CN211504680U

CN211504680U - Intelligent driving test pedestrian target

Info

Publication number: CN211504680U
Application number: CN202020056476.8U
Authority: CN
Inventors: 欧涛; 李长华
Original assignee: Hunan Shibo Testing Technology Co ltd
Current assignee: Hunan Shibo Testing Technology Co ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-09-15
Anticipated expiration: 2030-01-10

Abstract

The utility model discloses an intelligent driving test pedestrian target which is arranged on a motion platform and comprises an upper trunk, a big arm, a small arm, a thigh, a shank, a swing arm device and a leg swing device; the swing arm device comprises a first motor arranged in the upper trunk, and the first motor drives the two big arms to swing in a crossed manner; the leg swinging device comprises a base, a second motor, a crank and rocker mechanism and a lifting platform; the base is arranged on the upper trunk, and the second motor is arranged on the base; the crank rocker mechanisms are respectively arranged on two sides of the base, the cranks of the crank rocker mechanisms are connected with the second motor, the rockers of the crank rocker mechanisms are connected with the thighs, and the crank rocker mechanisms drive the two thighs to swing in a crossed manner; the lifting platform is connected with the lower part of the base in a sliding manner and performs reciprocating motion on the base close to or far away from the second motor, and the lower end of the lifting platform is also connected with the motion platform. The utility model provides a problem of swing leg swing arm gesture and the lift gesture of health in vertical direction when current manikin can't simulate the people motion.

Description

Intelligent driving test pedestrian target

Technical Field

The utility model belongs to the intelligent driving field especially relates to an intelligence is driven and is tested pedestrian's target.

Background

The intelligent driving technology is rapidly developed, and the intelligent driving automobile is more and more popular, so that the intelligent driving automobile represented by a millimeter wave radar and a laser radar gradually enters life. An Advanced driver assistance System (Advanced driver assistance System), referred to as ADAS for short, is widely applied in the field of intelligence, and is an active safety technology that collects environmental data inside and outside a vehicle at the first time by using various sensors mounted on the vehicle, and performs technical processing such as identification, detection and tracking of static and dynamic objects, so that a driver can perceive possible dangers at the fastest time to draw attention and improve safety. The ADAS sensors are primarily cameras, radars, lasers, and ultrasound, which can detect light, heat, pressure, or other variables used to monitor vehicle conditions.

When automobile enterprises or research institutions research automobile ADAS functions, automatic pedestrian identification and avoidance tests need to be carried out on vehicles. Testing with a real person is too dangerous. In the ADAS test experiment that exists at present, the test props that use are carton, humanoid cardboard, inflatable person, the model or the static unmovable manikin in clothing shop, and these simple and easy props simulation degree are lower, and the lift gesture of swing leg swing arm gesture and health in vertical direction when unable anthropomorphic dummy moves.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide an intelligent driving test pedestrian target for solving the problem of low simulation degree of the human body model for the automobile ABE test in the prior art.

The utility model provides an intelligent driving test pedestrian target which is arranged on a motion platform and comprises an upper trunk, a big arm, a small arm, a thigh, a shank, a swing arm device and a leg swing device;

the swing arm device comprises a first motor arranged in the upper trunk, and the first motor drives the two large arms to swing in a crossed manner;

the leg swing device includes:

a base disposed in the upper torso;

the second motor is arranged on the base;

the crank and rocker mechanisms are respectively arranged at two sides of the base, the cranks of the crank and rocker mechanisms are connected with the second motor, the rockers of the crank and rocker mechanisms are connected with the thighs, and the crank and rocker mechanisms drive the two thighs to swing in a cross mode; and

and the lifting platform is connected with the lower part of the base in a sliding manner and performs reciprocating motion on the base close to or far away from the second motor, and the lifting platform is used for being connected with the motion platform.

Preferably, the leg swing device further comprises a crank block mechanism connected with the second motor and the lifting platform to drive the lifting platform to lift.

Preferably, the main shaft of the second motor extends out of two ends of the main body of the second motor, and the crank and rocker mechanisms are provided with two sets and are respectively arranged at two ends of the main shaft;

the crank comprises a left crank connected with one end of the main shaft and a right crank connected with the other end of the main shaft;

the crank rocker mechanism also comprises a left rocker and a right rocker which are respectively arranged on the left side and the right side of the base and are respectively hinged with the base;

the crank rocker mechanism further comprises a first connecting rod for connecting the left rocker and the left crank, and a second connecting rod for connecting the right rocker and the right crank; the hinge shaft of the first connecting rod and the left crank and the hinge shaft of the second connecting rod and the right crank are symmetrically arranged around the main shaft.

Preferably, the crank-slider mechanism comprises two guide rods arranged at the lower end of the base and parallel to each other and a sliding bearing matched with the guide rods;

the elevating platform with sliding bearing is connected, slider-crank mechanism still including connecting the left side crank with the third connecting rod of elevating platform and connecting the right side crank with the fourth connecting rod of elevating platform, third connecting rod and fourth connecting rod parallel arrangement and synchronous operation.

Preferably, a plurality of hinge holes are formed in the left rocker and the right rocker in the extending direction of the rocker bodies, the hinge hole in the left rocker is used for being hinged to the first connecting rod, and the hinge hole in the right rocker is used for being hinged to the second connecting rod.

Preferably, the thigh and the shank are hinged, a plurality of limiting shafts are further arranged on one side of the hinged shaft of the thigh and the shank, the limiting shafts are used for adjusting the included angle between the thigh and the shank, and the hinged shaft of the thigh and the shank and the limiting shafts are magnetic shafts.

Preferably, a shoulder joint is arranged between the first motor and the large arm, and the shoulder joint comprises a first joint part arranged on the large arm, a second joint part connected with a rotating shaft of the first motor, and a first magnetic connecting piece connecting the first joint part and the second joint part.

Preferably, an elbow joint is arranged between the large arm and the small arm, and the elbow joint comprises a third joint part arranged on the large arm, a fourth joint part arranged on the small arm, an indexing hole arranged on the third joint part, an indexing pin arranged on the fourth joint part, and an elastic piece or a second magnetic connecting piece connected with the third joint part and the fourth joint part.

Preferably, the first motor comprises two driving motors arranged in a back-to-back manner, and the rotating shafts of the two driving motors extend out of two sides of the upper trunk.

Preferably, the upper trunk comprises a head, a chest and an abdominal and hip which are detachably connected, the leg swinging device is arranged on the abdominal and hip, the rocker is connected with the thigh, and the lower end of the lifting platform is detachably connected with the moving platform.

The utility model discloses in, the leg and the arm of pedestrian's target can carry out the swing of the different angles of different speeds according to the speed of travel of difference, can satisfy pedestrian's in the road pedestrian test walking, walk soon, the multiple test demand of running. The pedestrian object furthermore comprises two drive motors for driving its arms and thighs, respectively. The pedestrian target may also simulate the up and down undulations of a real person's body in height from the ground during running.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an intelligent driving test pedestrian target;

FIG. 2 is a schematic structural diagram of the leg swing device in the embodiment of FIG. 1;

FIG. 3 is a schematic view of the left and right cranks of the embodiment of FIG. 1;

FIG. 4 is a right side view of FIG. 2;

FIG. 5 is a schematic view of the range of the swing angle of the leg swing apparatus in the embodiment of FIG. 1;

FIG. 6 is a schematic view of the knee joint of the embodiment of FIG. 1;

FIG. 7 is a schematic diagram of an embodiment of a shoulder joint for intelligent driving test of a pedestrian target;

FIG. 8 is a schematic structural view of another embodiment of a shoulder joint of a mid-smart driving test pedestrian target;

FIG. 9 is a schematic diagram of an embodiment of an elbow joint for a driver-tested pedestrian during smart driving.

Detailed Description

The utility model provides an intelligence driving test pedestrian target, refer to fig. 1 to 4, this intelligence driving test pedestrian target includes truck, big arm 21, forearm 22, thigh 31, shank 32, swing arm device 40, swing leg device 50 and motion platform 60. The upper torso comprises head, neck, chest, abdomen and buttocks; wherein, the head, the neck and the chest form an integrated cephalothorax part 11, the abdomen and the hip form an integrated abdomen and hip part 12, the cephalothorax part 11 and the abdomen and hip part 12 can be detachably connected, and the magnetic attraction connection can be particularly adopted. The pedestrian target can be disconnected at the connecting part when being impacted, and the damage of the pedestrian target is effectively avoided. According to the fact that the collision direction of the automobile is lateral collision in actual use, the attraction force of the magnets is distributed to be weaker in the lateral direction and stronger in the front-rear direction, and the inertia force generated when the pedestrian target travels and accelerates is adapted. The connection of the pedestrian's target chest to the abdomen is also made in the same manner.

In addition, the outside of the cephalothorax part 11 and the abdominal buttocks part 12 is also wrapped by a light, soft and porous non-metal material. The upper arm, the forearm, the thigh 31 and the shank 32 are independently arranged and are made of light, soft, porous and sparse non-metallic materials wrapping bones and bones. The skeleton is made of metal materials such as aluminum alloy and the like, and can also be made of composite materials such as fiber reinforced plastics, glass fiber reinforced plastics and the like.

The swing arm device 40 comprises a first motor 41 arranged in the upper trunk, and the first motor 41 drives the two large arms 21 to swing in a crossing manner. In this embodiment, the first motor 41 includes two driving motors disposed in opposite directions, the rotation axes of the two driving motors extend out of two sides of the upper trunk, the large arm 21 is connected to the rotation axes of the two driving motors, the two driving motors can select the stepping motors or the servo motors that are turned over each other to realize cross swing, and the swing angle is controllable.

Leg swing device 50 includes base 51, second motor 52, crank and rocker mechanism 53 and lifting platform 54; wherein the base 51 is provided in the abdominal buttock 12, and the second motor 52 is provided on the base 51; two sets of crank and rocker mechanisms 53 are arranged on two sides of the base 51, the cranks of the crank and rocker mechanisms are connected with the second motor 52, the rockers of the crank and rocker mechanisms are connected with the thighs 31, and the crank and rocker mechanisms 53 drive the two thighs 31 to swing in a cross mode.

Specifically, the main shaft of the second motor 52 extends out from two ends of the main body thereof, and the crank and rocker mechanisms 53 are provided with two sets and respectively arranged at two ends of the main shaft; the crank comprises a left crank 53a connected with one end of the main shaft and a right crank 53e connected with the other end of the main shaft; the crank rocker mechanism 53 further comprises a left rocker 53b and a right rocker 53f respectively arranged on the left side and the right side of the base 51 and respectively hinged with the base 51, a first connecting rod 53c connecting the left rocker 53b and the left crank 53a, and a second connecting rod 53g connecting the right rocker 53f and the right crank 53 e. The hinge shaft of the first link 53c and the left crank 53a and the hinge shaft of the second link 53g and the right crank 53e are symmetrically arranged about the center of the main shaft of the second motor, so as to realize the staggered swing of the left rocker 53b and the right rocker 53 f.

The lifting platform 54 is slidably connected to the lower portion of the base 51 and reciprocates on the base 51 to move closer to or away from the second motor 52, and the lower end of the lifting platform 54 is further connected to the moving platform 60. In this embodiment, the lifting platform 54 can be driven by an external linear motor to reciprocate to simulate the vertical fluctuation of the human body during movement.

Further, a crank block mechanism 54 may be provided to connect the elevating table 54 and the main shaft of the second motor 52, and the elevating table 54 may be driven to move up and down by the second motor 52. Specifically, the crank-slider mechanism 54 includes two guide rods 54a disposed at the lower end of the base 51 and disposed in parallel with each other, and a sliding bearing 54b adapted to the guide rods 54a, the lifting platform 54 is connected to the sliding bearing 54b, the crank-slider mechanism 54 and the crank-rocker mechanism 53 share a crank, the crank-slider mechanism 54 further includes a third connecting rod 54c connecting the left crank 53a and the lifting platform, and a fourth connecting rod 54d connecting the right crank 53e and the lifting platform, and the third connecting rod 54c and the fourth connecting rod 54d are disposed in parallel and operate synchronously.

The moving platform 60 comprises a moving part and an installation part arranged on the moving part, the installation part comprises an installation rod, the installation rod is magnetically connected with the lifting platform 54, automatic moving devices such as an AGV trolley can be selected for the moving part, and the moving platform can move according to a set track and can control the moving speed in real time.

In order to simulate the electromagnetic wave reflection and absorption characteristics of pedestrians more truly, shielding measures need to be taken for metal parts with extremely strong millimeter wave reflection characteristics inside the pedestrian target. In an embodiment of the present invention, only the clothes covered on the surface in the pedestrian target is set to have a reflection function on the millimeter wave, and under the clothes on the surface, at the position containing the metal part, the clothes are coated with the material having the millimeter wave absorption characteristic. In this way, the influence of the metal parts on the reflection properties (particularly the RCS value) of the millimeter waves by the pedestrian object is avoided.

The clothing covered externally by the pedestrian target is a textile with a special coating. The textile can be detected and identified by the millimeter wave radar, so that the pedestrian target has the same RCS value as the real person. The covered textile fabric imitates the color of the corresponding part of the real person at different parts, the part at the top of the head simulates the hair of the human, and can be black, yellow, brown, golden or bald skin color, the color of the textile fabric can be any color such as black, red and white at the parts corresponding to the coat, the trousers and the shoes of the real person, and the color of the textile fabric can be three colors of black, white and yellow at the parts corresponding to the naked skin of the real person. In another embodiment of the present invention, a special coating is applied to the soft material of the pedestrian target, also to give it a humanoid RCS value. The utility model discloses a further embodiment, the component that can generate heat has still been added in the soft porous non-metallic material of light of the outside parcel of cover clothing or pedestrian target of pedestrian target, and the body temperature and the temperature distribution of simulation true man make the pedestrian target can be carried the vehicle that carries infrared detection identification equipment and detect, and this function specially adapted road test at night.

In an embodiment of the invention, the other materials inside the pedestrian target except the skeleton elements are light, soft, porous and sparse non-metallic materials, in particular EPE foam or EVA foam, so that in the test, in case of collision with the vehicle, it will not cause damage to the tested vehicle. Another advantage of the lightweight, flexible, porous, and non-metallic material is that millimeter waves can penetrate it, or in other words, it does not reflect millimeter waves, and does not affect the radar reflection parameter RCS value of the pedestrian target.

In the pedestrian object of the present invention, the battery for supplying energy to the servo motor is a rechargeable battery, and the battery is wrapped in the soft material (e.g., EPE foam) of the body of the pedestrian object. In an embodiment of the present invention, the two servo motors of the pedestrian target share one power supply set, and when the vehicle is collided, the power connection line is disconnected with the chest and the abdomen of the pedestrian target. The utility model provides a pedestrian's target contains the electronic components who has the control motor and rotates, can wirelessly send and accept the electrical information about pedestrian's target relevant information of marcing.

In an embodiment of the present invention, referring to fig. 1 to 5, a plurality of hinge holes are provided on the left side rocking bar 53b and the right side rocking bar 53f along the extending direction of the bar body, the hinge hole on the left side rocking bar 53b is used for hinging with the first connecting rod 53c, and the hinge hole on the right side rocking bar 53f is used for hinging with the second connecting rod 53 g. The swing angle of the thigh 31 of the pedestrian target is adjusted by changing the positions of the hinge points of the first link 53c and the second link 53g with the rocker.

As shown in fig. 5, the change of the mounting position of point C, i.e. the change of LDC, causes the change of the swing angle θ of the rocker, and the following relationship exists:

in order to simulate this motion characteristic of the pedestrian whose body gravity center changes continuously up and down in the motion more truly, in a further embodiment of the present invention, the height of the pedestrian target from the ground is periodically changed along with the swing of the thigh 31, and the servo motor providing power for up and down movement and the motor driving the thigh 31 to swing are the same motor.

Further, referring to fig. 1 to 6, the thigh 31 and the lower leg 32 are hinged, a plurality of limiting shafts 34 are further disposed on one side of the hinge shaft of the thigh 31 and the lower leg 32, the limiting shafts 34 are used for adjusting the included angle between the thigh 31 and the lower leg 32, the hinge shaft of the thigh 31 and the lower leg 32 is a knee hinge shaft 33, and the knee hinge shaft and the limiting shafts 34 are magnetic shafts. According to different traveling speeds of the pedestrian target, the knee joint can be correspondingly arranged at different angles. When the person walks, the angle of the knee joint is the largest, while when taking a sprint similar to a hectometer sprint, the lower leg 32 bends backwards and the angle of the knee joint can be reduced to around 90 degrees. Based on this fact, the knee joint is fixedly set to at least three angles.

Further, referring to fig. 1 to 8, a shoulder joint 42 is disposed between the first motor 41 and the upper arm 21, and the shoulder joint 42 includes a first joint portion 42b disposed on the upper arm 21, a second joint portion 42a connected to a rotation shaft of the first motor 41, and a first magnetic coupling connecting the first joint portion 42b and the second joint portion 42 a. In the present embodiment, as shown in fig. 7, the first magnetic coupling includes a first magnet 42d provided in the first joint portion 42b and a second magnet 42e provided in the second joint portion 42a, which are attracted to each other to attach the joint portions together, and a pin 42c connecting the first joint portion 42b and the second joint portion 42a is provided between them.

In another embodiment, as shown in fig. 8, the first magnetic connecting member includes two first magnets 42d disposed in the first joint portion 42b and two second magnets 42e disposed in the second joint portion 42a, and the two first magnets 42d and the two second magnets 42e attract each other to make the two joint portions fit together, so that the use of pins is omitted, and the structure is simpler.

In the present invention, referring to fig. 1 to 9, an elbow joint 23 is provided between the large arm 21 and the small arm 22, the elbow joint 23 includes a third joint part 23a provided on the large arm 21, a fourth joint part 23b provided on the small arm 22, an indexing hole provided on the third joint part 23a, an indexing pin 23d provided on the fourth joint part 23b, and an elastic member 23c or a second magnetic connecting member for connecting the third joint part 23a and the fourth joint part 23 b. As shown in fig. 9, a through hole is provided in the middle of the third joint portion 23a, and a projection fitted into the through hole is provided on the surface of the fourth joint portion 23b that is in contact with the third joint portion 23 a. The arrangement of the index pin 23d and the index hole can be used to adjust the angle between the large arm 21 and the small arm 22. The elastic member 23c is preferably a tension spring provided in the through hole, and one end of the tension spring is connected to the large arm 21 and the other end is connected to the small arm 22 to provide a tensile force for fitting the third joint to the fourth joint. The flexibility of the pedestrian target is improved due to the spring, and energy can be well released when the tested vehicle is impacted, so that damage to the structure of the arm elbow joint 23 is avoided. In addition, magnets which attract each other can be arranged to provide the adhesive force.

Further, the swing arm device 40 may also adopt a scheme that a single-shaft double-end motor in the leg swing device 50 is matched with a crank rocker mechanism to realize the swing arm action, except for the driving scheme that two driving motors are arranged oppositely, which is not described herein.

The utility model provides a pedestrian's target can simulate real person's physical characteristic on multiple aspect. The clothes or the self material covered on the surface of the clothes make the clothes or the self material have the reflection characteristics (especially RCS value and Radar Cross Section (RCS) for short) of the millimeter wave Radar of the real person. The three-dimensional size of the laser radar is the same as that of a real person, and the laser radar can detect the laser radar. The appearance of the clothes can simulate the skin and hair of a real person, so that the clothes can be identified by a vehicle provided with a camera. The heating element in the infrared induction heating device can enable the temperature value and the distribution of the heating element to be the same as those of a real person, and the heating element can be detected by the infrared induction device. The movable joint part can simulate the running and running of a real person, and has the Doppler characteristic similar to that of the real person. Its structure makes it when being strikeed by the car, can break into a plurality of parts, has both avoided the damage to the car, also can make the utility model provides a pedestrian's target can repetitious usage (extension use number of times). The utility model provides a leg and arm of pedestrian's target can carry out the swing of the different angles of different speeds according to the speed of travel of difference, can satisfy pedestrian's in the road pedestrian test walking, walk soon, the multiple test demand of running. The utility model provides a pedestrian's target contains two driving motor, is used for driving its arm and thigh respectively. The utility model provides a pedestrian's target can also simulate the actual person and run the in-process health apart from the high fluctuation on ground.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the scope of the present description should be considered as being described in the present specification. The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims

1. An intelligent driving test pedestrian target is arranged on a motion platform and is characterized by comprising an upper trunk, a big arm, a small arm, a thigh, a shank, a swing arm device and a leg swing device;

the leg swing device includes:

a base disposed in the upper torso;

the second motor is arranged on the base;

and the lifting platform is connected with the lower part of the base in a sliding manner and does reciprocating motion close to or far away from the second motor on the base, and the lifting platform is used for being connected with the motion platform.

2. The intelligent driving test pedestrian object of claim 1 wherein the leg swing apparatus further comprises a crank block mechanism connecting the second motor and the lift table to drive the lift table up and down.

3. The intelligent driving test pedestrian target of claim 2 wherein the main shaft of the second motor extends from both ends of the main body thereof, and the crank and rocker mechanisms are provided in two sets and are respectively provided at both ends of the main shaft;

4. The intelligent driving test pedestrian target of claim 3 wherein the slider-crank mechanism comprises two guide rods disposed at a lower end of the base and parallel to each other and a sliding bearing adapted to the guide rods;

5. The pedestrian objective of intelligent driving testing of claim 4, wherein the left rocker and the right rocker are provided with a plurality of hinge holes along the extension direction of the rod bodies, the hinge hole on the left rocker is used for being hinged with the first connecting rod, and the hinge hole on the right rocker is used for being hinged with the second connecting rod.

6. The pedestrian target for intelligent driving test according to claim 1, wherein the thigh and the shank are hinged, a plurality of limiting shafts are further arranged on one side of the hinged shaft of the thigh and the shank, the limiting shafts are used for adjusting an included angle between the thigh and the shank, and the hinged shaft and the limiting shafts of the thigh and the shank are magnetic shafts.

7. The intelligent driving test pedestrian target of claim 1 wherein a shoulder joint is disposed between the first motor and the boom, the shoulder joint including a first joint portion disposed on the boom, a second joint portion connected to a rotational shaft of the first motor, and a first magnetic connection connecting the first and second joint portions.

8. The intelligent driving test pedestrian target of claim 1 wherein an elbow joint is disposed between the upper arm and the lower arm, the elbow joint including a third joint portion disposed on the upper arm, a fourth joint portion disposed on the lower arm, an indexing hole disposed on the third joint portion, an indexing pin disposed on the fourth joint portion, and an elastic member or a second magnetic connector connecting the third joint portion and the fourth joint portion.

9. The intelligent driving test pedestrian target of claim 1 wherein the first motor includes two oppositely disposed drive motors, the axes of rotation of the two drive motors extending toward the sides of the upper torso.

10. The pedestrian intelligent driving test object of claim 1, wherein the upper torso includes a head and chest portion integrally formed with a head, a neck and a chest portion, and an abdominal and hip portion integrally formed with an abdomen and a hip portion, the head and chest portions and the abdominal and hip portion being detachably connected, the leg swing device being disposed at the abdominal and hip portion, the rocker being connected to the thigh, and a lower end of the lift platform being detachably connected to the motion platform.