CN220670586U - Obstacle simulator - Google Patents

Abstract

The disclosure provides an obstacle simulation device, relates to the technical field of mechanical equipment, in particular to the technical field of magnetic suspension, and can be applied to scenes such as automatic driving tests, obstacle construction and the like. The specific implementation scheme comprises the following steps: a slide assembly and a power assembly; the sliding assembly comprises a sliding block and a sliding rail which are connected in a sliding manner, the sliding block is located at one side, far away from the working plane, of the sliding rail, the sliding block is used for being connected with the obstacle model, the power assembly comprises a fixed end and a power output end, the power output end is connected with the sliding block, the power output end is used for driving the sliding block to slide along the sliding rail, the sliding rail comprises an I-shaped groove, the sliding block is connected in the I-shaped groove in a sliding fit manner, a first magnet is arranged at the bottom of the I-shaped part of the sliding block, the sliding rail is provided with a second magnet opposite to the magnetic pole of the first magnet, and the second magnet is located in orthographic projection of the sliding track of the first magnet on the sliding rail when the sliding block slides on the sliding rail. The present disclosure may improve the accuracy of the autopilot test.

Description

An obstacle simulation device

Technical field

The present disclosure relates to the field of mechanical equipment technology, specifically to the field of magnetic levitation technology, which can be applied in scenarios such as automatic driving testing and obstacle construction, and particularly relates to an obstacle simulation device.

Background technique

In autonomous driving test scenarios, obstacle construction is a very important link. For autonomous vehicles, obstacle construction effectively helps the test team simulate different scenarios in a controllable manner by constructing realistic scenes and obstacles to ensure the safe operation of the autonomous driving system.

In the existing technology, in autonomous driving tests, obstacles are constructed by using a mounting chassis with pulleys or a towed mounting chassis to carry a dummy or a vehicle, and when it is necessary to simulate pedestrians or vehicles The movement is achieved by moving the chassis.

However, when moving the chassis, due to friction, the chassis is inconvenient to move and the movement accuracy is low, which will affect the accuracy of the autonomous driving test.

Contents of the invention

The present disclosure provides an obstacle simulation device that can improve the accuracy of autonomous driving testing.

According to a first aspect of the present disclosure, an obstacle simulation device is provided, including: a sliding assembly and a power assembly; wherein the sliding assembly includes a sliding block and a sliding rail that are slidably connected to each other, and the sliding rail is used to be fixed on a working plane, The slider is located on the side of the slide rail away from the working plane. The slider is used to connect to the obstacle model. The power component includes a fixed end and a power output end. The fixed end is fixed on the working plane. The power output end is connected to the slider. The power output The end is used to drive the slider to slide along the slide rail. The slide rail includes an I-shaped groove. The slider is slidably connected in the I-shaped groove. The I-shaped bottom of the slider is provided with a first magnet. The slide rail is provided with The second magnet is opposite to the magnetic pole of the first magnet. The second magnet is located within the orthographic projection of the sliding trajectory of the first magnet on the slide rail when the slider slides on the slide rail.

The obstacle simulation device provided by the present disclosure can be composed of a sliding component and a power component. The sliding component includes a slide block and a slide rail that are slidingly connected to each other. The power component includes a fixed end and a power output end. The power output end is connected to the slide block and drives The slide block slides along the I-shaped groove in the slide rail. The slide rail is provided with a second magnet that is opposite to the magnetic pole of the first magnet. The second magnet is located on the sliding track of the first magnet when the slide block slides on the slide rail. Within the orthographic projection on the rail, the interaction force between magnets is used to achieve magnetic levitation to reduce the friction when the slider slides on the slide rail and improve the accuracy of the automatic driving test.

Description of the drawings

The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. in:

Figure 1 is one of the structural schematic diagrams of an obstacle model device provided by an embodiment of the present disclosure;

Figure 2 is a second structural schematic diagram of an obstacle model device provided by an embodiment of the present disclosure;

Figure 3 is the third structural schematic diagram of the obstacle model device provided by the embodiment of the present disclosure;

FIG. 4 is the fourth structural schematic diagram of the obstacle model device provided by the embodiment of the present disclosure.

Icon: 110-sliding component; 111-slider; 1111-first magnet; 112-slide rail; 1121-I-shaped groove; 1122-second magnet; 120-power component; 121-rotating motor; 122-pull Rope; 130-rope fixing component; 131-connecting block; 132-clamping block; 133-bolt.

Detailed ways

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the present disclosure are included to facilitate understanding and should be considered to be exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

It should be understood that in various embodiments of the present disclosure, the character "/" generally indicates that the related objects are in an "or" relationship. The terms "first", "second", etc. are used for descriptive purposes only and shall not be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.

In autonomous driving test scenarios, obstacle construction is a very important link. For autonomous vehicles, obstacle construction effectively helps the test team simulate different scenarios in a controllable manner by constructing realistic scenes and obstacles to ensure the safe operation of the autonomous driving system.

For example, obstacles are constructed in autonomous driving test scenarios by simulating different obstacles to help the test team evaluate the response and performance of the autonomous driving system in these scenarios. For example, a test team might simulate obstacles on the road in a test scenario, such as obstacles on the side of the road, traffic cones or roadblocks in the lane, etc. Driving scenarios under different weather and lighting conditions can also be simulated, such as driving at night or in fog. These simulated scenarios and obstacles can not only test the response and performance of the autonomous driving system under various conditions, but also help the test team identify possible vulnerabilities and risks in the system.

In the existing technology, in autonomous driving tests, obstacles are constructed by using a mounting chassis with pulleys or a towed mounting chassis to carry a dummy or a vehicle, and when it is necessary to simulate pedestrians or vehicles The movement is achieved by moving the chassis.

For example, the obstacle construction may use a pulley or towed ride-on chassis to carry a dummy or vehicle to simulate the movement of pedestrians or vehicles. For example, a false pedestrian model could be carried using a carrying chassis with pulleys. During autonomous driving testing, the position and movement of the chassis can be controlled to simulate different actions of the dummy such as walking, running or running red lights on the road. This can be used to test the autonomous driving system's ability to recognize and respond to pedestrians. For another example, a drag-and-drop mounting chassis can be used to carry a fake car model. During the autonomous driving test, the different actions of the fake car such as driving on the road and changing lanes can be simulated by controlling parameters such as the trajectory and speed of the chassis. It can test the ability of autonomous driving systems to cope with situations such as multiple vehicle interactions and traffic congestion.

However, when moving the chassis, due to friction, the chassis is inconvenient to move and the movement accuracy is low, which will affect the accuracy of the autonomous driving test. For example, when using a mounted chassis, due to the influence of friction, the movement of the mounted chassis will be restricted, which will affect the accuracy of the movement. For example, when simulating pedestrians, when the chassis encounters potholes and uneven road surfaces, it will affect the automatic accuracy and stability of the chassis, leading to inaccuracy in the test results. For another example, when simulating vehicles of different weights, due to the different weights of the vehicles, the stress on the chassis will be different, leading to inaccuracy in the test results.

Against this background technology, the present disclosure provides an obstacle simulation device. FIG. 1 is a schematic structural diagram of the obstacle simulation device provided by an embodiment of the present disclosure. As shown in Figure 1, the obstacle simulation device may include: a sliding assembly 110 and a power assembly 120; wherein the sliding assembly 110 includes a sliding block 111 and a sliding rail 112 that are slidingly connected to each other, and the sliding rail 112 is used to be fixed on the working plane. , the slider 111 is located on the side of the slide rail 112 away from the working plane, and the slider 111 is used to connect with the obstacle model (not shown in the figure). The power assembly 120 includes a fixed end and a power output end. The fixed end is fixed on the working plane. The power output end is connected to the slider 111 . The power output end is used to drive the slider 111 to slide along the slide rail 112 . As shown in Figure 2, the slide rail 112 includes an I-shaped groove 1121. The slide block 111 is slidingly connected in the I-shaped groove 1121. The I-shaped bottom of the slide block 111 is provided with a first magnet 1111. The slide rail 112 A second magnet 1122 is provided opposite to the magnetic pole of the first magnet 1111. The second magnet 1122 is located within the orthographic projection of the sliding trajectory of the first magnet 1111 on the slide rail 112 when the slider 111 slides on the slide rail 112.

For example, the obstacle simulation device may be composed of a sliding assembly 110 and a power assembly 120. When simulating obstacles, the sliding assembly 110 and the power assembly 120 may be respectively fixed on the working plane. The sliding assembly 110 may include a sliding block 111 and a sliding rail 112 connected to each other. The sliding rail 112 is used to be fixed on the working plane. The sliding block 111 is located on the side of the sliding rail 112 away from the working plane, and the sliding block 111 is far away from the working plane. One side of the working plane may include an obstacle model connection component, for example, a connection component in the form of a threaded fixing hole, a buckle, etc., used to connect the slider 111 to the obstacle model. The power assembly 120 may include a fixed end and a power output end, such as a motor bracket and a rotating electrical machine, where the motor fixed frame serves as the fixed end in the power assembly 120, and the output end of the rotating electrical machine may serve as the power output end in the power assembly 120 through transmission. The assembly is connected to the slider 111, so that the slider 111 is driven to slide on the slide rail 112 by the rotating motor.

Of course, in addition to the fixed end and the power output end, components such as a motor housing, a motor bracket, a control circuit, a display, a control button, etc. may also be included to assist in the power output of the power assembly 120. For example, the motor housing may be provided outside the rotating motor. It is used to protect the rotating motor; the motor bracket can be used to fix the rotating motor; the rotating motor can be connected to the slider 111 through the transmission assembly to provide power for the slider 111 to drive the slider 111 to slide. The control circuit can control the operation of the rotating motor; the display can be used to display the operating parameters of the rotating motor, such as rotation speed, running time, etc.; the control buttons can be used to control the start, stop, emergency stop, etc. of the rotating motor.

For example, the power component 120 may also be a linear motor, wherein the fixed end of the linear motor is the fixed end of the power component 120 , and the output end of the linear motor is the power output end of the power component 120 . The output end of the linear motor can be connected to the slider 111 , so that the slider 111 can be driven to slide along the slide rail 112 by the linear motor.

Optionally, the first magnet 1111 may be a permanent magnet or an electromagnetic winding, and there is no limitation on the implementation manner of the first magnet 1111. The second magnet 1122 may be a permanent magnet or an electromagnetic winding, and there is no limitation on the implementation manner of the second magnet 1122.

The obstacle simulation device provided by the embodiment of the present disclosure can be composed of a sliding assembly 110 and a power assembly 120. The sliding assembly 110 includes a sliding block 111 and a sliding rail 112 that are slidingly connected to each other. The power assembly 120 includes a fixed end and a power output end. The power output The end is connected to the slider 111 and drives the slider 111 to slide along the I-shaped groove 1121 in the slide rail 112. The slide rail 112 is provided with a second magnet 1122 opposite to the magnetic pole of the first magnet 1111. The second magnet 1122 is located When the slider 111 slides on the slide rail 112, the sliding trajectory of the first magnet 1111 is within the orthographic projection on the slide rail 112. The interaction force between the magnets is used to achieve magnetic levitation to reduce the sliding of the slider 111 on the slide rail 112. friction to improve the accuracy of autonomous driving tests.

In some embodiments, as shown in FIG. 2 , the slide rail 112 has a trapezoidal cross-section perpendicular to the working plane, and the side length of the side of the cross-section close to the working plane is longer than the side of the cross-section away from the working plane.

For example, the cross section of the slide rail 112 perpendicular to the working plane can be a right-angled trapezoid, and the side length of the side of the cross section close to the working plane is longer than the side of the cross section away from the work platform. The self-driving vehicle can be formed by the trapezoidal cross section of the slide rail 112 The hypotenuse side drives up the slide rail 112, so that when the autonomous vehicle drives through the obstacle simulation device during the test, it can drive onto the slide rail 112 of the obstacle simulation device more smoothly and safely, and avoids the slide rail 112 from colliding with each other. Self-driving vehicles cause damage.

Alternatively, the cross section of the slide rail 112 perpendicular to the working plane may be an isosceles trapezoid, and the side length of the side of the cross section close to the working plane is longer than the side of the cross section away from the working platform. The self-driving vehicle can drive up the slide rail 112 from one side of the oblique side of the trapezoidal section of the slide rail 112, so that when the self-driving vehicle drives through the obstacle simulation device during the test, it can drive onto the obstacle more smoothly and safely. Simulate the slide rail 112 of the device to avoid damage to the autonomous vehicle caused by the slide rail 112

The embodiment of the present disclosure provides a slide rail 112 with a trapezoidal cross-section perpendicular to the working plane, and the side length of the side of the cross-section close to the working plane is larger than the side of the cross-section away from the working plane, which can protect the autonomous vehicle from rolling over the slide rail. At 112 hours, the safety of the tires of autonomous vehicles is protected.

In some embodiments, as shown in FIG. 2 , the side of the slider 111 away from the working plane is lower than or flatter than the side of the slide rail 112 away from the working plane.

For example, the slide block 111 may be in the I-shaped groove 1121 in the slide rail 112, and the side of the slide block 111 away from the working plane may be lower than the side of the slide rail 112 away from the working plane, or the block may be farther away from the working plane. One side of the slide rail 112 can be flat to the side of the slide rail 112 away from the working plane.

Of course, in practical applications, the side of the slider 111 away from the working plane can also be slightly higher than the side of the slide rail 112 away from the working plane (for example, the height is less than 1 cm higher than the side of the slide rail 112 away from the working plane, etc.) , there are no specific restrictions here.

The side of the slider 111 away from the working plane provided in the embodiment of the present disclosure is lower than or parallel to the side of the slide rail 112 away from the working plane. This can prevent the slider 111 from protruding from the slide after the autonomous vehicle drives onto the slide rail 112. The I-shaped groove 1121 of the rail 112 causes damage to the tires of the vehicle, thereby further protecting the safety of the tires of the autonomous vehicle.

In some embodiments, as shown in FIG. 1 and FIG. 3 , the power component 120 may include a rotating motor 121 and a pull rope 122 . The rotating motor 121 serves as the fixed end of the power component 120 and is fixed on the working plane. The output end of the rotating motor 121 is connected to the working plane. One end of the pull cord 122 is connected, and the other end of the pull cord 122 serves as the power output end of the power assembly 120 and is connected to the slider 111 .

Illustratively, the power assembly 120 includes a rotating motor 121 and a pull cord 122. It may also include components such as a motor housing, a motor bracket, a control circuit, a display, a control button, etc. The rotating motor 121 may be used as a fixed end of the power assembly 120 to be fixed on the working surface. It can also be fixed on the working surface through the motor bracket. The output end of the rotating motor 121 is connected to one end of the pull rope 122, where the pull rope 122 can be a steel wire rope, an ordinary rope, etc. The other end of the pull rope 122 serves as the power output end of the power assembly 120 and is connected to the slide block 111. There may be a corresponding pull rope fixing assembly on the slide block 111 for fixing the pull rope 122 on the slide block 111.

The power assembly 120 provided by the embodiment of the present disclosure includes a rotating motor 121 and a pull cord 122. The rotating motor 121 is fixed on the working plane as the fixed end of the power assembly 120. The output end of the rotating motor 121 is connected to one end of the pull cord 122. The pull cord The other end of 122 serves as the power output end of the power assembly 120 and is connected to the slider 111 to control the operation of the rotating motor 121 and drive the slider 111 to slide on the slide rail 112, thereby enabling precise control of the movement speed of the slider 111. , to achieve precise control of the movement of obstacles in autonomous driving tests.

Optionally, the power assembly 120 may include a rotating motor 121 and a lead screw. The rotating motor 121 is fixed on the working plane as a fixed end of the power assembly 120 and is disposed in the sliding direction of the slider 111 along the slide rail 112. The rotating motor 121 The output end can be drivingly connected to one end of the screw, the screw can be arranged in the sliding direction of the slider 111, and the extending direction of the screw is parallel to the sliding direction of the slider 111, and the other end of the screw can pass through the slider 111. , there may be threads inside the slider 111 that match the screw, and the rotating motor 121 drives the screw to rotate, thereby driving the slider 111 to slide on the screw, and then the slider 111 slides on the slide rail 112 .

In some embodiments, as shown in FIG. 2 , the slider 111 is provided with a pull cord fixing assembly 130 , and the pull cord fixing assembly 130 is used to connect with the pull cord 122 .

For example, the pull cord fixing assembly 130 may be a clamping mechanism, thereby clamping and fixing the pull cord 122 through the clamping mechanism, thereby realizing the connection between the pull cord 122 and the slider 111 . Of course, in the embodiment of the present application, there is no restriction on the specific implementation of the pull cord fixing assembly 130, as long as the pull cord 122 can be connected to the slider 111.

In the embodiment of the present disclosure, a pull cord fixing assembly 130 is provided on the slider 111 for connecting with the pull cord 122. By fixing the pull cord 122 on the slider 111, precise control of the rotation speed of the rotating motor 121 can be achieved. The running speed of the slider 111 on the slide rail 112 achieves precise control of the movement of obstacles in the autonomous driving test.

In some embodiments, as shown in FIGS. 2 and 4 , the pull cord fixing assembly 130 includes a connecting block 131 , a clamping block 132 and a bolt 133 , and a fixing block is provided at one end of the pull cord 122 connected to the pull cord fixing assembly 130 (Fig. (not shown in the figure), the connecting block 131 is connected to the sliding block 111, one side of the connecting block 131 is provided with a connecting groove (not shown in the figure) that matches the fixed block, the fixed block is embedded in the connecting groove, and the clamping block 132 The cover is installed on the connecting groove, and the connecting block 131 and the clamping block 132 are connected through bolts 133.

For example, the materials of the connecting block 131 and the clamping block 132 in the drawstring fixing assembly 130 may be metal, plastic, resin, or other materials. The bolt 133 can be a locking threaded rod provided with a locking knob. One end of the pull cord 122 connected to the pull cord fixing assembly 130 can be provided with a fixing block. The connecting block 131 is connected to the sliding block 111120. The connecting block 131 and the clamping block 132 Through the connection of bolts 133, the connecting block 131 and the clamping block 132 can be clamped by tightening the locking threaded rod, thereby clamping the fixing block of the pull cord 122 in the connection groove, thereby fixing the pull cord 122 to the slider. 111 on.

The embodiment of the present disclosure provides a pull cord fixing assembly 130, which includes a connecting block 131, a clamping block 132 and a bolt 133. By tightening the bolt 133, the connecting block 131 and the clamping block 132 are clamped, and the pull cord 122 is fixed in the connecting groove. , thereby fixing the pull rope 122 on the slider 111, the pull rope 122 can be connected to the slider 111 safely and reliably, and the pull rope 122 falling off when the rotating motor 121 drives the slider 111 to slide through the pull rope 122 can be reduced. .

In some embodiments, the obstacle simulation device further includes a control circuit. The control circuit is electrically connected to the power component 120 and is used to control the power component 120 to drive the slider 111 to slide along the slide rail 112 .

For example, taking the power component 120 including the rotating motor 121 as an example, the control circuit can be electrically connected to the rotating motor 121 for controlling the rotation of the rotating motor 121 to control the rotating motor 121 to drive the slider 111 to slide along the slide rail 112 .

The embodiment of the present disclosure provides a control circuit electrically connected to the power assembly 120 for controlling the power assembly 120 to drive the slider 111 to slide along the slide rail 112 , thereby improving the convenience of controlling the power assembly 120 to drive the slider 111 to slide.

In some embodiments, the number of power assemblies 120 may be two, and the two power assemblies 120 may be respectively disposed at both ends of the slide rail 112 along the sliding direction of the slider 111 .

The implementation of the present disclosure provides two power assemblies 120, which are respectively disposed at both ends of the slide rail 112 along the sliding direction of the slider 111, so that the slider 111 can be connected to each other through the two power assemblies 120, and the movement on the slide rail 112 can be realized. Move back and forth to control the movement of the obstacle model.

In some embodiments, the first magnet 1111 is a permanent magnet, and the second magnet 1122 is an electromagnet.

The first magnet 1111 provided in the embodiment of the present disclosure is a permanent magnet. Therefore, the first magnet 1111 provided on the slider 111 does not require an external power supply, so that the slider 111 will not be affected by the external power supply when it moves in the slide rail 112. Influence. By setting the second magnet 1122 as an electromagnet, the magnetic field strength of the second magnet 1122 can be controlled by the size of the current, so that the magnetic field strength of the second magnet 1122 can be adjusted according to the weight of the obstacle model provided on the slider 111. Therefore, the magnetic levitation sliding of the slider 111 in the slide rail 112 has a better effect.

In some embodiments, the slider 111 may be provided with a first clamping member, so that a corresponding second clamping member may be provided on the obstacle model, and the first clamping member is used to clamp with the second clamping member.

For example, the first snap-in member provided on the slider 111 may be a buckle, a slot, etc., and the second snap-in member provided on the corresponding obstacle model may be a structure corresponding to the buckle or the slot. , there is no restriction here, as long as the slider 111 and the obstacle model can be connected through the provided first and second clamping parts.

The slider 111 provided by the embodiment of the present disclosure is provided with a first clamping member, and the obstacle model is provided with a second clamping member. The first clamping member is used to clamp with the second clamping member, and the clamping member can be used to The mutual connection between the parts allows the obstacle model to be clamped and fixed on the slider 111, thereby improving the convenience of connection between the obstacle model and the slider 111.

The above-mentioned specific embodiments do not constitute a limitation on the scope of the present disclosure. It will be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions are possible depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this disclosure shall be included in the protection scope of this disclosure.

Claims (10)

1. An obstacle simulator, comprising: a slide assembly and a power assembly; the sliding assembly comprises a sliding block and a sliding rail which are connected in a sliding mode, the sliding rail is used for being fixed on a working plane, the sliding block is located at one side, away from the working plane, of the sliding rail, the sliding block is used for being connected with an obstacle model, the power assembly comprises a fixed end and a power output end, the fixed end is fixed on the working plane, the power output end is connected with the sliding block, the power output end is used for driving the sliding block to slide along the sliding rail, the sliding rail comprises an I-shaped groove, the sliding block is connected in the I-shaped groove in a sliding mode, a first magnet is arranged at the bottom of the I-shaped portion of the sliding block, a second magnet is arranged at the position, opposite to the magnetic pole of the first magnet, of the sliding rail, and the sliding track of the first magnet is located in orthographic projection of the sliding rail when the sliding block slides on the sliding rail.

2. The device of claim 1, wherein the cross-section of the slide rail perpendicular to the working plane is trapezoidal, and the side of the cross-section near the working plane is longer than the side of the cross-section far from the working plane.

3. The device of claim 2, wherein a side of the slider remote from the working plane is lower than or parallel to a side of the slide rail remote from the working plane.

4. A device according to any one of claims 1-3, wherein the power assembly comprises a rotating electric machine and a pull rope, the rotating electric machine being fixed to the working plane as a fixed end of the power assembly, an output end of the rotating electric machine being connected to one end of the pull rope, and the other end of the pull rope being connected to the slider as a power output end of the power assembly.

5. The device of claim 4, wherein a pull-cord securing assembly is provided on the slider, the pull-cord securing assembly being adapted to be coupled to the pull-cord.

6. The device according to claim 5, wherein the pull rope fixing assembly comprises a connecting block, a clamping block and a bolt, wherein the fixing block is arranged at one end of the pull rope, which is connected with the pull rope fixing assembly, the connecting block is connected with the sliding block, a connecting groove matched with the fixing block is arranged at one side of the connecting block, the fixing block is embedded in the connecting groove, the clamping block is covered on the connecting groove, and the connecting block and the clamping block are connected through the bolt.

7. The device of claim 1, further comprising a control circuit electrically connected to the power assembly for controlling the power assembly to drive the slider to slide along the slide rail.

8. The device of claim 4, wherein the power components comprise two power components, and the two power components are respectively arranged at two ends of the sliding rail along the sliding direction of the sliding block.

9. The apparatus of claim 1, wherein the first magnet is a permanent magnet and the second magnet is an electromagnet.

10. The device of claim 1, wherein a first clamping member is provided on the slider, a second clamping member is provided on the barrier model, and the first clamping member is configured to be clamped with the second clamping member.