately controlled.

[0037] As a preferred embodiment of the present application, the end of the transmission connecting rod is connected to one end of a compression spring 322, the other end of which is connected to the movable base 1, so that the transmission connecting rod is in close contact with the first cam / second cam. When the transmission connecting rod contacts the distal point of the cam, the compression spring is further compressed, storing elastic potential energy. When the active drive shaft rotates in the opposite direction, causing the connecting rod to contact the proximal point of the cam, the compression spring releases its stored elastic potential energy, assisting the connecting rod in reverse rotation, thereby driving the driven shaft and the universal wheel to move, moving the universal wheel away from the ground.

[0038] Furthermore, the end of the transmission connecting rod rotates to connect to the roller 323, which abuts against the first cam / second cam. The contact between the roller and the cam is rolling friction, which has less resistance than sliding friction, thereby reducing energy loss and wear of the mechanism. This helps to extend the service life of the mechanism and reduce maintenance requirements.

[0039] As a preferred embodiment of this application, see Figure 4 The active drive shaft is connected to the drive motor 7 and also includes a detection part 9, which can detect whether an obstacle is hit to transmit a signal to the controller 8. The controller controls the drive motor to rotate the designed angle to release the universal wheel. The active drive shaft is connected to the drive motor, providing a power source, so that the system can intelligently adjust the position and state of the universal wheel. The drive motor is a servo motor that can adjust the rotation angle, which can accurately control the rotation angle of the motor, thereby realizing precise adjustment of the position of the universal wheel.

[0040] The detection part 9 can detect whether an obstacle is hit. The detection part transmits a signal to the controller 8. After receiving the signal from the detection part, the controller will control the drive motor to rotate the designed angle to release the universal wheel according to the preset program and logic. When the obstacle is hit, it can respond flexibly to avoid or reduce the impact of the collision.

[0041] As a preferred embodiment of the present application, the detection element is a laser ranging sensor, which is installed on the obstacle to measure the distance between the autonomous driving vehicle and the obstacle. The controller controls the rotation of the drive motor according to the preset distance. The laser ranging sensor can measure the distance between the autonomous driving vehicle and the obstacle in front in real time. By comparing the measurement result with the preset safety distance, the device can determine whether to release the universal wheel. When it is detected that the obstacle distance is less than the preset value, the controller will issue an instruction to control the drive motor to rotate a certain angle to release the universal wheel.

[0042] As another preferred embodiment of the present application, the upper side of the mobile base 1 is connected to a carrying platform 11 through a universal support ball head 10 structure, the obstacle 2 is arranged on the carrying platform, and the detection part 9 is arranged on the mobile base to detect whether the carrying platform is tilted, so as to transmit the signal to the controller, and the controller controls the rotation of the drive motor. The universal support ball head structure connects the mobile base and the carrying platform, allowing the carrying platform to tilt freely within a certain range. The detection part is arranged on the mobile base, and is used to detect the tilt angle or state of the carrying platform, such as an inclination sensor or four laser sensors are arranged on the lower side of the four corners of the carrying platform to measure the distance. As long as the measurement value of one laser sensor becomes smaller, it means that it is tilted, or other sensors that can measure the tilt angle. When it is detected that the carrying platform is tilted, the controller will issue a command to control the drive motor to rotate a certain angle to release the universal wheel.

[0043] As a preferred embodiment of the present application, the obstacle 2 is detachably connected to the mobile base 1, and can be connected to the mobile base using mechanical fasteners such as bolts, nuts, and clips. By replacing obstacles of different shapes, sizes, or weights, users can simulate different test conditions.

[0044] Anything not described in this utility model can be achieved by adopting or drawing on existing technologies.

[0045] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and such variations or substitutions are intended to fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A collision test device, characterized in that: The system includes a mobile base with a test obstacle fixedly mounted on its upper side and a switching mechanism, guide wheels, and universal wheels on its lower side. The switching mechanism enables the guide wheels / universal wheels to independently contact the ground. The guide wheels' independent contact with the ground enables the obstacle to move along a preset track. When the obstacle is subjected to an external impact, the switching mechanism causes the guide wheels to disengage from the track and the universal wheels to independently contact the ground, allowing the obstacle to be moved away from the bottom of the autonomous vehicle using the impact force to avoid being crushed. The switching mechanism includes an active drive shaft, a first driven shaft, a second driven shaft and an auxiliary transmission shaft, wherein the first driven shaft and the second driven shaft are rotatably mounted on the front and rear sides of the active drive shaft respectively, the auxiliary transmission shaft is arranged between the second driven shaft and the active drive shaft, and universal wheels are mounted on the first driven shaft and the second driven shaft. The rotation of the active drive shaft can respectively drive the first driven shaft and the second driven shaft to rotate in opposite directions, so that the four universal wheels on them can be synchronously adjusted to be close to or away from the ground; The active drive shaft is connected to the drive motor and also includes a detection component. The detection component can detect whether an obstacle is hit to transmit a signal to a controller. The controller controls the drive motor to rotate a designed angle to release the universal wheel.

2. The collision test device according to claim 1, characterized in that: The active driving shaft, the first driven shaft, the second driven shaft and the auxiliary transmission shaft are installed on the lower side of the mobile base through a bearing seat.

3. The collision test device according to claim 1, characterized in that: The active drive shaft is provided with a first cam and a driving gear, and the auxiliary transmission shaft is provided with a second cam and a matching gear. The driving gear and the matching gear are meshed and connected. The first driven shaft and the second driven shaft are both connected to the transmission connecting rod. The universal wheel is fixed to the side of the first driven shaft and the second driven shaft opposite to the transmission connecting rod through an extended connecting rod. The transmission connecting rod abuts the first cam / second cam. The active drive shaft and the auxiliary transmission shaft rotate to make the transmission connecting rod contact the proximal point or distal point of the first cam / second cam, thereby causing the first driven shaft / second driven shaft to rotate in opposite rotation directions.

4. The collision test device according to claim 1, characterized in that: The end of the transmission connecting rod is connected to one end of the compression spring, and the other end of the compression spring is connected to the moving base, so that the transmission connecting rod is in close contact with the first cam / the second cam.

5. The collision test device according to claim 4, characterized in that: The end of the transmission connecting rod is rotated to connect the roller, and the roller is in contact with the first cam / the second cam.

6. The collision testing device according to claim 1, characterized in that: The detection element is a laser ranging sensor, which is installed on the obstacle to measure the distance between the autonomous driving vehicle and the obstacle. The controller controls the rotation of the drive motor according to the preset distance.

7. The collision testing device according to claim 1, characterized in that: The upper side of the mobile base is connected to a carrying platform through a universal support ball head structure. The obstacle is set on the carrying platform. The detection part is set on the mobile base to detect whether the carrying platform is tilted, so as to transmit the signal to the controller, and the controller controls the rotation of the drive motor.

8. The collision testing device according to claim 1, characterized in that: The obstacle is detachably connected to the mobile base.

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