CN114043938A

CN114043938A - Unmanned vehicle collision recovery device and unmanned vehicle

Info

Publication number: CN114043938A
Application number: CN202111547493.7A
Authority: CN
Inventors: 刘旸; 宁柯军; 王东; 张剑; 武文杰
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-02-15

Abstract

The utility model relates to an unmanned vehicle collision recovery unit and unmanned vehicle, this unmanned vehicle collision recovery unit includes: a base; the sensor bracket is used for fixing the detection sensor, is connected to the base in a sliding manner, and is provided with a storage position positioned in the vehicle body and a working position extending out of the vehicle body; the locking mechanism is arranged between the sensor support and the base and has a locking state and an unlocking state; when the sensor support is in a locking state, the locking mechanism is used for fixing the sensor support in the working position; when the sensor support is collided and stressed, the locking mechanism is switched from the locking state to the unlocking state, so that the sensor support slides from the working position to the accommodating position along the base under the action of the elastic force of the first elastic piece. When the automobile is collided, the locking mechanism is switched to an unlocking state, and the sensor support slides to the accommodating position in the automobile body under the action of the first elastic piece, so that the collision person and the detection sensor are prevented from being damaged.

Description

Unmanned vehicle collision recovery device and unmanned vehicle

Technical Field

The disclosure relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle collision recovery device and an unmanned vehicle.

Background

In the related art, for the safe driving of automatic driving vehicle, automatic driving vehicle will generally set up a plurality of sensors, wherein, some detection sensor (for example laser radar) need stretch out outside the automobile body, and it arranges highly to be in human belly to the interval of head, and detection sensor fixes through an outer convex installing support, can cause very big damage to human body, vehicle if the collision takes place, and installing support, detection sensor also can damage because of the collision simultaneously, and the maintenance is inconvenient.

Disclosure of Invention

The utility model aims at providing an unmanned vehicle collision recovery unit and unmanned vehicle, when the collision takes place, can withdraw the detection sensor to the automobile body inside of unmanned vehicle, avoid causing great damage to collider and detection sensor to solve the above-mentioned problem that exists in the correlation technique partially.

In order to achieve the above object, a first aspect of the present disclosure provides an unmanned vehicle collision recovery apparatus including:

a base;

the sensor bracket is used for fixing the detection sensor, is connected to the base in a sliding manner, and is provided with a storage position located in the vehicle body and a working position extending out of the vehicle body;

the first elastic piece is connected between the base and the sensor bracket; and

the locking mechanism is arranged between the sensor bracket and the base and has a locking state and an unlocking state;

when in a locking state, the locking mechanism is used for fixing the sensor bracket in the working position; when the sensor support is stressed during collision, the locking mechanism is switched from a locking state to an unlocking state, so that the sensor support slides from the working position to the accommodating position along the base under the action of the elastic force of the first elastic piece.

Optionally, the collision recovery device for the unmanned vehicle further comprises a collision disc, wherein the collision disc is connected to the sensor bracket;

the locking mechanism is constructed as a locking piece and a rotating shaft; the locking piece is arranged between the sensor bracket and the base and is pivotally connected to the sensor bracket through the rotating shaft;

in the working position, the rear end of the locking piece is abutted with the front end of the base through rotation, so that the sensor support is fixed relative to the base; the locking mechanism is switched from a locked state to an unlocked state through the movement of the collision disk relative to the sensor support, so that the sensor support can slide from the working position to the storage position.

Optionally, the locking mechanism further includes a second elastic member, connected between the lock member and the sensor holder, and configured to reset the lock member from the unlocked state to the locked state when the sensor holder is switched from the storage position to the working position.

Optionally, the collision disk is slidably connected to the lower end of the sensor support, and the front end of the collision disk protrudes out of the front end of the sensor support.

Optionally, a first inclined plane is arranged on the collision disc, and a second inclined plane matched with the first inclined plane is arranged on the end face, facing the collision disc, of the locking piece.

Optionally, a sliding structure is provided at the joint of the collision disk and the sensor bracket, and the sliding structure is configured to: when the collision disk is collided in different directions, the collision disk slides relative to the sensor bracket in the front-back direction to enable the locking piece to be switched from the locking state to the unlocking state.

Optionally, the collision disk is configured as a horseshoe structure, the front end of which forms an outwardly convex arc surface relative to the front end of the sensor holder.

Optionally, the sliding structure includes a sliding groove portion disposed on the collision plate and a column portion disposed at the bottom of the sensor holder and slidably connected to the sliding groove portion, and the width of the sliding groove portion gradually increases along a direction away from the locking member.

Optionally, the number of the sliding groove portions and the number of the columnar portions are three, one sliding groove portion is arranged at the front end of the collision disc, the two sliding groove portions are arranged at the rear end of the collision disc and are arranged at intervals in the width direction of the collision disc, and the three columnar portions are respectively arranged at positions, corresponding to the three sliding groove portions, of the sensor support.

Optionally, the sliding distance of the collision disk relative to the sensor bracket is controlled by the groove length of the sliding groove part in the front-rear direction;

and/or the front end of the collision disk is provided with an extension part positioned at the front end of the sensor bracket, and the sliding distance of the collision disk relative to the sensor bracket is controlled by the distance between the extension part and the front end of the sensor bracket.

Optionally, a collision detection mechanism is arranged on the sensor support, the collision detection mechanism is used for sending an emergency stop instruction to a driving mechanism of the unmanned vehicle when a collision occurs, and the driving mechanism brakes according to the emergency stop instruction.

Optionally, the base is at least partially located inside the vehicle body, the base is formed by the vehicle body, or the base is fixedly arranged on the vehicle body.

Optionally, the unmanned vehicle collision recovery device further comprises a guide rail and a sliding block;

the guide rail is fixedly arranged on the base along the front-back direction, the sliding block is connected to the guide rail in a sliding mode, and the sensor support is fixedly arranged on the sliding block.

In a second aspect of the present disclosure, an unmanned vehicle is provided, which includes a vehicle body and a detection sensor, and further includes the collision recovery device of the unmanned vehicle of the first aspect of the present disclosure;

the side direction of automobile body is equipped with the opening, unmanned car bumps recovery unit and is used for driving detection sensor by the opening is retrieved to the position of accomodating, perhaps by the opening stretches out to operating position.

Optionally, the opening with the quantity of detecting sensor is two, two the opening is located respectively the both sides of automobile body, every the opening is equipped with one unmanned vehicle collision recovery unit, detecting sensor locates unmanned vehicle collision recovery unit on the sensor support.

According to the technical scheme, namely the collision recovery device for the unmanned vehicle, the detection sensor is fixed on the sensor support, the sensor support is connected to the base in a sliding mode, the first elastic piece is connected between the base and the sensor support, the locking mechanism is arranged between the base and the sensor support, when the unmanned vehicle works normally, the sensor support can be pulled to slide to the front end of the base, the detection sensor is driven to be located at a working position outside a vehicle body, and at the moment, the locking mechanism is switched from an unlocking state to a locking state, so that the sensor support and the detection sensor which are located at the working state are fixed at the working position; when receiving the collision, locking mechanism switches to the unblock state by the locking state, and under the pulling force or the pressure effect of first elastic component, detection sensor and sensor support slide to the inside storage position of automobile body along the base together to avoid the person of colliding and detection sensor impaired.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a block diagram view of an operating position of an unmanned vehicle collision recovery apparatus provided in some exemplary embodiments of the present disclosure;

FIG. 2 is a schematic view of a connection configuration of an unmanned vehicle collision recovery device and a detection sensor provided in some exemplary embodiments of the present disclosure;

FIG. 3 is an exploded view of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 4 is a block diagram view of a stowed position of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 5 is a side view of an unmanned vehicle collision recovery apparatus provided in some exemplary embodiments of the present disclosure;

FIG. 6 is a bottom view of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 7 is a cross-sectional view of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 8 is an enlarged view of part A based on FIG. 7;

FIG. 9 is an exploded view of a sensor bracket, a crash panel and a latch member of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 10 is a block diagram view of a sensor mount of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 11 is a block diagram view of a crash panel of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

FIG. 12 is a block diagram illustration of a latch of an unmanned vehicle crash recovery device provided in some exemplary embodiments of the present disclosure;

fig. 13 is a view illustrating a connection structure of the collision recovery apparatus for an unmanned vehicle to a body of the unmanned vehicle according to some exemplary embodiments of the present disclosure.

Description of the reference numerals

100-collision recovery device for unmanned vehicle; 110-a base; 120-a sensor holder; 121-a first escape; 1211-columnar part; 122-a second escape; 1221-a second fixation slot; 130-a first elastic member; 140-a lock; 1401-a second ramp; 1402-a first fixation groove; 141-a rotating shaft; 142-a second resilient member; 150-a collision disk; 1501-a first bevel; 1502-a chute section; 1503-an extension part; 151-set screws; 160-a guide rail; 170-a slide block; 200-a detection sensor; 300-a vehicle body; 310-opening.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise specified, use of directional words such as "upper, lower, left and right" generally means that the directions of the drawing of the corresponding drawing are defined with reference to the drawing directions of the corresponding drawings, "inner and outer" means that the inner and outer of the outline of the corresponding part, "distal and proximal" means that the corresponding structure or the corresponding part is distant from or another structure or part, and "front and rear" means the directions shown in fig. 1.

As shown in fig. 1 to 13, in a first aspect of the present disclosure, there is provided an unmanned vehicle collision recovery apparatus 100, the unmanned vehicle collision recovery apparatus 100 including: base 110 at least partially inside body 300 of the unmanned vehicle, wherein base 110 may be formed from body 300, i.e., base 110 is integrally formed with body 300; or base 110 is fixedly mounted to vehicle body 300. Base 110 may be provided entirely within vehicle body 300, or may be provided partially within vehicle body 300 and partially outside vehicle body 300. A sensor holder 120 for fixing the detection sensor 200, slidably coupled to the base 110, and having a storage position inside the vehicle body 300 and an operating position extending outside the vehicle body 300; the first elastic member 130 is connected between the base 110 and the sensor holder 120, that is, one end of the first elastic member 130 is connected to the base 110, and the other end is connected to the sensor holder 120. And a locking mechanism, disposed between the sensor holder 120 and the base 110, having a locked state and an unlocked state; in the locked state, the locking mechanism is used for fixing the sensor holder 120 in the working position; when the sensor bracket 120 is stressed by collision, the locking mechanism is switched from the locking state to the unlocking state, so that the sensor bracket 120 slides from the working position to the storage position along the base 110 under the action of the elastic force of the first elastic member 130.

Through the above technical solution, that is, in the collision recycling device 100 for the unmanned vehicle of the present disclosure, the base 110 may be partially or completely disposed inside the vehicle body 300, the detection sensor 200 is fixed on the sensor bracket 120, the sensor bracket 120 is slidably connected to the base 110, the first elastic member 130 is connected between the base 110 and the sensor bracket 120, and the locking mechanism is disposed between the base and the sensor bracket, when the unmanned vehicle normally works, the sensor bracket 120 may be pulled to slide to the front end of the base 110, that is, the detection sensor 200 is driven to be located at a working position outside the vehicle body 300, at this time, the locking mechanism is switched from an unlocked state to a locked state, so that the sensor bracket 120 and the detection sensor 200 in the working state are fixed at the working position; when the vehicle is collided, the locking mechanism is switched from the locking state to the unlocking state, and under the action of the pulling force or the pressure of the first elastic member 130, the detection sensor 200 and the sensor bracket 120 are driven to slide to the accommodating position inside the vehicle body 300 along the base 110 together, so that the collision person and the detection sensor 200 are prevented from being damaged.

It should be noted that the first elastic member 130 includes, but is not limited to, a spring, and may also be a spring sheet or elastic rubber.

As shown in fig. 3, 5, 6 and 9, the locking mechanism is disposed between the sensor holder 120 and the base 110, and has a locked state and an unlocked state; wherein, in the locked state, the locking mechanism is used for fixing the sensor bracket 120 in the working position; when the sensor bracket 120 is stressed by collision, the locking mechanism is switched from the locking state to the unlocking state, so that the sensor bracket 120 slides from the working position to the accommodating position under the pulling of the first elastic piece 130. That is, the sensor holder 120 can be pulled to slide along the base 110 from the storage position to the working position under the action of the elastic force of the first elastic member 130, and when the sensor holder 120 is in the working position, the locking mechanism is switched from the unlocked state to the locked position, so that the relative position between the sensor holder 120 and the base 110 is fixed, and the sensor holder 120 is kept in the working position; when the vehicle is collided, the locking mechanism is switched from the locking state to the unlocking state, the sensor support 120 and the base 110 are unlocked, and under the action of the pulling force of the first elastic piece 130, the sensor support 120 and the detection sensor 200 fixed on the sensor support slide to the storage position in the vehicle body 300 along the base 110 towards the inner direction of the vehicle body 300, so that the detection sensor 200 is prevented from being damaged by collision.

It should be noted that the first elastic member 130 may also be configured to be compressed when the sensor holder 120 is in the working position, and the locking mechanism is switched from the unlocked state to the locked position, so as to fix the relative position between the sensor holder 120 and the base 110, so that the sensor holder 120 is kept in the working position; when the vehicle is collided, the locking mechanism is switched from the locking state to the unlocking state, the sensor support 120 and the base 110 are unlocked, and under the action of the elastic force of the first elastic piece 130, the sensor support 120 and the detection sensor 200 fixed on the sensor support slide to the storage position inside the vehicle body 300 along the base 110 towards the inner direction of the vehicle body 300, so that the damage of the detection sensor 200 on the human body or the vehicle can be reduced to a certain extent.

The locking mechanism may be configured in any manner, as shown in fig. 2 and 3, in some embodiments of the present disclosure, the unmanned vehicle collision recovery apparatus 100 further includes a collision plate 150, the collision plate 150 is connected to the sensor bracket 120, wherein the sensor bracket 120 is used for fixing the detection sensor 200, and one end of the sensor bracket 120 may be slidably connected to the base 110, the detection sensor 200 may be fixedly connected to an upper end surface of the sensor bracket 120, and the unlocking of the locking mechanism may be achieved by a relative movement of the collision plate 150 with respect to the sensor bracket 120.

The locking mechanism is constructed as a locking piece 140 and a rotating shaft 141; the locking member 140 is disposed between the sensor holder 120 and the base 110, and pivotally connected to the sensor holder 120 through a rotating shaft 141; in the working position, the rear end of the locking member 140 abuts against the front end of the base 110 by rotating, so that the sensor holder 120 is fixed relative to the base 110; by means of the movement of the crash disk 150 relative to the sensor carrier 120, the locking mechanism is switched from the locked state to the unlocked state, so that the sensor carrier 120 can be slid from the operating position into the storage position. When the locking member 140 rotates to the locked state, the rear end of the locking member 140 abuts against the front end of the base 110, the first elastic member 130 is in a stretched state (as shown in fig. 2), and the sensor holder 120 is located at the working position and fixed relative to the base 110 due to the stop of the locking member 140; when the locking member 140 rotates to the unlocking state, the locking member 140 will no longer support the sensor bracket 120, the sensor bracket 120 and the base 110 can slide, and the sensor bracket 120 returns to the storage state inside the vehicle body 300 under the driving of the elastic force of the first elastic member 130. That is, the axial direction of the rotating shaft 141 is perpendicular to the front-rear direction, the locking member 140 is pivotally connected to the lower end of the sensor holder 120 through the rotating shaft 141, the collision disk 150 is also connected to the lower end of the sensor holder 120 and is located at the front end of the locking member 140, and when a collision occurs, the collision disk 150 moves relative to the sensor holder 120 to enable the collision disk 150 to contact with the front end face of the locking member 140, so as to drive the locking member 140 to rotate, and thus, the locking state and the unlocking state of the locking mechanism are switched.

As shown in fig. 3 and 7, in some embodiments, the locking mechanism further includes a second elastic member 142, and the second elastic member 142 is connected between the locking member 140 and the sensor holder 120, that is, one end of the second elastic member 142 may be connected to the sensor holder 120, and the other end is connected to the locking member 140, for resetting the locking member 140 from the unlocking state to the locking state when the sensor holder 120 is switched from the storage position to the working position. When the detection sensor 200 needs to be switched from the storage position to the working position, the sensor holder 120 can be pulled out, and when the rear end of the locking member 140 passes over the front end of the base 110, the locking member 140 automatically rotates to the locking state under the elastic force of the second elastic member 142, so that the relative position between the sensor holder 120 and the base 110 is fixed. The second elastic member 142 is preferably a spring, but is not limited thereto, and a spring plate, an elastic rubber, or the like may be used.

In order to better fix the second elastic member 142, as shown in fig. 10 and 12, in some embodiments of the present disclosure, a first fixing groove 1402 is provided on a side of the locking member 140 facing the sensor holder 120 for fixing one end of the second elastic member 142, and a second fixing groove 1221 is provided on a side of the sensor holder 120 facing the locking member 140 for fixing the other end of the second elastic member 142, wherein the second elastic member 142 is compressed between the locking member 140 and the sensor holder 120.

In some embodiments, the locking member 140 is pivotally connected to the lower end of the sensor holder 120 by a rotating shaft 141, the axis of the rotating shaft 141 is perpendicular to the front-rear direction, the collision disk 150 is slidably connected to the lower end of the sensor holder 120 and is located at the front end of the locking member 140, and the front end of the collision disk 150 protrudes out of the front end of the sensor holder 120. When a collision occurs, the collision disk 150 first comes into contact with the colliding object and drives the locking member 140 to rotate by its sliding movement with respect to the sensor holder 120 to achieve unlocking between the sensor holder 120 and the base 110.

It should be noted that, in other embodiments, the collision disk 150 can also rotate relatively when being hit, so as to drive the locking member 140 to rotate, thereby facilitating the switching from the locked state to the unlocked state.

In order to fix the collision disk 150, when the locking member 140 is in the unlocked state, the collision disk 150 and the locking member 140 slide together with the sensor bracket 120 along the front-back direction of the base 110, a first avoidance part 121 is arranged at the front end of the bottom of the sensor bracket 120, and the collision disk 150 is connected to the first avoidance part 121 in a sliding manner; meanwhile, the bottom of the sensor support 120 is further provided with a second avoiding portion 122, the locking member 140 is rotatably connected to the second avoiding portion 122, when the locking member is in a locking state, the rear end of the locking member 140 is rotated out by the second avoiding portion 122 and abuts against the front end of the base 110, so that the sensor support 120 is fixed, and when the locking member is in an unlocking state, the locking member 140 is rotated into the second avoiding portion 122, so that the sensor support 120 can slide relative to the base 110, and the sensor support 120 is prevented from being influenced by the existence of the locking member 140 to move relative to the base 110. It should be noted that the first avoiding portion 121 may be formed by a notch at the front end of the bottom of the sensor holder 120, and the second avoiding portion 122 may be formed by a groove at the bottom of the sensor holder 120, and the locking member 140 can be hidden in the groove in the unlocked state.

As shown in fig. 7 and 8, in some embodiments, the collision disk 150 is provided with a first inclined surface 1501, and an end surface of the locking member 140 facing the collision disk 150 is provided with a second inclined surface 1401 which is matched with the first inclined surface 1501. The rear end of the collision disk 150, which is used for being connected with the lock member 140, may be provided with a first inclined surface 1501, and the front end of the lock member 140 may be provided with a second inclined surface 1401 capable of being matched with the first inclined surface 1501, wherein the first inclined surface 1501 is attached to the second inclined surface 1401, the thickness of the first inclined surface 1501 is gradually increased from the lock member 140 to the collision disk 150, meanwhile, the thickness of the first inclined surface 1501 is gradually increased from the collision disk 150 to the lock member 140, and when the collision disk 150 is collided and moves towards the lock member 140, the first inclined surface 1501 slides relative to the second inclined surface 1401, so that the movement of the collision disk 150 relative to the lock member 140 is converted into the rotation of the lock member 140 around the rotating shaft 141, thereby switching the lock member 140 from the locked state to the unlocked state. In this embodiment, the middle portion of the locking member 140 is rotatably connected to the lower end of the sensor bracket 120 through the rotating shaft 141, and when the first inclined surface 1501 moves backward relative to the second inclined surface 1401, the front end of the locking member 140 rotates downward around the rotating shaft 141, so that the rear end of the locking member 140 rotates upward around the rotating shaft 141, thereby realizing the switching from the locking state to the unlocking state. It should be noted that in other embodiments, the locking member 140 may also be rotatably connected to the bottom of the sensor holder 120 through a rotating shaft 141 at a position offset from the center, so as to switch the state of the locking mechanism.

Since the unmanned vehicle may move forward, backward, or turn during traveling, the detection sensor 200 may be impacted in different directions, and damage to the detection sensor 200 may be avoided even when the unmanned vehicle is impacted in various directions. In some embodiments, the interface between the collision disk 150 and the sensor bracket 120 is provided with a sliding structure configured to: when the collision disk 150 is collided with in different directions, the collision disk 150 slides relative to the sensor holder 120 in the front-rear direction to switch the lock member 140 from the locked state to the unlocked state.

The collision disk 150 may be configured in any manner, as shown in fig. 6, 9 and 11, and in some embodiments, the collision disk 150 is configured as a horseshoe-shaped structure, the front end of which forms an arc-shaped surface that is convex with respect to the front end of the sensor holder 120. The front end of the sensor holder 120 may be configured to be arc-shaped corresponding to the arc-shaped surface of the horseshoe-shaped structure, and the arc-shaped surface of the horseshoe-shaped structure protrudes from the front end of the sensor holder 120 in the front-rear direction, so that the collision disk 150 is firstly contacted with a collider when a collision occurs, thereby timely unlocking the locking member 140.

The sliding structure can be constructed in any mode, and the requirement that the collision piece can move towards the direction of the locking piece 140 and drive the locking piece 140 to rotate when different convenient collisions are met can be met. As shown in fig. 9, 10 and 11, in some embodiments of the present disclosure, the sliding structure includes a sliding groove portion 1502 disposed on the collision plate 150 and a column portion 1211 disposed at the bottom of the sensor holder 120 and slidably connected to the sliding groove portion 1502, and a width of the sliding groove portion 1502 gradually increases along a direction away from the locking member 140. Because the extending direction of the slot edge of the sliding slot portion 1502 forms a certain included angle with the front-back direction, when the collision disk 150 is impacted in different directions, the acting force in the direction has a component in the front-back direction, so that the collision disk 150 moves towards the locking member 140 to realize unlocking. The lower end of the columnar portion 1211 is inserted into the sliding groove portion 1502, and the lower end of the columnar portion 1211 is connected to the fixing screw 151, so that the columnar portion is slidably connected to the sliding groove portion 1502 without being separated.

The number of the sliding groove portions 1502 and the number of the column portions 1211 can be three, wherein one sliding groove portion 1502 is arranged at the front end of the collision disk 150, the other two sliding groove portions 1502 are arranged at the rear end of the collision disk 150 and are arranged at intervals in the width direction of the collision disk 150, the three column portions 1211 are respectively arranged at the positions, corresponding to the three sliding groove portions 1502, of the sensor support 120, and when the collision disk 150 is impacted by an object in any direction, the collision disk 150 can slide relative to the sensor support 120 in the front-back direction, so that the locking member 140 can rotate.

It should be noted that the moving distance of the collision disk 150 relative to the sensor holder 120 can be controlled by the slot length of the sliding slot portion 1502 in the front-back direction, that is, when the sensor holder 120 is in the working position, the column portion 1211 is located at the rear end of the sliding slot portion 1502, the lock member 140 is in the locked state, when the collision disk 150 is collided, the collision disk 150 slides towards the sensor holder 120, the sliding slot portion 1502 slides relative to the column portion 1211, the sliding is stopped when the column portion 1211 is abutted against the front end of the sliding slot portion 1502, and at the same time, the first inclined surface 1501 of the collision disk 150 pushes the second inclined surface 1401 of the lock member 140, and the lock member 140 is switched to the unlocked state. Of course, the distance that the crash disk 150 moves relative to the sensor carrier 120 can also be controlled by the distance of the edge of the crash disk 150 from the edge of the sensor carrier 120. Wherein the front end of the collision disk 150 is provided with an extension 1503 perpendicular to the front-rear direction and located at the front end of the sensor holder 120, when a collision occurs, the extension 1503 moves toward the sensor holder 120, and the moving distance of the collision disk 150 relative to the sensor holder 120 can be limited by the abutment of the extension 1503 with the sensor holder 120.

In some embodiments of the present disclosure, the sensor bracket 120 is provided with a collision detection mechanism (not shown in the drawings), which may be in communication with a control mechanism or a driving mechanism of the unmanned vehicle, and the collision detection mechanism is configured to send an emergency stop command to the driving mechanism of the unmanned vehicle when a collision occurs, and the driving mechanism is configured to brake according to the emergency stop command. It can be understood that the collision detection mechanism can be a collision switch, a pressure sensor and the like, and when the collision is detected, an emergency stop command can be sent to the driving mechanism of the unmanned vehicle in time, power is cut off, and braking is started.

As shown in fig. 2 and 3, in some embodiments of the present disclosure, the unmanned vehicle collision recovery apparatus 100 further includes a guide rail 160 and a slider 170; the guide rail 160 is fixedly installed on the base 110 along the front-rear direction, the slider 170 is slidably connected to the guide rail 160, and the sensor holder 120 is fixedly installed on the slider 170. The guide rail 160 and the slider 170 are configured to guide the sensor holder 120 while ensuring smooth sliding of the sensor holder 120 with respect to the base 110, so that the sensor holder 120 and the detection sensor 200 fixed to the sensor holder 120 can slide from an operating position outside the vehicle body 300 to a storage position.

In a second aspect of the present disclosure, there is provided an unmanned vehicle comprising a vehicle body 300 and a detection sensor 200, the unmanned vehicle further comprising the above-described unmanned vehicle collision recovery apparatus 100; wherein, the side direction of automobile body 300 is equipped with opening 310, and unmanned vehicle collision recovery unit 100 is used for driving detection sensor 200 and retrieves to the storage position by opening 310, perhaps stretches out to operating position by opening 310 to avoid being hit the object or detection sensor 200 and damage, improve the security of unmanned vehicle driving process.

In some embodiments, the number of the openings 310 and the detection sensors 200 is two, two openings 310 are respectively disposed at both sides of the vehicle body 300, each opening 310 is provided with one unmanned vehicle collision recovery apparatus 100, and the detection sensors 200 are disposed on the sensor brackets 120 of the unmanned vehicle collision recovery apparatus 100. One opening 310 is provided at the front left of the forward direction of the vehicle body 300, and the other opening 310 is provided at the front right of the forward direction of the vehicle body 300, so as to better cope with the collision of both sides of the unmanned vehicle when the unmanned vehicle travels forward. Of course, the vehicle body 300 may be provided at the left rear and the right rear in the forward direction thereof to better cope with the collision at both sides of the unmanned vehicle when the unmanned vehicle travels backward.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. An unmanned vehicle collision recovery apparatus, characterized in that the unmanned vehicle collision recovery apparatus (100) comprises:

a base (110);

a sensor holder (120) for fixing a detection sensor (200), slidably connected to the base (110), and having a storage position inside a vehicle body (300) and an operating position extending outside the vehicle body (300);

a first elastic member (130) connected between the base (110) and the sensor holder (120); and

the locking mechanism is arranged between the sensor bracket (120) and the base (110) and has a locking state and an unlocking state;

in the locking state, the locking mechanism is used for fixing the sensor bracket (120) in the working position; when the sensor support (120) is stressed during collision, the locking mechanism is switched from a locking state to an unlocking state, so that the sensor support (120) slides from the working position to the storage position along the base (110) under the action of the elastic force of the first elastic piece (130).

2. The unmanned vehicle collision recovery apparatus according to claim 1, wherein the unmanned vehicle collision recovery apparatus (100) further comprises a collision plate (150), the collision plate (150) being connected to the sensor bracket (120);

the locking mechanism is constructed as a locking piece (140) and a rotating shaft (141); the locking piece (140) is arranged between the sensor bracket (120) and the base (110) and is pivotally connected to the sensor bracket (120) through the rotating shaft (141);

in the working position, the rear end of the locking piece (140) is abutted with the front end of the base (110) through rotation, so that the sensor bracket (120) is fixed relative to the base (110); the locking mechanism is switched from a locked state to an unlocked state by a movement of the crash disk (150) relative to the sensor carrier (120), so that the sensor carrier (120) can be slid from the operating position into the storage position.

3. The unmanned vehicle crash recovery device of claim 2, wherein the latch mechanism further comprises a second resilient member (142), the second resilient member (142) being connected between the latch member (140) and the sensor holder (120) for resetting the latch member (140) from the unlocked state to the locked state when the sensor holder (120) is shifted from the stowed position to the operative position.

4. The collision recycling device for the unmanned vehicle as claimed in claim 2, wherein the collision plate (150) is slidably connected to a lower end of the sensor bracket (120), and a front end of the collision plate (150) protrudes from a front end of the sensor bracket (120).

5. The collision recovery device for unmanned vehicles according to claim 4, wherein the collision plate (150) is provided with a first inclined surface (1501), and the end surface of the locking member (140) facing the collision plate (150) is provided with a second inclined surface (1401) matched with the first inclined surface (1501).

6. The unmanned vehicle collision recovery device according to any one of claims 3 to 5, wherein a sliding structure is provided at the junction of the collision disk (150) and the sensor bracket (120), the sliding structure being configured to: when the collision disk (150) is collided in different directions, the collision disk (150) slides relative to the sensor bracket (120) in the front and back direction to enable the locking piece (140) to be switched from the locking state to the unlocking state.

7. The unmanned vehicle collision recovery device according to claim 6, wherein the collision plate (150) is configured as a horseshoe-shaped structure, a front end of which forms an arc-shaped surface that is convex with respect to a front end of the sensor holder (120).

8. The collision recovery apparatus for unmanned vehicles according to claim 6, wherein the sliding structure comprises a sliding groove portion (1502) formed on the collision plate (150) and a column portion (1211) formed on the bottom of the sensor holder (120) and slidably connected to the sliding groove portion (1502), and the width of the sliding groove portion (1502) increases in a direction away from the lock member (140).

9. The collision recovery apparatus for the unmanned vehicle as claimed in claim 8, wherein the number of the sliding groove portions (1502) and the number of the column portions (1211) are three, one sliding groove portion (1502) is provided at the front end of the collision plate (150), two sliding groove portions (1502) are provided at the rear end of the collision plate (150) and are spaced apart in the width direction of the collision plate (150), and three column portions (1211) are provided at positions of the sensor holder (120) corresponding to the three sliding groove portions (1502), respectively.

10. The unmanned vehicle collision recovery apparatus according to claim 9, wherein a sliding distance of the collision plate (150) with respect to the sensor bracket (120) is controlled by a groove length of the sliding groove portion (1502) in a front-rear direction;

and/or the front end of the collision disk (150) is provided with an extension part (1503) positioned at the front end of the sensor bracket (120), and the sliding distance of the collision disk (150) relative to the sensor bracket (120) is controlled by the distance between the extension part (1503) and the front end of the sensor bracket (120).

11. The collision recovery device for the unmanned vehicle as claimed in claim 1, wherein the sensor bracket (120) is provided with a collision detection mechanism for sending an emergency stop command to a driving mechanism of the unmanned vehicle when a collision occurs, and the driving mechanism is braked according to the emergency stop command.

12. The collision recovery apparatus according to claim 1, wherein the base (110) is at least partially inside the vehicle body (300), the base (110) is formed by the vehicle body (300), or the base (110) is fixedly provided to the vehicle body (300).

13. The unmanned vehicle collision recycling device according to claim 1, wherein the unmanned vehicle collision recycling device (100) further comprises a guide rail (160) and a slider (170);

the guide rail (160) is fixedly arranged on the base (110) along the front-back direction, the sliding block (170) is connected to the guide rail (160) in a sliding mode, and the sensor support (120) is fixedly arranged on the sliding block (170).

14. An unmanned vehicle comprising a vehicle body (300) and a detection sensor (200), characterized in that the unmanned vehicle further comprises the unmanned vehicle collision recovery apparatus (100) of any one of claims 1-13;

the side direction of automobile body (300) is equipped with opening (310), unmanned car collision recovery unit (100) are used for driving detection sensor (200) by opening (310) are retrieved to containing position, perhaps by opening (310) stretch out to operating position.

15. The unmanned vehicle according to claim 14, wherein the number of the openings (310) and the detection sensors (200) is two, two openings (310) are respectively provided at both sides of the vehicle body (300), each opening (310) is provided with one unmanned vehicle collision recovery device (100), and the detection sensors (200) are provided on the sensor brackets (120) of the unmanned vehicle collision recovery devices (100).