CN112810695A - Automatic automobile parking aligning device and method - Google Patents
Automatic automobile parking aligning device and method Download PDFInfo
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- CN112810695A CN112810695A CN202110117851.4A CN202110117851A CN112810695A CN 112810695 A CN112810695 A CN 112810695A CN 202110117851 A CN202110117851 A CN 202110117851A CN 112810695 A CN112810695 A CN 112810695A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
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Abstract
An automatic aligning device and method for automobile parking, comprising a control panel, a steering wheel torque/angle sensor, a CKP/CMP sensor, a gear sensor, a steering transmission shaft, a planetary gear mechanism, a rotary cylinder, a scroll bar and an electromagnetic directional valve; the planetary gear mechanism is respectively in driving connection with the steering transmission shaft and the worm; one end of the worm is fixedly connected with the end part of a piston rod of the rotary cylinder, and the rotary cylinder is connected with the inner side of the throttle valve through the electromagnetic directional valve; the control board is respectively connected with a steering wheel torque/angle sensor, a CKP/CMP sensor, a gear sensor and an electromagnetic directional valve. The method comprises the following steps: determining that the gear is in a parking gear and the vehicle is in a flameout state; the negative pressure of the air inlet pipe of the engine drives the rotary cylinder to drive the worm to rotate, and the return to the positive position is completed. The steering wheel can be aligned after parking, the influence of the steering wheel on automobile parts caused by the fact that the steering wheel is not aligned to the automobile parts is effectively avoided, the lateral scraping generated during starting is avoided, and the device can be used as a power-assisted steering device in the driving process.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an automatic automobile parking aligning device and method.
Background
In daily life, the situation that the steering wheel is not aligned after parking often occurs, which is mainly caused by the lack of experience of the driver. The steering wheel is not aligned after parking, which causes the steering wheel gear and the steering rod rack to continuously bear stress, and simultaneously, the elastic pillar part of the suspension and the service life of the tire are greatly influenced, and the situation that the vehicle is scratched with a lateral vehicle or a garage gate is easily caused when the vehicle is started again.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the automatic automobile parking aligning device and the method, which can automatically realize the aligning operation of the steering wheel after parking, can effectively avoid the influence on automobile parts caused by non-aligning and is beneficial to avoiding the lateral scraping during starting.
In order to achieve the aim, the invention provides an automatic automobile parking aligning device which comprises a control panel, a steering wheel torque/angle sensor, a CKP/CMP sensor, a gear sensor, a steering transmission shaft, a planetary gear mechanism, a rotary cylinder, a worm and an electromagnetic directional valve, wherein the control panel is connected with the steering wheel torque/angle sensor;
the planetary gear mechanism is arranged on the frame and comprises an annular gear ring, a planetary gear carrier and a plurality of planetary gears, wherein the annular gear ring is internally provided with an inner gear ring, and the outer gear ring is externally provided with an outer gear ring; the plurality of planet gears are rotatably arranged inside the annular gear ring through the planet gear carrier, and are all meshed with the inner gear ring of the annular gear ring; a sun gear installation space is formed among the plurality of planet gears;
the upper section of the steering transmission shaft is disconnected with the lower section, the lower end of the upper section is provided with a gear shaft, and the gear shaft is inserted into the sun gear installation space and is respectively meshed with the plurality of planetary gears; the upper end of the lower section of the steering transmission shaft is fixedly connected with the center of the planet gear carrier, and the lower end of the lower section is connected with an input shaft of a steering gear through a universal joint;
the rotating cylinder is arranged below the frame and is positioned on one side of the planetary gear mechanism; the worm and the piston rod of the rotary cylinder are coaxially arranged, one end of the worm, which is far away from the planetary gear mechanism, is fixedly connected with the end part of the piston rod of the rotary cylinder, and the middle section of the worm is meshed with the outer gear ring of the annular gear ring;
the electromagnetic directional valve is arranged on the frame, a port P of the electromagnetic directional valve is connected with a throttle valve of an automobile through a pipeline, and a port A and a port B of the electromagnetic directional valve are respectively connected with two air inlets of the rotary cylinder;
the control board is respectively connected with a steering wheel torque/angle sensor, a CKP/CMP sensor, a gear sensor and an electromagnetic directional valve.
Furthermore, for the convenience of warning and state indication, the intelligent alarm device further comprises a buzzer and a light-emitting diode, wherein the buzzer and the light-emitting diode are connected with the control panel, and the light-emitting diode and the buzzer are installed inside the cab.
Preferably, the control board is an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the steering wheel torque/angle sensor are respectively connected with a 5V pin, a GND pin and an A0 pin of an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the CKP/CMP sensor are respectively connected with a 5V pin, a GND pin and an A1 pin of an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the gear sensor are respectively connected with a 5V pin, a GND pin and an A2 pin of an Arduino UNO control plate; the anode of the light-emitting diode is connected with a D7 pin of the Arduino UNO control board, and the cathode of the light-emitting diode is grounded through a current-limiting resistor; the positive terminal of the buzzer is connected with a D4 pin of the Arduino UNO control board, and the negative terminal of the buzzer is grounded; and the + Vs terminal, the GND terminal and the V terminal of the electromagnetic directional valve are respectively connected with a D3 pin, a GND pin and a D2 pin of an Arduino UNO control board.
Preferably, the electromagnetic directional valve is a three-position four-way directional valve; when the valve works in the left position, the air passage between the port P and the port A is communicated, and the air passage between the port S and the port B is communicated; when the valve works in the middle position, the port P, the port A, the port B and the port S are all cut off; when it works at right position, the P port is communicated with the B port, and the S port is communicated with the A port.
Further, in order to ensure the stability and reliability of the action, a P port of the electromagnetic directional valve is connected with a throttle valve of the automobile through a constant pressure regulating valve; preferably, the buzzer is an active buzzer.
According to the invention, through the arrangement of the planetary gear mechanism, the rotation of the steering rotating shaft can be conveniently driven by the rotating cylinder, so that the centering operation can be conveniently realized, and the potential safety hazard caused by clamping stagnation in the centering process can be avoided. The invention effectively solves the problem that the steering wheel is not aligned after parking.
The invention also provides an automatic automobile parking aligning method, which comprises the following steps:
step one, acquiring a crankshaft position signal and a gear signal in real time through a CKP/CMP sensor and a gear sensor, and executing step two when the gear is determined to be in a parking gear and a vehicle is in a flameout state;
step two: collecting an angle signal of a steering transmission shaft through a steering wheel torque/angle sensor, judging whether the vehicle is in a centered returning state, not acting when in the centered returning state, executing a step three when in the centered returning state, controlling a buzzer to buzz and warn for a set time, and controlling a light-emitting diode to flash and alarm;
step three: controlling the electromagnetic directional valve to work at a left position, driving the rotary cylinder to drive the worm to rotate by using negative pressure of an air inlet pipe of the engine as energy, driving the annular gear ring to rotate in the rotation process of the worm, driving the steering transmission shaft to rotate by the rotary annular gear ring through the planetary gear, and driving the steering wheel to rotate through the steering transmission shaft; in the process, a steering wheel torque/angle sensor is used for acquiring a rotating angle signal of a steering transmission shaft in real time, the rotating angle of the steering transmission shaft is obtained according to the angle signal, the correcting operation is completed when the rotating angle reaches the angle required by correcting, and the step four is executed;
step four: and controlling the electromagnetic directional valve to work in a neutral position, and controlling the light-emitting diode to be extinguished and the buzzer to stop buzzing.
According to the invention, the vehicle state is judged through the double signals of the CKP/CMP sensor and the gear sensor, so that the accurate judgment of the vehicle in a flameout state is effectively ensured, the occurrence of misjudgment caused by factors such as red lights of the vehicle and the like can be avoided, and the judgment accuracy is obviously improved; the steering wheel torque/angle sensor is used for acquiring the rotating angle signal of the steering transmission shaft in real time, other sensors do not need to be specially arranged, the original parts of the vehicle are effectively utilized, the detection accuracy can be improved, and meanwhile, the implementation cost of the method is reduced. The negative pressure of the air inlet pipe of the engine is used as energy for correction, so that the electric energy of a vehicle is not consumed, and the energy-saving and environment-friendly effects are better; potential safety hazards caused by the mechanism being stuck are effectively avoided through the planetary gear mechanism, and the safety is higher; the method has the advantages of simple steps, low implementation cost, high feasibility and good application prospect.
Drawings
FIG. 1 is a schematic structural view of the invention;
FIG. 2 is a schematic diagram of the circuit of the present invention;
FIG. 3 is a flow chart of the alignment method of the present invention.
In the figure: 1. the device comprises a light emitting diode, 2, a current limiting resistor, 3, a buzzer, 4, an electromagnetic directional valve, 5, a control panel, 6, a steering wheel torque/angle sensor, 7, a CKP/CMP sensor, 8, a gear sensor, 9, a steering transmission shaft, 10, a rotary cylinder, 11, a worm rod, 12, an annular gear ring, 13, a planetary gear, 14 and a throttle valve.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and 2, an automatic parking return device for a vehicle comprises a control panel 5, a steering wheel torque/angle sensor 6, a CKP/CMP sensor 7, a gear sensor 8, a steering transmission shaft 9, a planetary gear mechanism, a rotary cylinder 10, a worm 11 and an electromagnetic directional valve 4;
the planetary gear mechanism is arranged on the frame and comprises an annular gear ring 12, a planetary gear carrier and a plurality of planetary gears 13, wherein an inner gear ring is arranged inside the annular gear ring 12, and an outer gear ring is arranged outside the annular gear ring; the plurality of planet gears 13 are rotatably arranged inside the annular ring gear 12 through a planet gear carrier, and the plurality of planet gears 13 are all meshed with the inner ring gear of the annular ring gear 12; a sun gear installation space is formed among the plurality of planetary gears 13;
the upper section and the lower section of the steering transmission shaft 9 are disconnected, the lower end of the upper section is a gear shaft, and the gear shaft is inserted into the sun gear installation space and is respectively meshed with the plurality of planetary gears 13; the upper end of the lower section of the steering transmission shaft 9 is fixedly connected with the center of the planet gear carrier, and the lower end of the lower section is connected with an input shaft of a steering gear through a universal joint;
the rotary cylinder 10 is arranged below the frame and is positioned at one side of the planetary gear mechanism; the worm 11 and the piston rod of the rotary cylinder 10 are coaxially arranged, one end of the worm 11, which is far away from the planetary gear mechanism, is fixedly connected with the end part of the piston rod of the rotary cylinder 10, and the middle section of the worm is meshed with the outer gear ring of the annular gear ring 12;
the electromagnetic directional valve 4 is arranged on the frame, the port P thereof is connected with a throttle valve 14 of the automobile through a pipeline, and the port A and the port B thereof are respectively connected with two air inlets of the rotary cylinder 10;
the control board 5 is respectively connected with a steering wheel torque/angle sensor 6, a CKP/CMP sensor 7, a gear sensor 8 and the electromagnetic directional valve 4.
In order to facilitate warning and state indication, the automobile safety protection device further comprises a buzzer 3 and a light emitting diode 1, the buzzer 3 and the light emitting diode 1 are both connected with a control board 5, and the light emitting diode 1 and the buzzer 3 are installed inside a cab.
Preferably, the control board 5 is an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the steering wheel torque/angle sensor 6 are connected to a 5V pin, a GND pin and an a0 pin of an Arduino UNO control board, respectively; the + Vs terminal, the GND terminal and the Vout terminal of the CKP/CMP sensor 7 are respectively connected with a 5V pin, a GND pin and an A1 pin of an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the gear sensor 8 are respectively connected with a 5V pin, a GND pin and an A2 pin of an Arduino UNO control plate; the anode of the light emitting diode 1 is connected with a pin D7 of an Arduino UNO control board, and the cathode of the light emitting diode is grounded through a current limiting resistor 2; the positive terminal of the buzzer 3 is connected with a pin D4 of the Arduino UNO control board, and the negative terminal of the buzzer is grounded; the + Vs terminal, the GND terminal and the V terminal of the electromagnetic directional valve 4 are connected to a pin D3, a pin GND and a pin D2 of an Arduino UNO control board, respectively.
Preferably, the electromagnetic directional valve 4 is a three-position four-way directional valve; when the valve works in the left position, the air passage between the port P and the port A is communicated, and the air passage between the port S and the port B is communicated; when the valve works in the middle position, the port P, the port A, the port B and the port S are all cut off; when it works at right position, the P port is communicated with the B port, and the S port is communicated with the A port.
In order to ensure the stability and reliability of the action, a port P of the electromagnetic directional valve 4 is connected with a throttle valve 14 of the automobile through a constant pressure regulating valve; preferably, the buzzer 3 is an active buzzer.
According to the invention, through the arrangement of the planetary gear mechanism, the rotation of the steering rotating shaft can be conveniently driven by the rotating cylinder, so that the centering operation can be conveniently realized, and the potential safety hazard caused by clamping stagnation in the centering process can be avoided. The invention effectively solves the problem that the steering wheel is not aligned after parking. The set of device can also be used for steering power assistance in the driving process, achieves the same power assistance effect as hydraulic power assistance and electric power assistance, is high in practicability and is suitable for wide popularization.
As shown in fig. 3, the invention also provides an automatic returning method for automobile parking, which comprises the following steps:
step one, acquiring a crankshaft position signal and a gear signal in real time through a CKP/CMP sensor 7 and a gear sensor 8, and executing step two when determining that the gear is in a parking gear and the vehicle is in a flameout state;
step two: collecting an angle signal of a steering transmission shaft 9 through a steering wheel torque/angle sensor 6, judging whether the vehicle is in a centered returning state, not acting when in the centered returning state, executing a step three when in the centered returning state, controlling a buzzer 3 to buzz and warn for a set time, and controlling a light-emitting diode 1 to flash and give an alarm;
step three: controlling the electromagnetic directional valve 4 to work at a left position, driving the rotary cylinder 10 to drive the worm 11 to rotate by using negative pressure of an air inlet pipe of the engine as energy, driving the annular gear ring 12 to rotate in the rotating process of the worm 11, and driving the steering transmission shaft 9 to rotate by the rotary annular gear ring 12 through the planetary gear 13 so as to drive the steering wheel to rotate through the steering transmission shaft 9; in the process, a steering wheel torque/angle sensor 6 acquires an angle signal of the rotation of a steering transmission shaft 9 in real time, obtains the rotation angle of the steering transmission shaft 9 according to the angle signal, finishes the aligning operation when the rotation angle reaches the angle required by aligning, and executes a fourth step;
step four: and controlling the electromagnetic directional valve 4 to work in a neutral position, and controlling the light-emitting diode 1 to be extinguished and the buzzer 3 to stop buzzing.
According to the invention, the vehicle state is judged through the double signals of the CKP/CMP sensor and the gear sensor, so that the preparation judgment of the vehicle in a flameout state is effectively ensured, the occurrence of misjudgment caused by factors such as red lights of the vehicle and the like can be avoided, and the judgment accuracy is obviously improved; the steering wheel torque/angle sensor is used for acquiring the rotating angle signal of the steering transmission shaft in real time, other sensors do not need to be specially arranged, the original parts of the vehicle are effectively utilized, the detection accuracy can be improved, and meanwhile, the implementation cost of the method is reduced. The negative pressure of the air inlet pipe of the engine is used as energy for correction, so that the electric energy of a vehicle is not consumed, and the energy-saving and environment-friendly effects are better; potential safety hazards caused by the mechanism being stuck are effectively avoided through the planetary gear mechanism, and the safety is higher; the method has the advantages of simple steps, low implementation cost, high feasibility and good application prospect.
Claims (6)
1. An automatic automobile parking aligning device comprises a control panel (5), a steering wheel torque/angle sensor (6), a CKP/CMP sensor (7), a gear sensor (8) and a steering transmission shaft (9), and is characterized by further comprising a planetary gear mechanism, a rotary cylinder (10), a worm (11) and an electromagnetic directional valve (4);
the planetary gear mechanism is arranged on the frame and comprises an annular gear ring (12), a planetary gear carrier and a plurality of planetary gears (13), wherein the annular gear ring (12) is internally provided with an inner gear ring, and the outer gear ring is externally provided with an outer gear ring; the plurality of planet gears (13) are rotatably arranged inside the annular gear ring (12) through a planet gear carrier, and the plurality of planet gears (13) are all meshed with the inner gear ring of the annular gear ring (12); a sun gear installation space is formed among the plurality of planet gears (13);
the upper section of the steering transmission shaft (9) is disconnected with the lower section, the lower end of the upper section is a gear shaft, and the gear shaft is inserted into the sun gear installation space and is respectively meshed with the plurality of planetary gears (13); the upper end of the lower section of the steering transmission shaft (9) is fixedly connected with the center of the planet gear carrier, and the lower end of the lower section is connected with an input shaft of the steering gear through a universal joint;
the rotary cylinder (10) is arranged below the frame and is positioned at one side of the planetary gear mechanism; the worm gear (11) and a piston rod of the rotary cylinder (10) are coaxially arranged, one end, far away from the planetary gear mechanism, of the worm gear (11) is fixedly connected with the end part of the piston rod of the rotary cylinder (10), and the middle section of the worm gear is meshed with an outer gear ring of the annular gear ring (12);
the electromagnetic directional valve (4) is arranged on the frame, a port P of the electromagnetic directional valve is connected with a throttle valve (14) of the automobile through a pipeline, and a port A and a port B of the electromagnetic directional valve are respectively connected with two air inlets of the rotary cylinder (10);
the control plate (5) is respectively connected with a steering wheel torque/angle sensor (6), a CKP/CMP sensor (7), a gear sensor (8) and the electromagnetic directional valve (4).
2. The automatic returning device for automobile parking as claimed in claim 1, further comprising a buzzer (3) and a light emitting diode (1), wherein the buzzer (3) and the light emitting diode (1) are both connected with the control board (5), and the buzzer (3) and the light emitting diode (1) are installed inside the cab.
3. The automatic return device for parking cars according to claim 2, characterized in that said control panel (5) is an Arduino UNO control panel; the + Vs terminal, the GND terminal and the Vout terminal of the steering wheel torque/angle sensor (6) are respectively connected with a 5V pin, a GND pin and an A0 pin of an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the CKP/CMP sensor (7) are respectively connected with a 5V pin, a GND pin and an A1 pin of an Arduino UNO control board; the + Vs terminal, the GND terminal and the Vout terminal of the gear sensor (8) are respectively connected with a 5V pin, a GND pin and an A2 pin of an Arduino UNO control plate; the anode of the light emitting diode (1) is connected with a D7 pin of an Arduino UNO control board, and the cathode of the light emitting diode is grounded through a current limiting resistor (2); the positive terminal of the buzzer (3) is connected with a D4 pin of an Arduino UNO control board, and the negative terminal of the buzzer is grounded; and the + Vs terminal, the GND terminal and the V terminal of the electromagnetic directional valve (4) are respectively connected with a D3 pin, a GND pin and a D2 pin of an Arduino UNO control board.
4. The automatic return device for automobile parking according to any one of claims 1 to 3, characterized in that the electromagnetic directional valve (4) is a three-position four-way directional valve; when the valve works in the left position, the air passage between the port P and the port A is communicated, and the air passage between the port S and the port B is communicated; when the valve works in the middle position, the port P, the port A, the port B and the port S are all cut off; when the air-conditioner works at the right position, the air passage between the port P and the port B is communicated, and the air passage between the port S and the port A is communicated.
5. The automatic vehicle parking return device according to claim 4, characterized in that the port P of the electromagnetic directional valve (4) is connected with the throttle valve (14) of the vehicle through a constant pressure regulating valve; the buzzer (3) is an active buzzer.
6. An automatic automobile parking correcting method is characterized by comprising the following steps:
step one, acquiring a crankshaft position signal and a gear signal in real time through a CKP/CMP sensor (7) and a gear sensor (8), and executing step two when the gear is determined to be in a parking gear and the vehicle is in a flameout state;
step two: collecting an angle signal of a steering transmission shaft (9) through a steering wheel torque/angle sensor (6), judging whether the vehicle is in a centered returning state, not acting when in the centered returning state, executing a step three when not in the centered returning state, controlling a buzzer (3) to buzz and warn for a set time length, and controlling a light-emitting diode (1) to flash and warn;
step three: controlling an electromagnetic directional valve (4) to work at a left position, driving a rotary cylinder (10) to drive a worm (11) to rotate by using negative pressure of an air inlet pipe of an engine as energy, driving an annular gear ring (12) to rotate in the rotating process of the worm (11), driving a steering transmission shaft (9) to rotate by the rotating annular gear ring (12) through a planetary gear (13), and driving a steering wheel to rotate through the steering transmission shaft (9); in the process, a steering wheel torque/angle sensor (6) is used for acquiring a rotating angle signal of a steering transmission shaft (9) in real time, the rotating angle of the steering transmission shaft (9) is obtained according to the angle signal, the aligning operation is completed when the rotating angle reaches the angle required by aligning, and the fourth step is executed;
step four: the electromagnetic directional valve (4) is controlled to work in the middle position, the light-emitting diode (1) is controlled to be extinguished, and the buzzer (3) stops buzzing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110117851.4A CN112810695A (en) | 2021-01-28 | 2021-01-28 | Automatic automobile parking aligning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110117851.4A CN112810695A (en) | 2021-01-28 | 2021-01-28 | Automatic automobile parking aligning device and method |
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| Publication Number | Publication Date |
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| CN112810695A true CN112810695A (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110117851.4A Pending CN112810695A (en) | 2021-01-28 | 2021-01-28 | Automatic automobile parking aligning device and method |
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Application publication date: 20210518 |