CN103507789A - Device and method for 360-degree full steering of vehicle - Google Patents
Device and method for 360-degree full steering of vehicle Download PDFInfo
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- CN103507789A CN103507789A CN201310477783.8A CN201310477783A CN103507789A CN 103507789 A CN103507789 A CN 103507789A CN 201310477783 A CN201310477783 A CN 201310477783A CN 103507789 A CN103507789 A CN 103507789A
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- vehicle
- vehicle body
- oil cylinder
- telescopic oil
- steering
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Abstract
The invention discloses a device and method for 360-degree full steering of a vehicle. The device comprises a steering sensor, extensible oil cylinders, auxiliary wheels, an oil pump, an oil storage tank and a controller. The method comprises the steps that after a switch is switched on by a driver, oil is pumped to the oil cylinders through the oil pump, the oil cylinders extend, so that the auxiliary wheels are in contact with the ground and a vehicle body is lifted, and therefore original wheels are separated from the ground and suspended; after a steering instruction is sent by the driver, the auxiliary wheels steer; when the steering sensor senses that the vehicle body reaches a preset turning angle, the auxiliary wheels stop steering and are driven by a driving motor to horizontally move in a set direction. According to the device and method, 360-degree full steering of the vehicle in place is easily achieved, the difficulties of parking and in-place steering of the vehicle are overcome, the function that when the driver finds an ideal parking place, adjustment of the vehicle is not needed, the driver only needs to slightly push a button, stably sit and be relax and the vehicle automatically and directly enters the parking place.
Description
Technical field
The present invention relates to a kind of Vehicular turn auxiliary device and method thereof, particularly a kind of devices and methods therefor entirely turning to for vehicle 360 degree.
Background technology
Along with the development of urbanization, population and traffic density are more and more concentrated.For many chaufeurs, often meet the nervous problem in the parking stall causing because parking space is limited.Even if sometimes find parking stall, parking is also a kind of experience of misery, seldom has the situation that some twists and turns has just stopped car of not taking.It is curved that parking may cause traffic tie-up, neurolysis and bumper/spoiler to be hit.
From phase late 1980s to today, automaker is devoted to the research of the technology of parking always.From Reverse Sensor the earliest, the prompting by sound can allow the distance of driver before and after probably grasping.Develop again subsequently reverse image system, because there has been viewable pictures intuitively, the difficulty of parking further reduces.And have now a kind of configuration the difficulty of parking almost can be reduced to zero, Here it is more advanced automated parking system relatively.Yet automated parking system complex structure, after finding a desirable parking site, appoints and must carry out frequently the vehicle operation that moves around, docking process is appointed so and is relatively turned from side to side.
Summary of the invention
For the problems referred to above that in prior art, auxiliary parking apparatus exists, the invention provides a kind of devices and methods therefor entirely turning to for vehicle 360 degree, by these apparatus and method, can realize at an easy rate vehicle original place 360 degree and entirely turn to, solve the difficulty of vehicle parking and pivot stud.
Technical scheme of the present invention is:
The device entirely turning to for vehicle 360 degree, comprising: rotation direction sensor, is arranged on vehicle body barycenter place, for locating vehicle body corner;
Telescopic oil cylinder, is arranged on and every parallel place of wheel, for raising vehicle body, makes wheel liftoff;
Auxiliary wheel, is arranged on telescopic oil cylinder bottom, for turning to and mobile vehicle body;
Oil pump and petrol storage tank, telescopic oil cylinder is connected with petrol storage tank by oil pump, and oil pump is for oily to telescopic oil cylinder pump according to the enabled instruction of chaufeur.
Controller, is arranged in vehicle body, for vehicle body being turned to according to steering instructions and moving and implement to control.
Further, described telescopic oil cylinder comprises urceolus, flange, petrol storage tank, oil pump, expansion link, pull back spring; Described urceolus is fixed on and on vehicle body, passes through flangeseal, and connect petrol storage tank and oil pump, telescopic oil cylinder is pressurizeed and is promoted expansion link and extend downwards by oil pump, during decompression, under the effect of pull back spring, upwards shrinks, and expansion link bottom is bolted the bracing frame that comprises steer motor.
Further, described auxiliary wheel comprise be arranged on telescopic oil cylinder bottom for fixed drive motor rotating shaft and be arranged at the rubber tire in rotating shaft, rubber tire is connected with telescopic oil cylinder by rotating shaft, realizes rotating.
The method entirely turning to for vehicle 360 degree, comprises the steps: after A, chaufeur starting switch, and oil pump is to telescopic oil cylinder pump oil, and telescopic oil cylinder extends auxiliary wheel is contacted with ground, raises vehicle body, and it is unsettled that wheel is liftoff;
B, chaufeur send after steering order, and auxiliary wheel turns to;
C, when rotation direction sensor sensing vehicle body reaches predetermined corner, auxiliary wheel stops operating, auxiliary wheel under the driving of steer motor to direction initialization translation.
The invention has the beneficial effects as follows:
By these apparatus and method, can realize at an easy rate vehicle original place 360 degree turns to entirely, solve the difficulty of vehicle parking and pivot stud, make driver after finding a desirable parking site, needn't toss to and fro again, and only need gently start button, settle down, loosen, automatically directly enter parking stall.
Accompanying drawing explanation
Fig. 1 is layout and the principle schematic that vehicle 360 degree turn to auxiliary wheel entirely;
Fig. 2 is the interconnecting wiring diagram of actuator SH-3F075M;
Fig. 3 is the connection mode figure of S3C44B0X chip;
Fig. 4 is DC voltage converter connection diagram;
Fig. 5 is the structural principle schematic diagram of auxiliary wheel and telescopic oil cylinder.
In figure: 1, urceolus; 2, expansion link; 3, pull back spring; 4, flange; 5, bracing frame; 6, bolt; 7, rubber tire; 8, rotating shaft; 9, oil pump; 10, petrol storage tank; 11, telescopic oil cylinder; 12, auxiliary wheel; 13, wheel.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
One aspect of the present invention provides a kind of device entirely turning to for vehicle 360 degree, and it is arranged and schematic diagram comprises as shown in Figure 1:
Rotation direction sensor, is arranged on vehicle body barycenter place, for locating vehicle body corner;
Controller, is arranged in vehicle body, for vehicle body being turned to according to steering instructions and moving and implement to control.
The structure principle chart of telescopic oil cylinder and auxiliary wheel as shown in Figure 5.
The present invention also provides a kind of method entirely turning to for vehicle 360 degree, comprises the steps:
After A, chaufeur starting switch, oil pump 9 is to telescopic oil cylinder 11 pump oil, and telescopic oil cylinder 11 extends and makes the contact of auxiliary wheel 12Yu ground, raises vehicle body, and it is unsettled that wheel 13 is liftoff;
B, chaufeur send after steering order, and auxiliary wheel 12 turns to;
C, when rotation direction sensor sensing vehicle body reaches predetermined corner, auxiliary wheel 12 stops operating, auxiliary wheel 12 under the driving of steer motor to direction initialization translation.
Below in conjunction with accompanying drawing, the stepper motor driving circuit using in the present invention, body roll angle transducer, controller, power supply are further described:
1, stepper motor driving circuit
Stepping motor adopts phase reaction formula stepping motor and supporting actuator SH-3F075M with it, Figure 2 shows that its interconnecting wiring diagram.
The incoming signal of SH-3F075M actuator has three tunnels, and they are: stepping pulse signal CP, direction level signal DIR, off line signal FREE, they access respectively the negative input end of optocoupler in internal drive by current-limiting resistance.
1) stepping pulse signal CP
Stepping pulse signal CP is for position and the speed of control step motor.CP pulse of the every acceptance of actuator is with regard to a step size of Driving Stepping Motor rotation, and the frequency of CP pulse is directly proportional to the rotating speed of stepping motor, controls the number of CP pulse, just can make stepping motor accurately locate.Therefore, with microcontroller PORTA mouth control step impulse singla, input with Driving Stepping Motor.
2) direction level signal DIR
Direction level signal DIR is for the hand of rotation of control step motor.During high level, stepping motor clickwise, during low level, stepping motor left-hand revolution.Hand of rotation with microcontroller PORTA mouth control step motor.
3) off line signal FREE
This signal is for selecting signal, Low level effective.When this signal is low level, motor is in free non-moment state, when this signal is high level or unsettled while not connecing, cancels off line state.The positive input terminal of the public anode ，Ji tri-road optocouplers of OPTO Duan Wei tri-road signals.OPTO end is powered by mu balanced circuit with+5V power supply.
SH-3F075M type stepper motor driver can be used for driving three-phase stepper motor, adopts three-phase six roots of sensation line stepping motor, stepping motor be directly connected with actuator (A in Fig. 2,
a, B,
b, C,
c).SH-3F075M type actuator needs outside that direct supply (DC in Fig. 2) is provided, and power line voltage scope is+24V.
2, body roll angle transducer
Rotation direction sensor (body roll angle transducer) selects VG400CC-200 gyro sensor to gather vehicle body angular signal, is installed on vehicle body barycenter place.
3, controller
At present, to using 32 bit processors be the inexorable trend of embedded technology development as the core of high performance embedded system exploitation to S3C44B0X.Arm processor obtains applying very widely because of its outstanding advantage in 32 8-digit microcontroller fields, and therefore, arm processor has good application prospect at vehicle electric field.S3C44B0X microprocessor Embedded ARM7TDMI core, adopts the manufacture of 0.25umCMOS technique, and on the basis of ARM7TDMI core basic function integrated abundant peripheral functional modules, be convenient to low-cost design application system.
The connection mode of S3C44B0X chip (as Fig. 3).Input end AIN0, AIN1 meet respectively high level Vout+ and the low level Vout-of CMOS.Mouth GPF0, GPF0, GPF0, GPF0 connect respectively CP, DIR, FREE, the OPTO end of stepper motor driver.
4, power supply
Power acquisition DC voltage converter, is converted to 5 volts for controller S3C44B0X and COMS by 12 volts of automotive battery voltages, provides 24 volts to actuator SH-3F075M(Fig. 4 simultaneously).
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. the device entirely turning to for vehicle 360 degree, is characterized in that, comprising: rotation direction sensor, is arranged on vehicle body barycenter place, for locating vehicle body corner;
Telescopic oil cylinder (11), is arranged on and the parallel place of every wheel (13), for raising vehicle body, makes wheel (13) liftoff;
Auxiliary wheel (12), is arranged on telescopic oil cylinder (11) bottom, for turning to and mobile vehicle body;
Oil pump (9) and petrol storage tank (10), telescopic oil cylinder (11) is connected with petrol storage tank (10) by oil pump (9), and oil pump (9) is for oily to telescopic oil cylinder (11) pump according to the enabled instruction of chaufeur;
Controller, is arranged in vehicle body, for vehicle body being turned to according to steering instructions and moving and implement to control.
2. a kind of device entirely turning to for vehicle 360 degree as claimed in claim 1, is characterized in that, described telescopic oil cylinder (11) comprises urceolus (1), flange (4), petrol storage tank (10), oil pump (9), expansion link (2), pull back spring (3); Described urceolus (1) is fixed on vehicle body by flange (4) sealing, and connect petrol storage tank (10) and oil pump (9), telescopic oil cylinder (11) is pressurizeed and is promoted expansion link (2) and extend downwards by oil pump, during decompression, under the effect of pull back spring (3), upwards shrink, expansion link bottom is the bracing frame (5) containing steer motor by bolt (6) fixed packet.
3. a kind of device entirely turning to for vehicle 360 degree as claimed in claim 1, it is characterized in that, described auxiliary wheel (12) comprise be arranged on telescopic oil cylinder bottom for fixed drive motor rotating shaft (8) and be arranged at the rubber tire (7) in rotating shaft (8), rubber tire (7) is connected with telescopic oil cylinder (11) by rotating shaft (8), realizes rotating.
4. for vehicle 360, spend the method entirely turning to for one kind, comprise the steps: after A, chaufeur starting switch, oil pump (9) is to telescopic oil cylinder (11) pump oil, and telescopic oil cylinder (11) extends auxiliary wheel (12) is contacted with ground, raise vehicle body, wheel (13) is liftoff unsettled;
B, chaufeur send after steering order, and auxiliary wheel (12) turns to;
C, when rotation direction sensor sensing vehicle body reaches predetermined corner, auxiliary wheel (12) stops operating, auxiliary wheel (12) under the driving of steer motor to direction initialization translation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477783.8A CN103507789B (en) | 2013-10-14 | 2013-10-14 | A kind of for vehicle 360 degree of devices and methods therefors entirely turned to |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477783.8A CN103507789B (en) | 2013-10-14 | 2013-10-14 | A kind of for vehicle 360 degree of devices and methods therefors entirely turned to |
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| Publication Number | Publication Date |
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| CN103507789A true CN103507789A (en) | 2014-01-15 |
| CN103507789B CN103507789B (en) | 2016-04-06 |
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| CN201310477783.8A Active CN103507789B (en) | 2013-10-14 | 2013-10-14 | A kind of for vehicle 360 degree of devices and methods therefors entirely turned to |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020199254A1 (en) * | 2019-03-29 | 2020-10-08 | 广东机电职业技术学院 | Wheel transmission mechanism and electric car comprising said mechanism |
| CN113771807A (en) * | 2021-09-06 | 2021-12-10 | 东风汽车集团股份有限公司 | Vehicle steering auxiliary wheel device and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784400A (en) * | 1987-02-09 | 1988-11-15 | Hofius Walter E | Vehicle leveling and stabilizing apparatus |
| CN1577199A (en) * | 2003-06-26 | 2005-02-09 | 丰田自动车株式会社 | Driving assist apparatus and method for vehicle |
| CN101016046A (en) * | 2006-02-08 | 2007-08-15 | 涂荣安 | Transverse running, rotating and theft-proof method and device for vehicle |
| CN202669802U (en) * | 2012-03-07 | 2013-01-16 | 盐城纺织职业技术学院 | Vehicle driven wheel lifting and rotating one-time finishing parking device |
| CN102941843A (en) * | 2012-12-12 | 2013-02-27 | 唐维 | Parking device for automobiles and control method for parking device |
-
2013
- 2013-10-14 CN CN201310477783.8A patent/CN103507789B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784400A (en) * | 1987-02-09 | 1988-11-15 | Hofius Walter E | Vehicle leveling and stabilizing apparatus |
| CN1577199A (en) * | 2003-06-26 | 2005-02-09 | 丰田自动车株式会社 | Driving assist apparatus and method for vehicle |
| CN101016046A (en) * | 2006-02-08 | 2007-08-15 | 涂荣安 | Transverse running, rotating and theft-proof method and device for vehicle |
| CN202669802U (en) * | 2012-03-07 | 2013-01-16 | 盐城纺织职业技术学院 | Vehicle driven wheel lifting and rotating one-time finishing parking device |
| CN102941843A (en) * | 2012-12-12 | 2013-02-27 | 唐维 | Parking device for automobiles and control method for parking device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020199254A1 (en) * | 2019-03-29 | 2020-10-08 | 广东机电职业技术学院 | Wheel transmission mechanism and electric car comprising said mechanism |
| CN113771807A (en) * | 2021-09-06 | 2021-12-10 | 东风汽车集团股份有限公司 | Vehicle steering auxiliary wheel device and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN103507789B (en) | 2016-04-06 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20140115 Assignee: JIANGSU JINGJIANG FORKLIFT CO., LTD. Assignor: Jiangsu University Contract record no.: 2019320000055 Denomination of invention: Device and method for 360-degree full steering of vehicle Granted publication date: 20160406 License type: Exclusive License Record date: 20190320 |
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