CN115541249B - Mobile chassis and testing device - Google Patents

Abstract

The invention relates to a mobile chassis and a testing device, wherein the mobile chassis can move on a testing bottom surface. The device comprises a shell and a moving mechanism, wherein the moving mechanism comprises a driving source, a travelling wheel, a bearing seat, an elastic piece and a universal joint coupling, the driving source is arranged on the shell, a wheel shaft of the travelling wheel is connected with an output shaft of the driving source through the universal joint coupling, the wheel shaft is connected with the bearing seat, and the bearing seat is connected with the shell through the elastic piece; in the first state, a gap is reserved between the shell and the testing bottom surface, the travelling wheel penetrates through the shell to downwards extend and contact with the testing bottom surface, the travelling wheel can rotate relative to the testing bottom surface to realize movement, and the wheel shaft is coaxial with the output shaft; in the second state, the height of the shell is reduced to be in contact with the bottom surface of the test, the axle and the output shaft form an included angle, and the elastic piece is in a deformation state so that the bearing seat and the axle are kept coaxial. Through setting up the elastic component, prevent that the bearing seat from moving to the direction that is close to the test bottom surface, reduced the emergence of the condition that the shaft buckled.

Description

Mobile chassis and testing device

Technical Field

The invention relates to the technical field of vehicle testing, in particular to a mobile chassis and a testing device.

Background

By simulating various street crossing behaviors of pedestrians on roads, whether the tested vehicle can correctly recognize the pedestrians is checked, and therefore the performance of the vehicle and the running safety of the vehicle are detected. The existing dummy testing device comprises a dummy and a movable chassis arranged below the dummy, and the movable chassis drives the dummy to move, so that various street crossing behaviors of pedestrians on roads are simulated. However, the existing movable chassis is easy to crush by a tested vehicle during testing, so that wheels of the movable chassis are damaged.

Disclosure of Invention

Based on this, it is necessary to provide a mobile chassis for the problem that the wheels are vulnerable to crushing.

A mobile chassis capable of moving over a test floor, comprising:

a housing;

the moving mechanism comprises a driving source, a travelling wheel, a bearing seat, an elastic piece and a universal joint coupling, wherein the driving source is arranged on the shell, an axle of the travelling wheel is connected with an output shaft of the driving source through the universal joint coupling, the axle is connected with the bearing seat, and the bearing seat is connected with the shell through the elastic piece;

in a first state, a gap is reserved between the shell and the testing bottom surface, the travelling wheel penetrates through the shell, extends downwards and is in contact with the testing bottom surface, the travelling wheel can rotate relative to the testing bottom surface to realize movement, and the wheel shaft is coaxial with the output shaft;

in a second state, the height of the shell is reduced to be in contact with the testing bottom surface, the axle and the output shaft form an included angle, and the elastic piece is in a deformation state so that the bearing seat and the axle are kept coaxial.

In one embodiment, the housing includes an upper case and a bottom plate connected to the upper case, and the driving source and the elastic member are both connected to the bottom plate;

in the first state, the travelling wheel penetrates through the bottom plate to downwards extend and is in contact with the testing bottom surface;

in the second state, the travelling wheel moves upwards relative to the shell so as to extend into the shell.

In one embodiment, the elastic member is plate-shaped, the top surface of the elastic member is connected to the bearing seat, and at least a partial area of the bottom surface is connected to the bottom plate.

In one embodiment, the mobile chassis further includes a first support member having one end connected to the upper case and the other end connected to the bottom plate, the first support member being for suppressing distortion of the case.

In one embodiment, the device further comprises a mounting piece arranged on the shell and used for mounting the target object, the moving mechanisms are provided with a plurality of groups, and the plurality of groups of moving mechanisms are distributed around the mounting piece.

In one embodiment, the road wheels are Mecanum wheels.

In one embodiment, the moving mechanism further comprises a controller, the controller is electrically connected with the driving source, the controller is used for controlling the driving source to be opened and closed, the moving chassis further comprises a radar stealth cover covered outside the shell, and the radar stealth cover is used for weakening radar signals sent by the controller.

In one embodiment, the radar stealth cover comprises a top plate and a side plate connected to the top plate, the top plate and the side plate enclose a cavity for accommodating the shell, the top plate comprises an outer skin layer, a wave absorbing layer and an inner skin layer which are sequentially arranged along the height direction of the shell, and the inner skin layer is connected to the top wall of the shell.

In one embodiment, the side plate is in a right-angle triangular prism shape, one right-angle surface of the side plate is connected to the side wall of the shell, the other right-angle surface of the side plate is parallel to the bottom surface of the shell, the side plate comprises an edge skin layer and a wave-absorbing inner core, the edge skin layer encloses to form a cavity, and the cavity is filled with the wave-absorbing inner core.

The invention also provides a testing device which comprises a target object, a tested vehicle and the mobile chassis, wherein the target object is arranged on the shell, the mobile mechanism is used for driving the shell and the target object to synchronously move, and the tested vehicle is used for detecting the movement position of the target object.

The invention has the beneficial effects that:

above-mentioned removal chassis installs moving mechanism's actuating source on the casing, and the bearing frame passes through elastic component elastic connection in the casing, and the shaft of walking wheel passes the bearing frame to be connected in the universal joint shaft coupling, and actuating source's output shaft also is connected in the universal joint shaft coupling, through setting up the universal joint shaft coupling, and shaft and output shaft can coaxial setting also can be the contained angle setting. In the first state, a gap is reserved between the shell and the testing bottom surface, an axle of the travelling wheel is coaxial with an output shaft of the driving source, the travelling wheel penetrates through the shell to downwards extend and contact the testing bottom surface, and the travelling wheel can rotate relative to the testing bottom surface, so that the travelling wheel moves on the testing bottom surface and synchronously drives the shell to move; under the second state, the shell height is reduced to be in contact with the testing bottom surface, namely, the shell is subjected to pressure so that the shell is abutted to the testing bottom surface, the driving source is arranged on the shell, namely, the driving source is subjected to tensile force to move towards the direction close to the testing bottom surface, at the moment, the output shaft of the driving source moves towards the direction close to the testing bottom surface, and an included angle is formed between the output shaft and the wheel shaft of the travelling wheel due to the arrangement of the universal joint coupling. Through setting up the elastic component, at the in-process that the output shaft of drive source moved near the direction of test bottom surface, the elastic component warp, makes bearing frame and shaft keep coaxial, prevents that the bearing frame from moving to the direction near the test bottom surface, prevents that the bearing frame from producing the pulling force to the direction near the test bottom surface to the shaft, has reduced the emergence of the condition that the shaft buckled. According to the movable chassis provided by the invention, the bearing seat is elastically connected to the shell through the elastic piece, when the shell is rolled, the output shaft of the driving source moves in the direction of approaching to the test bottom surface, the output shaft and the wheel shaft form an included angle, and the elastic piece is in a deformed state, so that the bearing seat is obliquely arranged and is kept in a coaxial state with the wheel shaft, and the situation that the wheel shaft of the travelling wheel is bent due to the fact that the bearing seat generates pulling force to pull the travelling wheel is prevented.

Drawings

FIG. 1 is an exploded view of a housing provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a moving mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a moving mechanism in a first state according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a moving mechanism in a second state according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first view angle of a moving mechanism provided on a base plate according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a second view angle of a moving mechanism provided on a base plate according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a top plate of a radar stealth cover according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a side plate of a radar stealth cover according to an embodiment of the present invention.

In the figure:

100. a housing; 110. an upper case; 111. a mounting hole; 112. an observation hole; 120. a bottom plate;

200. a moving mechanism; 210. a driving source; 211. an output shaft; 220. a walking wheel; 221. a wheel axle; 230. a bearing seat; 240. an elastic member; 250. a universal joint coupling; 260. a motor fixing seat;

300. a first support;

400. a second support;

500. a bracket;

610. a top plate; 611. an outer skin layer; 612. a wave absorbing layer; 613. an inner skin layer; 614. the first magic tape adhesive layer; 620. a side plate; 621. an edge skin layer; 622. a wave-absorbing inner core; 623. the second magic tape adhesive layer;

700. a mounting member;

800. a battery;

900. testing the bottom surface.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Embodiments of the present invention provide a mobile chassis that can move over a test floor 900. As shown in fig. 1 to 4, the mobile chassis includes a housing 100 and a moving mechanism 200, the moving mechanism 200 includes a driving source 210, a traveling wheel 220, a bearing housing 230, an elastic member 240, and a universal joint coupling 250, the driving source 210 is mounted on the housing 100, an axle 221 of the traveling wheel 220 is connected to an output shaft 211 of the driving source 210 through the universal joint coupling 250, the axle 221 is connected to the bearing housing 230, and the bearing housing 230 is connected to the housing 100 through the elastic member 240; in the first state, a gap is formed between the housing 100 and the test bottom 900, the travelling wheel 220 extends downwards through the housing 100 and contacts the test bottom 900, the travelling wheel 220 can rotate relative to the test bottom 900 to realize movement, and the wheel axle 221 is coaxial with the output shaft 211; in the second state, the housing 100 is lowered to contact the bottom surface 900, the axle 221 forms an angle with the output shaft 211, and the elastic member 240 is in a deformed state, so that the bearing seat 230 is coaxial with the axle 221.

In the above-mentioned mobile chassis, the driving source 210 of the mobile mechanism 200 is mounted on the housing 100, the bearing seat 230 is elastically connected to the housing 100 through the elastic member 240, the wheel axle 221 of the travelling wheel 220 is connected to the universal joint coupling 250 through the bearing seat 230, the output shaft 211 of the driving source 210 is also connected to the universal joint coupling 250, and by providing the universal joint coupling 250, the wheel axle 221 and the output shaft 211 may be coaxially arranged or may be arranged at an included angle. In the first state, a gap is formed between the housing 100 and the test bottom surface 900, the wheel axle 221 of the travelling wheel 220 is coaxial with the output shaft 211 of the driving source 210, the travelling wheel 220 penetrates the housing 100 to downwards extend and contact the test bottom surface 900, and the travelling wheel 220 can rotate relative to the test bottom surface 900, so that the travelling wheel moves on the test bottom surface 900 and synchronously drives the housing 100 to move; in the second state, the height of the housing 100 is reduced to be in contact with the test floor 900, that is, the housing 100 is pressed to make the housing 100 abut against the test floor 900, because the driving source 210 is mounted on the housing 100, that is, the driving source 210 is moved in a direction approaching the test floor 900 by a tensile force, at this time, the output shaft 211 of the driving source 210 is moved in a direction approaching the test floor 900, and because the universal joint coupling 250 is provided, the output shaft 211 and the wheel axle 221 of the road wheel 220 are disposed at an included angle. By providing the elastic member 240, the elastic member 240 deforms during the movement of the output shaft 211 of the driving source 210 in a direction approaching the test bottom 900, so that the bearing housing 230 and the wheel axle 221 are kept coaxial, the bearing housing 230 is prevented from moving in a direction approaching the test bottom 900, the bearing housing 230 is prevented from generating a tensile force in a direction approaching the test bottom 900 to the wheel axle 221, and the occurrence of bending of the wheel axle 221 is reduced. According to the movable chassis provided by the embodiment of the invention, the bearing seat 230 is elastically connected to the casing 100 through the elastic piece 240, when the casing 100 is rolled, the output shaft 211 of the driving source 210 moves towards the direction close to the test bottom 900, the output shaft 211 and the wheel axle 221 form an included angle, and the elastic piece 240 is in a deformed state, so that the bearing seat 230 is obliquely arranged and is kept in a coaxial state with the wheel axle 221, and the situation that the wheel axle 221 of the travelling wheel 220 is bent due to the fact that the bearing seat 230 generates pulling force is prevented from generating.

Specifically, a bearing is sleeved on the axle 221, and the axle 221 is rotatably connected to the bearing seat 230 through the bearing, so that the running fit between the axle 221 and the bearing seat 230 is achieved.

In some embodiments, as shown in fig. 1 to 4, the housing 100 includes an upper case 110 and a base plate 120 connected to the upper case 110, and the driving source 210 and the elastic member 240 are connected to the base plate 120; in the first state, the road wheel 220 protrudes downward through the bottom plate 120 and contacts the test bottom 900; in the second state, the road wheel 220 moves upward with respect to the housing 100 to extend into the housing 100. The casing 100 includes an upper case 110 and a bottom plate 120, the driving source 210 and the elastic member 240 are connected to the bottom plate 120, so that the moving mechanism 200 is mounted on the bottom plate 120, the upper case 110 is covered on the bottom plate 120 and the moving mechanism 200, in the first state, a gap is formed between the bottom plate 120 and the test bottom surface 900, the wheel axle 221 of the travelling wheel 220 is coaxial with the output shaft 211 of the driving source 210, the travelling wheel 220 extends downward through the bottom plate 120 and contacts the test bottom surface 900, the travelling wheel 220 can rotate relative to the test bottom surface 900, thereby moving on the test bottom surface 900 and synchronously driving the casing 100 to move; when the housing 100 is crushed, that is, the housing 100 is pressed downward, so that the housing 100 is in the second state, at this time, the upper housing 110 is pressed so that the upper housing 110 and the bottom plate 120 are both abutted against the test bottom 900, the height of the housing 100 is reduced to be in contact with the test bottom 900, because the driving source 210 is mounted on the bottom plate 120, when the height of the bottom plate 120 is reduced, the driving source 210 and the output shaft 211 move downward, because the output shaft 211 and the axle 221 are connected through the universal joint coupling 250, the output shaft 211 moves downward, so that the output shaft 211 and the axle 221 are disposed in an included angle, at this time, the elastic member 240 is in a deformed state, so that the axes of the axle 221 and the bearing seat 230 are consistent, and the bearing seat 230 is prevented from being forced downward to stretch the axle 221. Also, in the second state, the road wheel 220 moves upward with respect to the housing 100 to extend into the housing 100, protecting the road wheel 220. In this embodiment, the elastic member 240 is disposed to connect the bearing housing 230 and the bottom plate 120, and when the bottom plate 120 moves downward to pull the bearing housing 230, the elastic member 240 can deform to keep the axes of the axle 221 and the bearing housing 230 consistent.

It can be understood that when the housing 100 is rolled, the upper shell 110 of the housing 100 is rolled, the upper shell 110 moves downward, the bottom plate 120 is connected to the upper shell 110, and the upper shell 110 moves downward to drive the bottom plate 120 to move downward synchronously, at this time, the moving chassis is in the second state, and the upper shell 110 and the bottom plate 120 completely cover the moving mechanism 200.

Specifically, as shown in fig. 1 and 2, a groove is formed on the bottom plate 120, and the groove is used to expose the travelling wheel 220.

Preferably, the assembled housing 100 is designed to have a height of 9cm, and the ground clearance of the travelling wheel 220 is 1cm, so that the height of the mobile chassis is reduced as much as possible while good passing performance and obstacle surmounting capability of the mobile chassis are ensured, and the influence of the mobile chassis on the identification of pedestrians of a tested vehicle in the testing process is reduced.

It should be noted that, the test floor 900 may be any one of asphalt pavement, sand land, brick land, grassland, water accumulation pavement, fallen leaves, and gentle slope, and is selected according to the use condition of the mobile chassis. Mobile chassis

Specifically, as shown in fig. 2 and 3, the moving mechanism 200 further includes a motor fixing base 260, and the driving source 210 is mounted on the base plate 120 through the motor fixing base 260. More specifically, the motor mount 260 has an L-shaped structure.

In some embodiments, as shown in fig. 3 and 4, the elastic member 240 has a plate shape, the top surface of the elastic member 240 is connected to the bearing housing 230, and at least a partial region of the bottom surface is connected to the bottom plate 120. The top surface of the elastic member 240 is connected to the bearing housing 230, a partial region of the bottom surface is connected to the bottom plate 120, and when the bottom plate 120 is moved downward by pressure, one end of the elastic member 240 connected to the bottom plate 120 is moved downward, and the elastic member 240 is stressed in a deformed state.

Specifically, the elastic member 240 is a spring steel plate, and at least a partial region of the bottom surface of the spring steel plate is connected to the bottom plate 120 by welding.

In some embodiments, as shown in fig. 5 and 6, the mobile chassis further includes a first support 300, one end of the first support 300 is connected to the upper case 110, the other end is connected to the bottom plate 120, and the first support 300 serves to suppress distortion of the case 100. By providing the first support 300, not only the upper case 110 and the bottom plate 120 are connected, but also the distortion of the case 100 is prevented.

Specifically, as shown in fig. 5 and 6, the first support 300 includes a connection bracket and two frames distributed along the height direction of the housing 100, the frames including a first bracket and a second bracket, the first bracket and the second bracket being enclosed to form a quadrangle, one frame being connected to the top wall of the upper housing 110, the other frame being connected to the bottom plate 120, and the two frames being connected through the connection bracket. Wherein, the first support extends along the length direction of the housing 100, the second support extends along the width direction of the housing 100, and the connecting support extends along the height direction of the housing 100, so as to limit the housing 100 in the length direction, the width direction and the height direction and prevent the housing from being distorted.

Preferably, as shown in fig. 5 and 6, the mobile chassis further includes a second support 400, the second support 400 having an L-shape, one end of which is connected to the upper case 110 and the other end of which is connected to the bottom plate 120, and the connection strength of the upper case 110 and the bottom plate 120 is further increased by providing the second support 400. It will be appreciated that in some embodiments, the short side of the second support 400 is connected to the upper case 110 and the long side thereof is connected to the bottom plate 120. Still alternatively, in some embodiments, the second support 400 has a short side connected to the bottom plate 120 and a long side connected to the upper case 110. Alternatively, in some embodiments, the second support 400 has the above two mounting methods, and cooperates with each other to further increase the connection strength between the upper case 110 and the bottom plate 120.

Preferably, as shown in fig. 5 and 6, the mobile chassis further includes a bracket 500 provided at a corner of the base plate 120, one end of which is connected to the upper case 110 and the other end of which is connected to the base plate 120, and the strength of the connection of the upper case 110 and the base plate 120 is further increased by providing the bracket 500.

Specifically, as shown in fig. 5 and 6, a weight reducing hole is provided in the bracket 500 to reduce the weight of the housing 100.

In some embodiments, as shown in fig. 5 and 6, the mobile chassis further includes a mount 700 provided on the housing 100 for mounting the object, the moving mechanism 200 is provided with a plurality of groups, and the plurality of groups of moving mechanisms 200 are distributed around the mount 700. By providing the mounting member 700 on the housing 100, it is convenient to mount the object on the housing 100, the moving mechanism 200 is mounted on the bottom plate 120 of the housing 100, and the moving mechanism 200 drives the housing 100, the mounting member 700 and the object to move synchronously.

Specifically, the movement mechanism 200 is provided with four sets distributed around the mount 700. More specifically, in some embodiments, the target is a dummy, the dummy is mounted on the mounting member 700, and the moving mechanism 200 drives the dummy to move, so as to simulate various street-crossing behaviors of pedestrians on the road, and the vehicle to be tested measures the moving position of the dummy, so that the performance of the vehicle and the running safety of the vehicle can be conveniently detected.

Specifically, as shown in fig. 5 and 6, a mounting member 700 is provided on the base plate 120, a mounting hole 111 is provided on the upper case 110, and a target object is connected to the base plate 120 through the upper case 110, so that the target object is mounted on the case 100, and is moved by the moving mechanism 200.

In some embodiments, the moving mechanism 200 is provided with three sets of three road wheels 220 distributed around the mounting member 700, the three road wheels 220 moving over the test floor 900 to move the target.

In some embodiments, the road wheels 220 are Mecanum wheels. By using the mecanum wheel, the movement modes of advancing, traversing, tilting, rotating, combining and the like of the shell 100 can be realized so as to simulate the movement actions of advancing, retreating, turning, sideways moving, in-situ turning and the like of pedestrians, and the complex and changeable walking track of the pedestrians can be restored under the coherent movement. When the moving mechanism 200 drives the object to move, the moving track of the object can simulate the moving track of walking of pedestrians, and the moving speed of the object can be matched with the walking speed and the frequency of the real pedestrians, so that the simulation degree of the moving chassis is improved. When the mobile chassis disclosed by the invention is used for moving a dummy, the simulation degree of the testing device is improved, and the pedestrian recognition capability of a tested vehicle is reflected more truly.

In some embodiments, the moving mechanism 200 further includes a controller electrically connected to the driving source 210, the controller is configured to control the opening and closing of the driving source 210, and the moving chassis further includes a radar stealth cover covered outside the housing 100, where the radar stealth cover is configured to attenuate radar signals sent by the controller. By providing a controller, the driving source 210 is electrically connected with the controller, and the controller controls the opening and closing of the driving source 210, thereby controlling the rotation of the travelling wheel 220. The controller can send out radar signal outward, and when the controller is at the during operation, namely when moving mechanism 200 drove the target thing and remove, the radar signal that the controller sent easily disturbs the vehicle under test, establishes the stealthy cover of radar at the casing 100 dustcoat, and the radar signal that the controller sent has been weakened to the stealthy cover of radar, reduces the influence of controller to the vehicle under test, reduces to the radar reflection cross section data (RCS value) that the vehicle-mounted millimeter wave radar of vehicle under test gathered and brings the interference.

Preferably, the moving mechanism 200 further includes a motor speed regulator for regulating the rotation speed of the driving source 210, thereby regulating the moving speed of the travelling wheel 220. The moving mechanism 200 is provided with four groups, and the controller is electrically connected to four motor speed adjusters, each of which is connected to a corresponding driving source 210.

In some embodiments, as shown in fig. 1 and 7, the radar stealth cover includes a top plate 610 and a side plate 620 connected to the top plate 610, the top plate 610 and the side plate 620 enclose a cavity that forms the accommodating case 100, the top plate 610 includes an outer skin layer 611, a wave absorbing layer 612, and an inner skin layer 613 sequentially disposed along a height direction of the case 100, and the inner skin layer 613 is connected to a top wall of the case 100. Through setting up roof 610, connect roof 610 in the roof of epitheca 110, roof 610 includes outer skin 611, wave absorbing layer 612 and interior skin 613 that set gradually along the direction of height of casing 100, and wave absorbing layer 612 has the effect of absorbing the radar signal that the controller sent, and outer skin 611 and interior skin 613 also have certain isolated signal, weaken the effect of the radar signal that the controller sent.

Specifically, as shown in fig. 1 and 7, a first magic tape layer 614 is provided on the top wall of the upper case 110 on the inner skin layer 613, and a first magic tape layer 614 is provided on the top wall of the upper case 110 on the first magic tape layer 614, and the first magic tape layer 614 is attached on the first magic tape layer, so as to connect the top wall of the upper case 110 with the top plate 610.

In some embodiments, as shown in fig. 1 and 8, the side plate 620 is in a rectangular prism shape, one right-angle surface of the side plate 620 is connected to the side wall of the housing 100, the other right-angle surface is parallel to the bottom surface of the housing 100, the side plate 620 includes an edge skin layer 621 and a wave-absorbing core 622, the edge skin layer 621 encloses a cavity, and the cavity is filled with the wave-absorbing core 622. By providing side panels 620 on the side walls of the housing 100, the radar signal emitted by the controller is further attenuated. The side plate 620 is a triangular prism shape and comprises an edge skin layer 621 and a wave-absorbing inner core 622, the edge skin layer 621 encloses the circumferential arrangement of the wave-absorbing inner core 622, and the edge skin layer 621 is connected to the side wall of the shell 100, so that the side plate 620 is installed.

Specifically, as shown in fig. 1 and 8, a second hook-and-loop adhesive layer 623 is provided on the inner skin layer 613, and a second hook-and-loop adhesive layer correspondingly adhered to the second hook-and-loop adhesive layer 623 is provided on the top wall of the upper case 110, and the second hook-and-loop adhesive layer 623 is correspondingly adhered to the second hook-and-loop adhesive layer, thereby connecting the side plate 620 and the side wall of the upper case 110.

Preferably, the mobile chassis further comprises a wireless remote controller signal receiver, and the controller is connected with the wireless remote controller signal receiver through a data line, receives a remote controller control instruction through the wireless remote controller signal receiver and transmits the remote controller control instruction to the controller. In the starting state, after receiving a control command of the wireless remote controller, the mobile chassis analyzes the control command through the controller, converts the command into a motor driving command, transmits the motor driving command to four driving power supplies, and the driving source 210 controls the rotation direction and the rotation speed of the travelling wheel 220 according to the command, so that the omnidirectional movement of the mobile chassis can be realized by adjusting the rotation direction and the rotation speed.

Preferably, the mobile chassis further comprises a GPS module, the control circuit board is connected with the GPS module through a data line, and the GPS module collects position information in real time and transmits the position information to the control circuit board for positioning control of the mobile platform.

Preferably, the mobile chassis further comprises a power module, the power module is electrically connected with the controller, the controller is powered by the power module, the power module is composed of a main switch, a battery switch and a battery 800, the two-stage switch design can avoid the runaway of the mobile platform caused by manual misoperation, and the power module is designed in the battery 800 and has the functions of leakage protection, charging protection and battery allowance reminding. The power module is mounted on the bottom plate 120 of the housing 100 and has waterproof and dustproof effects. Specifically, an observation hole 112 is provided on the upper case 110 to facilitate observation of the operating state of the power module.

The embodiment of the invention also provides a testing device, which comprises a target object, a tested vehicle and the mobile chassis, wherein the target object is arranged on the shell 100, the mobile mechanism 200 is used for driving the shell 100 and the target object to synchronously move, and the tested vehicle is used for detecting the movement position of the target object. The mounting member 700 is disposed on the bottom plate 120 of the housing 100, and the object is inserted into the mounting member 700 through the upper housing 110, so as to fix the object, the controller drives the moving mechanism 200 to operate, and drives the object to move on the test bottom 900, and the vehicle to be tested is used for detecting the movement position of the object, thereby detecting the performance of the vehicle and the safety of the vehicle running.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. A mobile chassis capable of moving on a test floor (900), comprising:

a housing (100);

the moving mechanism (200) comprises a driving source (210), a travelling wheel (220), a bearing seat (230), an elastic piece (240) and a universal joint coupler (250), wherein the elastic piece (240) is plate-shaped, the driving source (210) is installed on the shell (100), a wheel shaft (221) of the travelling wheel (220) is connected with an output shaft (211) of the driving source (210) through the universal joint coupler (250), the wheel shaft (221) is connected with the bearing seat (230), and the bearing seat (230) is connected with the shell (100) through the elastic piece (240);

in a first state, a gap is reserved between the shell (100) and the testing bottom surface (900), the travelling wheel (220) penetrates through the shell (100) to downwards extend and is in contact with the testing bottom surface (900), the travelling wheel (220) can rotate relative to the testing bottom surface (900) to realize movement, and the wheel shaft (221) is coaxial with the output shaft (211);

in a second state, the height of the housing (100) is reduced to be in contact with the test bottom surface (900), the wheel shaft (221) and the output shaft (211) form an included angle, the elastic piece (240) is in a deformed state, so that the bearing seat (230) and the wheel shaft (221) are kept coaxial, and the travelling wheel (220) moves upwards relative to the housing (100) so as to extend into the housing (100).

2. The mobile chassis of claim 1, wherein the housing (100) comprises an upper shell (110) and a base plate (120) connected to the upper shell (110), the drive source (210) and the elastic member (240) being both connected to the base plate (120);

in the first state, the travelling wheel (220) extends downwards through the bottom plate (120) and is in contact with the test bottom surface (900).

3. The mobile chassis according to claim 2, characterized in that the top surface of the elastic member (240) is connected to the bearing housing (230) and at least a partial area of the bottom surface is connected to the bottom plate (120).

4. The mobile chassis of claim 2, further comprising a first support (300), wherein the first support (300) is connected to the upper case (110) at one end and to the bottom plate (120) at the other end, and wherein the first support (300) is configured to suppress distortion of the housing (100).

5. The mobile chassis of claim 1, further comprising a mount (700) disposed on the housing (100) for mounting an object, wherein the moving mechanism (200) is provided with a plurality of sets, and wherein the plurality of sets of moving mechanisms (200) are distributed around the mount (700).

6. The mobile chassis of claim 1, wherein the road wheels (220) are mecanum wheels.

7. The mobile chassis of claim 1, wherein the mobile mechanism (200) further comprises a controller electrically connected to the drive source (210), the controller being configured to control the opening and closing of the drive source (210), the mobile chassis further comprising a radar stealth cover disposed outside the housing (100), the radar stealth cover being configured to attenuate radar signals emitted by the controller.

8. The mobile chassis of claim 7, wherein the radar stealth cover comprises a top plate (610) and a side plate (620) connected to the top plate (610), the top plate (610) and the side plate (620) enclose a cavity for accommodating the housing (100), the top plate (610) comprises an outer skin layer (611), a wave absorbing layer (612) and an inner skin layer (613) sequentially arranged along the height direction of the housing (100), and the inner skin layer (613) is connected to the top wall of the housing (100).

9. The mobile chassis of claim 8, wherein the side plate (620) is in a right-angle triangular prism shape, one right-angle surface of the side plate (620) is connected to a side wall of the housing (100), the other right-angle surface is parallel to a bottom surface of the housing (100), the side plate (620) comprises an edge skin layer (621) and a wave-absorbing core (622), the edge skin layer (621) encloses a cavity, and the cavity is filled with the wave-absorbing core (622).

10. A test device, comprising a target object, a vehicle to be tested and a mobile chassis according to any one of claims 1 to 9, wherein the target object is mounted on a housing (100), a moving mechanism (200) is used for driving the housing (100) and the target object to move synchronously, and the vehicle to be tested is used for detecting the movement position of the target object.

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