CN115092240B - Automatic driving steering system and control method thereof - Google Patents
Automatic driving steering system and control method thereof Download PDFInfo
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- CN115092240B CN115092240B CN202210737417.0A CN202210737417A CN115092240B CN 115092240 B CN115092240 B CN 115092240B CN 202210737417 A CN202210737417 A CN 202210737417A CN 115092240 B CN115092240 B CN 115092240B
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- steering wheel
- axis motor
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
- B62D1/14—Tillers, i.e. hand levers operating on steering columns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/183—Steering columns yieldable or adjustable, e.g. tiltable adjustable between in-use and out-of-use positions, e.g. to improve access
Abstract
The invention discloses an automatic steering system and a control method thereof, wherein the automatic steering system comprises a steering wheel assembly formed by a steering wheel body, a first steering wheel handle, a second steering wheel handle, an X-axis motor, a coupler, a first Y-axis motor, a second Y-axis motor, a first overturning bracket and a second overturning bracket, a steering column assembly formed by a steering column, a column base, a column frame, a column motor, a speed reducer, a screw rod, a nut and a lifting bracket, and a controller electrically connected with the X-axis motor, the coupler, the first Y-axis motor, the second Y-axis motor and the column motor respectively; when the driver needs the steering wheel, can expand the steering wheel to the position of formulating through electromechanical control system control, when the driver does not need the steering wheel, the steering wheel can shrink to the position of formulating voluntarily, for the inside more activity space that leaves of driver's cabin to expand and accomodate the process and need not artifical too much intervention, realize mechanical automation control in the at utmost, improve driving comfort performance.
Description
Technical Field
The invention belongs to the technical field of intelligent driving and unmanned driving, and particularly relates to an automatic driving steering system and a control method thereof.
Background
With the technical development of intelligent driving and unmanned driving, the vehicle realizes automatic driving to become the development trend of future automobiles, and for the automatic driving vehicle, a steering wheel becomes unnecessary, and more movable space and whole vehicle arrangement space can be reserved for the vehicle after the steering wheel is cancelled. However, for some drivers, there is still a need to switch manual driving modes, which is not available. At this time, a steering system is needed, and in the unmanned mode, the steering wheel can be contracted to vacate the movable space in the vehicle; when the manual driving mode is switched, the steering wheel can be normally used for driving the vehicle.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic steering system and a control method thereof, which can shrink a steering wheel under an unmanned mode to vacate the movable space in a vehicle, and when the steering wheel is switched to a manual driving mode, the steering wheel is unfolded for normal use by a driver.
In order to solve the technical problems, the invention provides an automatic steering system, which comprises a steering wheel assembly, a steering column assembly and a controller;
the steering wheel assembly comprises a steering wheel body, a first steering wheel handle, a second steering wheel handle, an X-axis motor, a coupler, a first Y-axis motor, a second Y-axis motor, a first overturning bracket and a second overturning bracket, wherein the X-axis motor, the coupler, the first Y-axis motor and the second Y-axis motor are all arranged in the steering wheel body, and the first steering wheel handle and the second steering wheel handle are respectively arranged at the left side and the right side of the steering wheel body; the axis of the coupler is taken as an X axis, the X axis motor is fixedly connected with the steering wheel body, and an output shaft of the X axis motor is connected with the coupler through a first transmission mechanism and can drive the coupler to rotate around the X axis; the first overturning bracket and the second overturning bracket are respectively and fixedly connected with the two axial ends of the coupler; the first steering wheel handle is fixedly provided with a first rotating shaft, the first rotating shaft is rotationally connected with one side, far away from the coupler, of the first overturning bracket, and the axis of the first rotating shaft is taken as a first Y axis; the second steering wheel handle is fixedly provided with a second rotating shaft, the second rotating shaft is rotationally connected with one side, far away from the coupler, of the second overturning bracket, and the axis of the second rotating shaft is taken as a second Y axis; the first rotating shaft and the second rotating shaft are parallel to each other; the first Y-axis motor is fixedly connected with one side, close to the coupler, of the first overturning bracket, and a conveying shaft of the first Y-axis motor is connected with the first rotating shaft through a second transmission mechanism and can drive the first rotating shaft to rotate around the first Y-axis; the second Y-axis motor is fixedly connected with one side, close to the coupler, of the second overturning bracket, and an output shaft of the second Y-axis motor is connected with the second rotating shaft through a third transmission mechanism and can drive the second rotating shaft to rotate around the second Y axis;
the steering column assembly comprises a steering column, a column base, a column frame, a column motor, a speed reducer, a screw rod, a nut and a lifting bracket, wherein the steering column is arranged on the column base, and the upper end of the steering column is fixedly connected with the rotation axis of the steering wheel body; the pipe column motor and the speed reducer are both arranged at the top of the pipe column frame, the output end of the pipe column motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the upper end of the screw rod, the lower end of the screw rod is connected with the bottom of the pipe column frame through a bearing, the screw rod is connected with a nut capable of moving along the length direction of the screw rod, and the screw rod and the nut form a screw-nut pair; the pipe column frame comprises two side plates which are symmetrically arranged left and right, two arc-shaped guide holes which extend from bottom to top and are bent towards the front side are formed in the side plates, and the left side and the right side of the pipe column base are movably connected with the arc-shaped guide holes through first sliding blocks; the lifting support is fixedly connected with the nut, connecting plates are respectively arranged on the left side and the right side of the lifting support, horizontal guide holes extending along the front-back direction are formed in the connecting plates, and the left side and the right side of the pipe column base are movably connected with the horizontal guide holes through second sliding blocks;
the controller is electrically connected with the X-axis motor, the first Y-axis motor, the second Y-axis motor and the pipe column motor respectively.
As a preferable scheme of the invention, the controller is arranged in the steering wheel body, and the X-axis motor, the first Y-axis motor and the second Y-axis motor are all direct current gear motors with Hall encoders; an upper limit switch and a lower limit switch are arranged in the moving direction of the nut or the lifting support, and the upper limit switch and the lower limit switch are respectively and electrically connected with the controller.
As a preferred scheme of the invention, the first overturning bracket comprises a first inner overturning bracket arranged in the steering wheel body and a first outer overturning bracket arranged outside the steering wheel body, the first inner overturning bracket and the first outer overturning bracket are fixedly connected through a first disc-shaped flange, a first supporting hole which is in sliding fit with the periphery of the first disc-shaped flange is arranged on the left side of the steering wheel body, the central axis of the first supporting hole is coaxially arranged with the X axis, the first Y axis motor is connected to the first inner overturning bracket, and the first rotating shaft is connected to the first outer overturning bracket; the second overturning bracket comprises a second inner overturning bracket arranged in the steering wheel body and a second outer overturning bracket arranged outside the steering wheel body, the second inner overturning bracket and the second outer overturning bracket are fixedly connected through a second disc-shaped flange, a second supporting hole in sliding fit with the periphery of the second disc-shaped flange is formed in the right side of the steering wheel body, the central axis of the second supporting hole is coaxially arranged with the X axis, a second Y axis motor is connected to the second inner overturning bracket, and a second rotating shaft is connected to the second outer overturning bracket.
As a preferable scheme of the invention, the first transmission mechanism comprises a first straight gear and a second straight gear, the first straight gear is fixedly connected with an output shaft of the X-axis motor, and the second straight gear is coaxially fixed with the coupler; the diameter of the first spur gear is smaller than the diameter of the second spur gear.
As a preferable scheme of the invention, the second transmission mechanism comprises a first bevel gear and a second bevel gear, wherein the first bevel gear is fixedly connected with an output shaft of the first Y-axis motor, and the second bevel gear is coaxially fixed with the first rotating shaft; the third transmission mechanism comprises a third bevel gear and a fourth bevel gear, the third bevel gear is fixedly connected with an output shaft of the second Y-axis motor, and the fourth bevel gear is coaxially fixed with the second rotating shaft.
As a preferable scheme of the invention, a square first fixed block is fixedly arranged on the first rotating shaft, and a first fixed cavity matched with the first fixed block in shape is arranged on the first steering wheel handle; the second rotating shaft is fixedly provided with a square second fixed block, and the second steering wheel handle is provided with a second fixed cavity matched with the second fixed block in shape.
As a preferable scheme of the invention, a top frame is arranged at the top of the tubular column frame, the left side and the right side of the top frame are respectively fixedly connected with the side plates, and the speed reducer is fixed on the top frame; the bottom of tubular column frame is equipped with the chassis, the left and right sides of chassis respectively with curb plate fixed connection, the bearing is fixed on the chassis.
As a preferable mode of the present invention, the first slider and the second slider are each constituted by a bolt and a nut.
In addition, the invention also provides a control method of the automatic steering system, which comprises the following steps:
after the steering system is electrified, the controller performs power-on self-test; after the self-checking is finished, the controller respectively controls the X-axis motor, the first Y-axis motor, the second Y-axis motor and the pipe column motor to enable the steering system to recover to a default folding state;
when the steering wheel needs to be unfolded, a control signal is input through a control key button, the steering column motor is firstly controlled to drive the steering column to ascend to an upper limit along the arc-shaped guide hole and the horizontal guide hole, so that the steering wheel is adjusted to the height and the angle under the unfolded state, then the X-axis motor is controlled to enable the first steering wheel handle and the second steering wheel handle to overturn forwards, and finally the first Y-axis motor and the second Y-axis motor are controlled to synchronously move, so that the first steering wheel handle and the second steering wheel handle are outwards unfolded, and the step of unfolding the steering wheel is completed;
when the steering wheel needs to be stored, a control signal is input through a control key button, the first Y-axis motor and the second Y-axis motor are firstly controlled to synchronously move, the first steering wheel handle and the second steering wheel handle are inwards folded, then the X-axis motor is controlled to enable the first steering wheel handle and the second steering wheel handle to backwards overturn, finally the pipe column motor is controlled to drive the steering pipe column to downwards move to the lower limit along the arc-shaped guide hole and the horizontal guide hole, and accordingly the steering wheel is adjusted to the height and the angle under the storage state, and the steering wheel storage step is completed.
Preferably, the control method of the automatic steering system further comprises the following steps: when the emergency needs to be temporarily stopped, the emergency stop signal is input through the emergency stop switch button, the control output of the X-axis motor, the first Y-axis motor, the second Y-axis motor and the tubular column motor is output by the controller, and after the emergency stop signal is cancelled, the motion before the emergency stop state is continuously executed by the controller.
Compared with the prior art, the automatic driving steering system and the control method thereof have the beneficial effects that:
according to the invention, through the structural design of the steering wheel assembly and the steering column assembly, the problem that the existing steering system does not have electric control for retraction is solved, when a driver needs the steering wheel, the steering wheel can be controlled to be unfolded to a set position through the electromechanical control system, when the driver does not need the steering wheel (namely, when the vehicle enters an automatic driving state), the steering wheel can be automatically contracted to the set position, more movable space is reserved in the cab, manual excessive intervention is not needed in the unfolding and storage processes, the problem of automatically controlling the steering mechanism is solved, the steering system can be popularized and applied to more automatic driving scenes subsequently, electromechanical integrated control is realized, mechanical automatic control is realized to the greatest extent, and driving comfort performance is improved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic view of an embodiment of an autonomous steering system in a stowed condition;
FIG. 2 is a schematic view of the steering wheel assembly in an expanded state;
FIG. 3 is a schematic illustration of the steering column assembly in an expanded state;
FIG. 4 is a schematic view of another view of the steering column assembly in an expanded state;
FIGS. 5-7 are schematic views of stages of sequential deployment of an autopilot steering system of an embodiment of the present invention; wherein fig. 7 shows a fully deployed state of the automatic steering system.
The marks in the figure:
and a controller 300.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 7 together, an automatic steering system according to an embodiment of the present invention will now be described.
As shown in fig. 1, an automatic steering system of an embodiment of the present invention includes a steering wheel assembly 100, a steering column assembly 200, and a controller 300.
As shown in fig. 1 and 2, in the present embodiment, the steering wheel assembly 100 includes a steering wheel body 101, a first steering wheel handle 102, a second steering wheel handle 103, an X-axis motor 104, a coupling 105, a first Y-axis motor 106, a second Y-axis motor 107, a first turning bracket 108, and a second turning bracket 109, where the X-axis motor 104, the coupling 105, the first Y-axis motor 106, and the second Y-axis motor 107 are all disposed in the steering wheel body 101, and the first steering wheel handle 102 and the second steering wheel handle 103 are disposed on left and right sides of the steering wheel body 101, respectively; taking the axis of the coupling 105 as an X axis, the X axis motor 104 is fixedly connected with the steering wheel body 101, and an output shaft of the X axis motor 104 is connected with the coupling 105 through a first transmission mechanism 110 and can drive the coupling 105 to rotate around the X axis; the first overturning bracket 108 and the second overturning bracket 109 are respectively and fixedly connected with the two axial ends of the coupler 105; the first steering wheel handle 102 is fixedly provided with a first rotating shaft 111, the first rotating shaft 111 is rotatably connected with one side of the first turning support 108, which is far away from the coupling 105, and the axis of the first rotating shaft 111 is taken as a first Y axis; the second steering wheel handle 103 is fixedly provided with a second rotating shaft 112, and the second rotating shaft 112 is rotatably connected with one side of the second overturning bracket 109, which is far away from the coupler 105, and the axis of the second rotating shaft 112 is taken as a second Y axis; the first rotation axis 111 and the second rotation axis 112 are parallel to each other; the first Y-axis motor 106 is fixedly connected with one side of the first overturning bracket 108, which is close to the coupling 105, and a conveying shaft of the first Y-axis motor 106 is connected with the first rotating shaft 111 through a second transmission mechanism 113 and can drive the first rotating shaft 111 to rotate around the first Y-axis; the second Y-axis motor 107 is fixedly connected with one side of the second overturning bracket 109, which is close to the coupling 105, and an output shaft of the second Y-axis motor 107 is connected with the second rotating shaft 112 through a third transmission mechanism 114, and can drive the second rotating shaft 112 to rotate around the second Y-axis. The X-axis motor 104, the first Y-axis motor 106, and the second Y-axis motor 107 are electrically connected to the controller 300, respectively.
The steering wheel assembly 100 operates as follows:
the X-axis motor 104 is mounted on the steering wheel body 101 through a motor mounting bracket, the rotation power of the X-axis motor 104 is transmitted to the coupling 105 through the first transmission mechanism 110, and the coupling 105, the first turning bracket 108 and the second turning bracket 109 are in a fixed connection relationship, that is, when the controller 300 outputs a start command to the X-axis motor 104, the X-axis motor 104 can drive the first turning bracket 108 and the second turning bracket 109 to realize forward or reverse rotation around the X-axis on the mounting hole (i.e., the first supporting hole and the second supporting hole) of the steering wheel body 101, so that the first steering wheel handle 102 connected to the first turning bracket 108 and the second steering wheel handle 103 connected to the second turning bracket 109 synchronously turn towards one side of the driver seat (as shown in fig. 6) or turn away from one side of the driver seat (as shown in fig. 5).
The first Y-axis motor 106 and the second Y-axis motor 107 are respectively mounted on the first tilting bracket 108 and the second tilting bracket 109, and an output shaft of the first Y-axis motor 106 and an output shaft of the second Y-axis motor 107 are coaxially arranged with the coupling 105, a rotation power of the first Y-axis motor 106 is transmitted to the first rotation shaft 111 through the second transmission mechanism 113, a rotation power of the second Y-axis motor 107 is transmitted to the second rotation shaft 112 through the third transmission mechanism 114, and a fixed connection relationship is formed between the first rotation shaft 111 and the first steering wheel handle 102, and a fixed connection relationship is formed between the second rotation shaft 112 and the second steering wheel handle 103, that is, when the controller 300 outputs a start command to the first Y-axis motor 106 and the second Y-axis motor 107, the first Y-axis motor 106 can drive the first rotation shaft 111 to perform a first Y-axis forward rotation or a reverse rotation, and the second Y-axis motor 107 can drive the second rotation shaft 112 to perform a second Y-axis forward rotation or reverse rotation, so that the first steering wheel handle 102 and the second steering wheel handle 103 synchronously tilt away from the steering wheel body 101 (as shown in fig. 7 or fig. 6).
As can be seen, the steering wheel assembly 100 of the automatic steering system of the embodiment adopts the folding steering wheel handle, has a brand new design with future feeling, and improves the product image; in addition, the steering wheel assembly 100 can realize an automatic contraction folding function under the output instruction of the controller 300, vacate the movable space in the vehicle, and is more fit with the definition of intelligent driving and unmanned driving; when the driver needs to switch to the manual driving mode, the steering wheel assembly 100 can automatically resume the normal use state under the instruction output by the controller 300, so that the driver can manually drive the vehicle.
As shown in fig. 1, 3 and 4, in this embodiment, the steering column assembly 200 includes a steering column 201, a column base 202, a column frame 203, a column motor 204, a speed reducer 205, a screw rod 206, a nut 207 and a lifting bracket 208, the steering column 201 is mounted on the column base 202, and an upper end of the steering column 201 is fixedly connected with a rotation axis of the steering wheel body 101; the pipe column motor 204 and the speed reducer 205 are both arranged at the top of the pipe column frame 203, the output end of the pipe column motor 204 is connected with the input end of the speed reducer 205, the output end of the speed reducer 205 is connected with the upper end of the screw rod 206, the lower end of the screw rod 206 is connected with the bottom of the pipe column frame 203 through a bearing 209, the screw rod 206 is connected with a nut 207 capable of moving along the length direction of the screw rod 206, and the screw rod 206 and the nut 207 form a screw-nut pair; the pipe column frame 203 comprises two side plates 210 which are symmetrically arranged left and right, wherein two arc-shaped guide holes 211 which extend from bottom to top and are bent towards the front side are formed in the side plates 210, and the left side and the right side of the pipe column base 202 are movably connected with the arc-shaped guide holes 211 through first sliding blocks 212; the lifting support 208 is fixedly connected with the nut 207, connecting plates 213 are respectively arranged on the left side and the right side of the lifting support 208, horizontal guide holes 214 extending along the front-rear direction are formed in the connecting plates 213, and the left side and the right side of the pipe column base 202 are movably connected with the horizontal guide holes 214 through second sliding blocks 215. Wherein the string motor 204 is electrically connected to the controller 300.
The steering column assembly 200 operates as follows:
the tubular column motor 204 is arranged at the top of the tubular column frame 203, and the rotation power of the tubular column motor 204 is converted into linear power through a screw-nut pair and is transmitted to the lifting bracket 208, so that the lifting bracket 208 is driven to move up and down; the column base 202 provided with the steering column 201 is respectively connected to an arc-shaped guide hole 211 on the side plate 210 and a horizontal guide hole 214 on the lifting bracket 208 through a first sliding block 212 and a second sliding block 215; that is, when the controller 300 outputs a start command to the column motor 204, the column motor 204 can drive the steering column 201 to adjust the height and the angle under the guiding action of the arc-shaped guiding hole 211 and the horizontal guiding hole 214, so that the steering wheel assembly 100 just extends from one side of the console when the steering column 201 moves up to the upper limit (as shown in fig. 5), and the steering column 201 just retracts into the console when the steering column assembly 100 moves down to the lower limit (as shown in fig. 1).
It can be seen that the steering column assembly 200 of the automatic steering system of the embodiment adopts an arc-shaped guiding structure, so that the angle and the height of the steering column 201 can be adjusted simultaneously, and meanwhile, the control of the column motor 204 is increased, so that the convenience adjustment is structurally realized, and the problems of high cost, heavy weight, difficult adjustment and the like caused by the complex structure of the original steering column 201 are solved.
Illustratively, as shown in fig. 2, the controller 300 is installed in the steering wheel body 101, so as to improve the integration degree of the system and facilitate connection between the electrical devices.
It should be noted that, the controller 300 uses the ECU as a core to connect each motor and other component modules (such as a DC-DC power management module, a key signal input module, a state control output module, a current, voltage and temperature detection module of the motor, etc.).
Illustratively, the X-axis motor 104, the first Y-axis motor 106, and the second Y-axis motor 107 are all preferably dc gear motors with hall encoders; the Hall encoder is used for accurately controlling the rotation angle of the motor, and effectively ensures that the steering wheel handle is in a formulated unfolding state or a formulated storage state.
Illustratively, an upper limit switch and a lower limit switch are disposed in the moving direction of the nut 207 or the lifting bracket 208, and the upper limit switch and the lower limit switch are electrically connected to the controller 300, respectively. Therefore, the upper limit switch and the lower limit switch respectively form an upper limit and a lower limit of the steering column 201, when the upper limit switch and the nut 207 or the lifting bracket 208 generate physical action, the upper limit switch sends an electric signal to the controller 300, and the controller 300 receives the electric signal of the upper limit switch and then automatically controls the column motor 204 to stop working, so that the steering column 201 is effectively ensured to be in a formulated unfolding state; when a physical action is generated between the lower limit switch and the nut 207 or the lifting bracket 208, the upper limit switch sends an electric signal to the controller 300, and the controller 300 receives the electric signal of the lower limit switch and then automatically controls the pipe column motor 204 to stop working, so that the steering pipe column 201 is effectively ensured to be in a formulated storage state.
It should be noted that, the column motor 204 is preferably a brushless dc motor with a hall encoder; the Hall encoder is used for precisely controlling the rotation angle of the motor. Thus, the driver can adjust the entire steering system to a comfortable manual driving position by controlling the column motor 204 according to his/her body type and sitting posture.
As shown in fig. 2, the first turning bracket 108 includes a first inner turning bracket 115 disposed in the steering wheel body 101 and a first outer turning bracket 116 disposed outside the steering wheel body 101, the first inner turning bracket 115 and the first outer turning bracket 116 are fixedly connected by a first disc-shaped flange 117, a first supporting hole 121 slidably engaged with an outer periphery of the first disc-shaped flange 117 is disposed on a left side of the steering wheel body 101, a central axis of the first supporting hole 121 is coaxially disposed with the X-axis, the first Y-axis motor 106 is connected to the first inner turning bracket 115, and the first rotating shaft 111 is connected to the first outer turning bracket 116; the second overturning bracket 109 comprises a second inner overturning bracket 118 arranged in the steering wheel body 101 and a second outer overturning bracket 119 arranged outside the steering wheel body 101, the second inner overturning bracket 118 and the second outer overturning bracket 119 are fixedly connected through a second disc-shaped flange 120, a second supporting hole 122 in sliding fit with the outer periphery of the second disc-shaped flange 120 is formed in the right side of the steering wheel body 101, the central axis of the second supporting hole 122 is coaxially arranged with the X axis, the second Y axis motor 107 is connected to the second inner overturning bracket 118, and the second rotating shaft 112 is connected to the second outer overturning bracket 119. By the design, the steering wheel assembly 100 is more compact and stable in structure, and the steering wheel assembly 100 is more convenient to assemble.
For example, as shown in fig. 2, to make the rotation power of the X-axis motor 104 output better, the first transmission mechanism 110 includes a first spur gear 123 and a second spur gear 124, where the first spur gear 123 is fixedly connected to the output shaft of the X-axis motor 104, and the second spur gear 124 is coaxially fixed to the coupling 105; the diameter of the first spur gear 123 is smaller than the diameter of the second spur gear 124. Thus, the rotational power of the X-axis motor 104 is transmitted to the coupling 105 through the first spur gear 123 and the second spur gear 124 in this order.
For better output of the rotation power of the Y-axis motor, the second transmission mechanism 113 includes a first bevel gear 125 and a second bevel gear 126, wherein the first bevel gear 125 is fixedly connected with the output shaft of the first Y-axis motor 106, and the second bevel gear 126 is coaxially fixed with the first rotation shaft 111; the third transmission mechanism 114 includes a third bevel gear 127 and a fourth bevel gear 128, the third bevel gear 127 is fixedly connected with the output shaft of the second Y-axis motor 107, and the fourth bevel gear 128 is coaxially fixed with the second rotation shaft 112. Thereby, the rotation power of the first Y-axis motor 106 is transmitted to the first rotation shaft 111 through the first bevel gear 125 and the second bevel gear 126 in this order; the rotation power of the second Y-axis motor 107 is transmitted to the second rotation shaft 112 through the third bevel gear 127 and the fourth bevel gear 128 in this order.
As shown in fig. 2, for example, since the steering wheel handle is generally a hollow shell structure under the design and manufacturing requirements, in order to facilitate the fixation between the steering wheel handle and the rotating shaft, a square first fixing block 129 is fixed on the first rotating shaft 111, and a first fixing cavity matching the shape of the first fixing block 129 is provided on the first steering wheel handle 102; the second rotating shaft 112 is fixedly provided with a square second fixed block 130, and the second steering wheel handle 103 is provided with a second fixed cavity matched with the second fixed block 130 in shape.
For example, as shown in fig. 4, in order to improve the structural strength of the column frame 203, a top frame 216 is disposed on the top of the column frame 203, the left and right sides of the top frame 216 are fixedly connected to the side plates 210, and the speed reducer 205 is fixed on the top frame 216; the bottom of the column frame 203 is provided with a bottom frame 217, the left and right sides of the bottom frame 217 are fixedly connected with the side plates 210, and the bearing 209 is fixed on the bottom frame 217. Wherein the bearing 209 is preferably a thrust bearing, which is advantageous for withstanding vertical axial forces.
Illustratively, as shown in fig. 3, the first slider 212 and the second slider 215 are each formed of a bolt and a nut, and have a simple structure, and the sliding force between the side plate 210 and the column base 202, and between the lifting bracket 208 and the column base 202 can be adjusted by adjusting the tightening torque of the bolts and the nuts 207.
In addition, the invention also provides a control method of the automatic steering system, which comprises the following steps:
after the steering system is powered on, the controller 300 performs power-on self-test; after the self-checking is completed, the controller 300 respectively controls the X-axis motor 104, the first Y-axis motor 106, the second Y-axis motor 107 and the pipe column motor 204, so that the steering system is restored to a default folded state, as shown in FIG. 1;
when the steering wheel needs to be unfolded, a control signal is input through a control key button, the steering column motor 204 is controlled firstly, the steering column 201 is driven to ascend to an upper limit along the arc-shaped guide hole 211 and the horizontal guide hole 214, so that the steering wheel is adjusted to be at the height and the angle in an unfolded state (as shown in fig. 5), then the X-axis motor 104 is controlled to enable the first steering wheel handle 102 and the second steering wheel handle 103 to be turned forwards (namely turned towards one side of the driving seat as shown in fig. 6), and finally the first Y-axis motor 106 and the second Y-axis motor 107 are controlled to synchronously move, so that the first steering wheel handle 102 and the second steering wheel handle 103 are unfolded outwards (namely turned towards one side away from the steering wheel body 101 as shown in fig. 7), and the steering wheel unfolding step is completed;
when the steering wheel needs to be stored, a control signal is input through the control key buttons, the first Y-axis motor 106 and the second Y-axis motor 107 are controlled to synchronously move, so that the first steering wheel handle 102 and the second steering wheel handle 103 are folded inwards (namely turned towards one side of the steering wheel body 101 as shown in fig. 6), then the X-axis motor 104 is controlled to turn the first steering wheel handle 102 and the second steering wheel handle 103 backwards (namely turned away from one side of the driving seat as shown in fig. 5), finally the column motor 204 is controlled to drive the steering column 201 to move downwards to a lower limit along the arc-shaped guide hole 211 and the horizontal guide hole 214, and the steering wheel is adjusted to be at the height and the angle (as shown in fig. 1) in the storage state, so that the steering wheel storage step is completed.
Preferably, the control method of the automatic steering system further comprises the following steps: in the process of the controller 300 controlling the steering wheel to be unfolded or stored, when an emergency situation needs to be temporarily stopped, a sudden stop signal is input through a sudden stop switch button, the controller 300 outputs the control of the X-axis motor 104, the first Y-axis motor 106, the second Y-axis motor 107 and the pipe column motor 204, and after the sudden stop signal is cancelled, the controller 300 continues to execute the movement before the sudden stop state.
In summary, according to the automatic steering system and the control method thereof provided by the embodiment of the invention, the problem that the existing steering system does not have electric control for retraction is solved, when a driver needs the steering wheel, the steering wheel can be controlled to be unfolded to a set position through the electromechanical control system, when the driver does not need the steering wheel (namely, when the vehicle enters an automatic driving state), the steering wheel can be automatically contracted to the set position, more movable space is reserved in the cab, and the problem of automatically controlling the steering mechanism is solved in the unfolding and storage processes without manual excessive intervention, so that the automatic steering system can be popularized and applied to more automatic driving scenes, the electromechanical integrated control is realized, the mechanical automatic control is realized to the greatest extent, and the driving comfort performance is improved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (10)
1. An automatic steering system, comprising a steering wheel assembly, a steering column assembly and a controller;
the steering wheel assembly comprises a steering wheel body, a first steering wheel handle, a second steering wheel handle, an X-axis motor, a coupler, a first Y-axis motor, a second Y-axis motor, a first overturning bracket and a second overturning bracket, wherein the X-axis motor, the coupler, the first Y-axis motor and the second Y-axis motor are all arranged in the steering wheel body, and the first steering wheel handle and the second steering wheel handle are respectively arranged at the left side and the right side of the steering wheel body; the axis of the coupler is taken as an X axis, the X axis motor is fixedly connected with the steering wheel body, and an output shaft of the X axis motor is connected with the coupler through a first transmission mechanism and can drive the coupler to rotate around the X axis; the first overturning bracket and the second overturning bracket are respectively and fixedly connected with the two axial ends of the coupler; the first steering wheel handle is fixedly provided with a first rotating shaft, the first rotating shaft is rotationally connected with one side, far away from the coupler, of the first overturning bracket, and the axis of the first rotating shaft is taken as a first Y axis; the second steering wheel handle is fixedly provided with a second rotating shaft, the second rotating shaft is rotationally connected with one side, far away from the coupler, of the second overturning bracket, and the axis of the second rotating shaft is taken as a second Y axis; the first rotating shaft and the second rotating shaft are parallel to each other; the first Y-axis motor is fixedly connected with one side, close to the coupler, of the first overturning bracket, and a conveying shaft of the first Y-axis motor is connected with the first rotating shaft through a second transmission mechanism and can drive the first rotating shaft to rotate around the first Y-axis; the second Y-axis motor is fixedly connected with one side, close to the coupler, of the second overturning bracket, and an output shaft of the second Y-axis motor is connected with the second rotating shaft through a third transmission mechanism and can drive the second rotating shaft to rotate around the second Y axis; the X-axis motor can drive the first overturning bracket and the second overturning bracket to realize forward or reverse rotation around the X-axis on the mounting hole of the steering wheel body, so that the first steering wheel handle connected with the first overturning bracket and the second steering wheel handle connected with the second overturning bracket synchronously overturn towards one side of the driving seat or overturn away from one side of the driving seat;
the steering column assembly comprises a steering column, a column base, a column frame, a column motor, a speed reducer, a screw rod, a nut and a lifting bracket, wherein the steering column is arranged on the column base, and the upper end of the steering column is fixedly connected with the rotation axis of the steering wheel body; the pipe column motor and the speed reducer are both arranged at the top of the pipe column frame, the output end of the pipe column motor is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the upper end of the screw rod, the lower end of the screw rod is connected with the bottom of the pipe column frame through a bearing, the screw rod is connected with a nut capable of moving along the length direction of the screw rod, and the screw rod and the nut form a screw-nut pair; the pipe column frame comprises two side plates which are symmetrically arranged left and right, two arc-shaped guide holes which extend from bottom to top and are bent towards the front side are formed in the side plates, and the left side and the right side of the pipe column base are movably connected with the arc-shaped guide holes through first sliding blocks; the lifting support is fixedly connected with the nut, connecting plates are respectively arranged on the left side and the right side of the lifting support, horizontal guide holes extending along the front-back direction are formed in the connecting plates, and the left side and the right side of the pipe column base are movably connected with the horizontal guide holes through second sliding blocks;
the controller is electrically connected with the X-axis motor, the first Y-axis motor, the second Y-axis motor and the pipe column motor respectively.
2. The autopilot steering system of claim 1 wherein the controller is mounted within the steering wheel body, the X-axis motor, the first Y-axis motor and the second Y-axis motor each being a direct current (dc) gear motor with hall encoders; an upper limit switch and a lower limit switch are arranged in the moving direction of the nut or the lifting support, and the upper limit switch and the lower limit switch are respectively and electrically connected with the controller.
3. The automatic steering system according to claim 1, wherein the first turning bracket comprises a first inner turning bracket arranged in the steering wheel body and a first outer turning bracket arranged outside the steering wheel body, the first inner turning bracket and the first outer turning bracket are fixedly connected through a first disc-shaped flange, a first supporting hole which is in sliding fit with the periphery of the first disc-shaped flange is arranged on the left side of the steering wheel body, the central axis of the first supporting hole is coaxially arranged with the X axis, the first Y axis motor is connected to the first inner turning bracket, and the first rotating shaft is connected to the first outer turning bracket; the second overturning bracket comprises a second inner overturning bracket arranged in the steering wheel body and a second outer overturning bracket arranged outside the steering wheel body, the second inner overturning bracket and the second outer overturning bracket are fixedly connected through a second disc-shaped flange, a second supporting hole in sliding fit with the periphery of the second disc-shaped flange is formed in the right side of the steering wheel body, the central axis of the second supporting hole is coaxially arranged with the X axis, a second Y axis motor is connected to the second inner overturning bracket, and a second rotating shaft is connected to the second outer overturning bracket.
4. The autopilot steering system of claim 1 wherein the first drive mechanism includes a first spur gear fixedly connected to an output shaft of the X-axis motor and a second spur gear coaxially fixed to the coupling; the diameter of the first spur gear is smaller than the diameter of the second spur gear.
5. The autopilot steering system of claim 1 wherein the second drive mechanism includes a first bevel gear fixedly connected to an output shaft of the first Y-axis motor and a second bevel gear coaxially fixed to the first rotational axis; the third transmission mechanism comprises a third bevel gear and a fourth bevel gear, the third bevel gear is fixedly connected with an output shaft of the second Y-axis motor, and the fourth bevel gear is coaxially fixed with the second rotating shaft.
6. The automatic steering system according to claim 1, wherein a square first fixed block is fixedly arranged on the first rotating shaft, and a first fixed cavity matched with the first fixed block in shape is formed in the first steering wheel handle; the second rotating shaft is fixedly provided with a square second fixed block, and the second steering wheel handle is provided with a second fixed cavity matched with the second fixed block in shape.
7. The automatic steering system according to claim 1, wherein a top frame is provided at a top of the column frame, left and right sides of the top frame are fixedly connected with the side plates, respectively, and the decelerator is fixed on the top frame; the bottom of tubular column frame is equipped with the chassis, the left and right sides of chassis respectively with curb plate fixed connection, the bearing is fixed on the chassis.
8. The autopilot steering system of claim 1 wherein the first slider and the second slider are each comprised of a bolt and a nut.
9. A control method of an automatic steering system according to any one of claims 1 to 8, characterized by comprising the steps of:
after the steering system is electrified, the controller performs power-on self-test; after the self-checking is finished, the controller respectively controls the X-axis motor, the first Y-axis motor, the second Y-axis motor and the pipe column motor to enable the steering system to recover to a default folding state;
when the steering wheel needs to be unfolded, a control signal is input through a control key button, the steering column motor is firstly controlled to drive the steering column to ascend to an upper limit along the arc-shaped guide hole and the horizontal guide hole, so that the steering wheel is adjusted to the height and the angle under the unfolded state, then the X-axis motor is controlled to enable the first steering wheel handle and the second steering wheel handle to overturn forwards, and finally the first Y-axis motor and the second Y-axis motor are controlled to synchronously move, so that the first steering wheel handle and the second steering wheel handle are outwards unfolded, and the step of unfolding the steering wheel is completed;
when the steering wheel needs to be stored, a control signal is input through a control key button, the first Y-axis motor and the second Y-axis motor are firstly controlled to synchronously move, the first steering wheel handle and the second steering wheel handle are inwards folded, then the X-axis motor is controlled to enable the first steering wheel handle and the second steering wheel handle to backwards overturn, finally the pipe column motor is controlled to drive the steering pipe column to downwards move to the lower limit along the arc-shaped guide hole and the horizontal guide hole, and accordingly the steering wheel is adjusted to the height and the angle under the storage state, and the steering wheel storage step is completed.
10. The control method of an automatic steering system according to claim 9, characterized by further comprising the steps of:
when the emergency needs to be temporarily stopped, the emergency stop signal is input through the emergency stop switch button, the control output of the X-axis motor, the first Y-axis motor, the second Y-axis motor and the tubular column motor is output by the controller, and after the emergency stop signal is cancelled, the motion before the emergency stop state is continuously executed by the controller.
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| CN202210737417.0A CN115092240B (en) | 2022-06-27 | 2022-06-27 | Automatic driving steering system and control method thereof |
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