CN204775444U - Automatic steering mechanism and application system thereof - Google Patents
Automatic steering mechanism and application system thereof Download PDFInfo
- Publication number
- CN204775444U CN204775444U CN201520474029.3U CN201520474029U CN204775444U CN 204775444 U CN204775444 U CN 204775444U CN 201520474029 U CN201520474029 U CN 201520474029U CN 204775444 U CN204775444 U CN 204775444U
- Authority
- CN
- China
- Prior art keywords
- steering gear
- steering
- fixed
- actuating motor
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model provides an automatic steering mechanism and application system thereof, this automation of steering mechanism installs on exercising the steering column sheath of mechanism, and steering column's upper end is fixed with the steering wheel, and this automation steering mechanism includes actuating motor, casing and drive mechanism, and this steering mechanism be still including can making actuating motor wobbling clutching mechanism in the casing, clutching mechanism passes casing and actuating motor fixed connection, the output and the one end of installing the drive mechanism inside the casing of operating motor are connected, drive mechanism's the other end is connected with traveling mechanism's steering wheel. Consequently the utility model discloses an automatic steering mechanism simple structure, the installation is dismantled conveniently, does not destroy original mechanical steering mechanism's structure, and application range is extensive, clutching mechanism has realized manual control and automatic control's switching, actuating motor unnecessary wearing and tearing when having avoided manual control. This automatic steering mechanism's application system can immediately make walking machinery walk along the trajectory of gathering is linear all the time.
Description
Technical field
The utility model relates to a kind of bearing circle self-steering gear, especially relates to a kind of self-steering gear and application system thereof.
Background technology
Current autonomous navigation equipment Market is in great demand, but be all based on GPS mostly, big-dipper satellite position fixing system, locate by GPS, base station is set up in scope of work, rely on Base Transmitter control signal, by the walking machine of control signal input service set on demand, namely the path set in advance is utilized, complete the pre-control to Work machine run trace, this mode can not synchro control immediately, exist on action control hysteresis quality and ageing, in order to overcome this drawback, adopt image recognition technology, utilize the instant ambient image information that preposition identification camera gathers, convert navigation path line information to, by judging the image pickup navigation run trace collected, this navigation mode does not need to set up base station and signal source system, directly by image acquisition identification and graphicinformation converting system, complete the conversion from graphicinformation to executive command signal, by autonomous image acquisition, process and signal are changed, with the picture signal independently gathered for navigation path foundation, realize controlling the visual run trace of the unmanned autonomy-oriented of walking arrangement.As China Patent No. cotton picker navigation information image detection method and system disclosed in the patent of 201210112447.9 adopt image recognition technology to know method for distinguishing to carry out leading line exactly.In the systematic difference of image recognition leading line, need the hardware mechanism implemented with this system support, wherein, the self-steering gear carrying out using in the adjustment of traveling mechanism direction according to the leading line of identification is the core component in this hardware mechanism; In the prior art, also all kinds of corrupt practices creep in for the implementation of self-steering gear, as in China Patent No. a kind of steering wheel type steering actuating mechanism for automatic driving of agricultural machinery disclosed in the utility model patent of 201120417829.3: adopt spline joint between this steering hardware and wheel steering post, this will wheel steering post also be the periphery of spline, so just cause the field of application of this steering hardware to be restricted; This steering hardware bearing circle when manual steering can drive the pinion rotation at different levels in steering hardware, thus the turning cylinder of drive motor rotates, and time well-known motor is out-of-run, its turning cylinder rotation can be worn and torn motor; The above-mentioned actuating unit that turns to also has a shortcoming to be complex structure, installs also inconvenient.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of self-steering gear and application system thereof.
The technical matters that the utility model further solves be to provide a kind of structure simple, with the self-steering gear of clutch function, highly versatile and application system thereof.This self-steering gear is arranged on the Steering gear sheath of traveling mechanism, the upper end of Steering gear is connected with bearing circle, this self-steering gear comprises actuating motor, housing and transmission device, this steering hardware also comprises the engaging and disengaging gear that actuating motor can be made to swing in housing, and described engaging and disengaging gear is fixedly connected with actuating motor through housing; The mouth of described operating motor is connected with the one end of the transmission device being arranged on enclosure interior, and the other end of described transmission device is fixed on the bearing circle of traveling mechanism.
Self-steering gear of the present utility model, compared with self-steering gear of the prior art, adds engaging and disengaging gear, can control actuating motor and swing and realize the A end of transmission device and secondary part realizes clutch as required; When not needing to use self-steering gear, the turning cylinder of actuating motor can not be transmitted mechanism and drive passive rotation, avoids the unnecessary wearing and tearing of actuating motor, achieves the convenient switching of A end and secondary part in transmission device simultaneously.
As the improvement of the above-mentioned self-steering gear of the utility model, this self-steering gear also comprises fixed mechanism, described fixed mechanism is made up of Steering gear sheath fixed parts, fastening clamping ring and friction top, described Steering gear sheath fixed parts is enclosed within steering post jacket, described fastening clamping ring external diameter is fusiformis, and small end place inserts described Steering gear sheath fixed parts is connected gap bottom with steering post jacket, screwed connection bottom the outer cylinder of described friction top and described Steering gear sheath fixed parts; Described friction top screws from the bottom up, makes Steering gear sheath fixed parts inner cylinder hold out against the large end of fastening clamping ring, is fixed on steering post jacket by Steering gear sheath fixed parts; Described transmission device is connected on described Steering gear sheath fixed parts by bearing carrier ring.
Fastening clamping ring in above-mentioned fixed mechanism and friction top also can have two, are fixed on steering post jacket respectively by aforesaid way by the top and bottom of Steering gear sheath fixed parts, can strengthen the steadiness of fixed mechanism further.
As the improvement of the above-mentioned self-steering gear of the utility model, described transmission device comprises driving gear and the driven gear of engagement, and described driving gear is fixed on the turning cylinder of actuating motor, and is positioned at housing; Described driven gear is connected with Steering gear sheath fixed parts by bearing.
As the further improvement of the above-mentioned self-steering gear of the utility model, in order to adapt to the bearing circle of differing heights, the upper end of described driven gear is fixed several and is prolonged spindle unit.
According to a preferred embodiment of the present utility model, described transmission device comprises toggle mechanism, and described toggle mechanism turns to wiper arm to form by the connecting arm be fastenedly connected up and down and U-shaped card, and described U-shaped card turns to wiper arm to be stuck on bearing circle spoke.
According to a preferred embodiment of the present utility model, described engaging and disengaging gear comprises connecting panel, clutch rod, retracing spring, turning cylinder and turning handle, and described connecting panel is fixed on actuating motor upper surface, and described connecting panel rotates around the turning cylinder be fixed on housing; Described connecting panel is fixedly connected with one end of described clutch rod; The other end of described clutch rod stretches out the side of housing, and described turning handle is enclosed within described clutch rod; On described clutch rod, also cover has the limiting stopper being fixed on hull outside face; The corresponding surface inclined side facade of described limiting stopper and described turning handle tilts to coincide; Described retracing spring is enclosed within described clutch rod, and its one end is fixed on housing, and the other end is fixed on connecting panel.
Engaging and disengaging gear also can in the following way: engaging and disengaging gear comprises connecting panel, clutch rod, gas thread and turning handle, described connecting panel is fixed on actuating motor upper surface, described connecting panel stretch out actuating motor upper surface and can horizontally rotate be fixed in housing; One end vertical plane of described connecting panel and described clutch rod is rotatably connected; The other end of described clutch rod stretches out the side of housing and is threaded and is fixed on the gas thread of case side facade, and described turning handle is fixed on the end of described clutch rod.
Two kinds of embodiments of above-mentioned just engaging and disengaging gear, this engaging and disengaging gear also can adopt any other other implementations that actuating motor can be made to slide in housing.
Adopt the application system of any one above-mentioned self-steering gear, except comprising above-mentioned self-steering gear, also comprise traveling mechanism, control system, data acquisition conversion card and bearing circle, the front end of described traveling mechanism is fixed with track collection as head, its steering torque is fixed with angular transducer, on the Steering gear that described angular transducer is arranged on traveling mechanism and wheel shaft, the shaft swing that Steering gear pendulum angle sensor is fixing on wheel shaft; Information Monitoring and induction information are transferred to control system by wire harness as head by described angular transducer and track collection; Described control system is connected to described data acquisition by wire harness and transforms card, and described data acquisition conversion cartoon is crossed wire harness and is connected to described actuating motor, and described actuating motor connects described bearing circle by transmission device; Bearing circle controls the rotation of Steering gear by Steering gear, and Steering gear controls turning to of connected wheel again; After Steering gear rotates, the signal of angular transducer changes, and after the feedback signal that control system receives angular transducer is identical with the signal needing walk, traveling mechanism namely can route running as required.
The advantage that the utility model has and good effect are: self-steering gear structure described in the utility model is simple, easy installation and removal, do not destroy the structure of original mechanical steering gear, its fixed sturcture fixation, can be fixed on the Steering gear sheath of any traveling mechanism, do not limit the structure of Steering gear, therefore use field extensive; Also having additional relative to self-steering gear of the prior art can the engaging and disengaging gear of clutch, avoid and drive actuating motor to rotate when hand rotation bearing circle, avoid the wearing and tearing that actuating motor is unnecessary, achieve the convenient switching of driving gear and driven gear in transmission device simultaneously.
Adopt the application system of any one above-mentioned self-steering gear, utilization can video head navigation by recognition path autonomous navigation, the linear track generated by reference route in the image of operation little territory environment that collects is as the walking reference of navigation, what realize navigation operation track gets benchmark on the spot, increase and control the ageing of execution, reduce hysteresis error, avoid the delay of track adjusting wheel action.Realize not by the autonomous navigation integrative control device systems of the autonomy-oriented image acquisition of following input control signal, programming control, signal conversion, machinery execution, by the collection of image acquisition picture head to operation little territory environment hypograph information, pickup navigation path line, executive signal is exported by executive routine, the positive and negative instantaneity controlling steering hardware is rotated, run trace is rectified a deviation, walking machine is linearly walked along the trajectory collected all the time.
Except technical matters, the technical characteristic forming technical scheme and the advantage brought by the technical characteristic of these technical schemes that the utility model described above solves, the advantage that the other technologies feature comprised in the other technologies problem that a kind of self-steering gear of the utility model and application system thereof can solve, technical scheme and these technical characteristics bring, will be described in further detail by reference to the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of self-steering gear of the utility model;
Fig. 2 is the schematic enlarged-scale view of part B in Fig. 1;
Fig. 3 is the plan structure schematic diagram of the first embodiment of clutch in a kind of self-steering gear of the utility model;
Fig. 4 is the functional block diagram of a kind of self-steering gear application system in the utility model.
In figure: 10. bearing circle; 20. actuating motors; 30. housings; 41. Steering gear sheath fixed partss; 42. fastening clamping rings; 43. friction tops; 51. driving gears; 52. driven gears; 53. bearings; 54. prolong spindle unit; 61. connecting arms; 62.U type card turns to wiper arm; 71. connecting panels; 72. clutch rods; 73. retracing springs; 74. turning cylinders; 75. turning handles; 76. limiting stoppers; 81. control system; 82. data acquisitions transform card; 83. track collections are as head; 84. angular transducers.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described further.It should be noted that at this, the explanation for these embodiments understands the utility model for helping, but does not form restriction of the present utility model.In addition, if below the technical characteristic that relates in described each embodiment of the utility model do not form conflict each other and just can mutually combine.
In the structural representation of a kind of self-steering gear of Fig. 1 to Fig. 3 the utility model, for a kind of embodiment of a kind of self-steering gear of the utility model, in this embodiment, this self-steering gear is arranged on the Steering gear sheath of traveling mechanism, the upper end of Steering gear is fixed with bearing circle 10, this self-steering gear comprises actuating motor 20, housing 30 and transmission device, this steering hardware also comprises the engaging and disengaging gear that actuating motor 20 can be made to swing in housing 30, and described engaging and disengaging gear is fixedly connected with actuating motor 20 through housing 30; The mouth of described operating motor is connected with the one end of the transmission device being arranged on housing 30 inside, and the other end of described transmission device is fixed on the bearing circle 10 of traveling mechanism.
Self-steering gear of the present utility model, compared with self-steering gear of the prior art, adds engaging and disengaging gear, and the front end of the transmission device be fixed on actuating motor 20 turning cylinder and rear portion can be made to realize clutch as required; When not needing to use self-steering gear, the turning cylinder of actuating motor 20 can not be transmitted mechanism and drive passive rotation, avoids the unnecessary wearing and tearing of motor, achieves the convenient switching of driving gear and driven gear in transmission device simultaneously.
In the present embodiment, transmission device drives the driven gear 52 engaged with it to realize by the driving gear 51 be fixed on actuating motor 20 turning cylinder.
In the present embodiment, the implementation of engaging and disengaging gear is: engaging and disengaging gear comprises connecting panel 71, clutch rod 72, retracing spring 73, turning cylinder 74 and turning handle 75, described connecting panel 71 is fixed on actuating motor 20 upper surface, and described connecting panel 71 rotates around the turning cylinder 74 be fixed on housing 30; Described connecting panel 71 is fixedly connected with one end of described clutch rod 72; The other end of described clutch rod 72 stretches out the side of housing 30, and described turning handle 75 is enclosed within described clutch rod 72; On described clutch rod 72, also cover has the limiting stopper 76 being fixed on housing 30 lateral surface; Described limiting stopper 76 tilts to coincide with the corresponding surface inclined side facade of described turning handle 75; Described retracing spring 73 is enclosed within described clutch rod 72, and its one end is fixed on housing 30, and the other end is fixed on connecting panel 71.Connecting panel 71 can horizontally rotate, and actuating motor 20 can be made to do arcuate movement when parallel motion, makes the engaging of driving gear 51 and driven gear 52 more smooth, can avoid strong docking abrased gear.
The working process of this engaging and disengaging gear is: when the left surface of turning handle 75 and limiting stopper 76 coincide as shown in fig. 1 time, be the state that driving gear 51 engages with driven gear 52; When driving gear 51 and driven gear 52 separate by needs time, rotate turning handle 75, its most long end is alignd with the most long end of limiting stopper 76, now, clutch rod 72 moves right under the drive of turning handle 75, actuating motor 20 also moves right, and make driving gear 51 and driven gear 52 separately, now retracing spring 73 is in by the state compressed; When needs engage again time, turning handle 75 is turned to the state of coincideing with limiting stopper 76, clutch rod 72 under the pulling of retracing spring 73 to left movement until driving gear 51 engages with driven gear 52.
Above-mentioned engaging and disengaging gear also can in the following way: engaging and disengaging gear comprises connecting panel 71, clutch rod 72, gas thread and turning handle 75, connecting panel 71 is fixed on actuating motor 20 upper surface, connecting panel 71 stretch out actuating motor 20 upper surface and can horizontally rotate be fixed in housing 30; Connecting panel 71 is rotatably connected with one end vertical plane of clutch rod 72; The other end of clutch rod 72 stretches out the side of housing 30 and is threaded and is fixed on the gas thread of housing 30 side elevation, and turning handle 75 is fixed on the end of clutch rod 72.
The working process of engaging and disengaging gear the second embodiment is: when rotating clockwise turning handle 75, and clutch rod 72 is to left movement, and driving gear 51 and driven gear 52 engage; When rotating counterclockwise turning handle 75, clutch rod 72 moves right, and driving gear 51 and driven gear 52 are separately.
Two kinds of embodiments of above-mentioned just engaging and disengaging gear, engaging and disengaging gear also can adopt any other can make other implementations of actuating motor 20 movement in housing 30.
As the further improvement of the above-mentioned self-steering gear of the utility model, in order to adapt to the dissimilar Steering gear of different traveling mechanism, this self-steering gear also comprises fixed mechanism, fixed mechanism is by Steering gear sheath fixed parts 41, fastening clamping ring 42 and friction top 43 form, described Steering gear sheath fixed parts 41 is enclosed within steering post jacket, described fastening clamping ring 42 external diameter is fusiformis, and small end place inserts described Steering gear sheath fixed parts 41 is connected gap bottom with steering post jacket, screwed connection bottom the outer cylinder of described friction top 43 and described Steering gear sheath fixed parts 41, described friction top 43 screws from the bottom up, make Steering gear sheath fixed parts 41 inner cylinder hold out against fastening clamping ring 42 to hold greatly, be fixed on steering post jacket by Steering gear sheath fixed parts 41, the driven gear 52 of described transmission device is socketed on described Steering gear sheath fixed parts 41 by bearing 53.In the present embodiment, the fastening clamping ring 42 in fixed mechanism and friction top 43 have two respectively, are fixed on steering post jacket respectively by aforesaid way by the top and bottom of Steering gear sheath fixed parts 41, can strengthen the steadiness of fixed mechanism further.
Transmission device comprises driving gear 51 and the driven gear 52 of engagement, and driving gear 51 is fixed on the turning cylinder 74 of actuating motor 20, and is positioned at housing 30; Driven gear 52 is connected with Steering gear sheath fixed parts 41 by bearing 53.The top of driven gear 52 is connected with 3 and prolongs spindle unit 54, in order to shorten the distance of driven gear 52 and bearing circle 10.
In the present embodiment, transmission device also comprises toggle mechanism, and described toggle mechanism turns to wiper arm 62 to form by the connecting arm 61 be fastenedly connected up and down and U-shaped card, and described U-shaped card turns to wiper arm 62 to be stuck on bearing circle 10 spoke.It should be noted that, toggle mechanism can be anyly can connect driven gear 52 with bearing circle 10 and make other modes that bearing circle 10 rotates.
The above-mentioned spindle unit 54 that prolongs is distances in order to shorten driven gear 52 and bearing circle 10, and whether and the distance of the number apparent motion gear increased and bearing circle 10 and determining the increase of prolonging spindle unit 54.
Be depicted as the functional block diagram of the application system adopting any one above-mentioned self-steering gear in the diagram, this application system is except comprising above-mentioned self-steering gear, also comprise traveling mechanism, control system 81, data acquisition conversion card 82 and bearing circle 10, the front end of described traveling mechanism is fixed with track and gathers picture 83, its steering torque is fixed with angular transducer 84, on the Steering gear that described angular transducer 84 is arranged on traveling mechanism and wheel shaft, the shaft swing that Steering gear pendulum angle sensor 84 is fixing on wheel shaft; Information Monitoring and induction information are transferred to control system 81 by wire harness as 83 by described angular transducer 84 and track collection; Described control system 81 is connected to described data acquisition by wire harness and transforms card 82, and described data acquisition transforms card 82 and is connected to described actuating motor 20 by wire harness, and described actuating motor 20 connects described bearing circle 10 by transmission device; Bearing circle 10 controls the rotation of Steering gear by Steering gear, and Steering gear controls turning to of connected wheel again; After Steering gear rotates, the signal of angular transducer 84 changes, and after the feedback signal that control system 81 receives angular transducer 84 is identical with the signal needing walk, traveling mechanism namely can route running as required.
Below by reference to the accompanying drawings detailed description is made to embodiment of the present utility model, but the utility model is not limited to described embodiment.For the ordinary skill in the art, carry out multiple change, amendment, replacement and distortion to these embodiments without departing from the principles and spirit of the present invention still to fall within protection domain of the present utility model.
Claims (7)
1. a self-steering gear, this self-steering gear is arranged on the Steering gear sheath of traveling mechanism, the upper end of Steering gear is fixed with bearing circle (10), this self-steering gear comprises actuating motor (20), housing (30) and transmission device, it is characterized in that, this steering hardware also comprises the engaging and disengaging gear that actuating motor can be made to swing in housing, and described engaging and disengaging gear is fixedly connected with actuating motor (20) through housing (30); The mouth of described actuating motor (20) is connected with the one end of the transmission device being arranged on housing (30) inside, and the other end of described transmission device is connected with the bearing circle (10) of traveling mechanism.
2. a kind of self-steering gear according to claim 1, it is characterized in that, also comprise fixed mechanism, described fixed mechanism is by Steering gear sheath fixed parts (41), fastening clamping ring (42) and friction top (43) composition, described Steering gear sheath fixed parts (41) is enclosed within steering post jacket, described fastening clamping ring (42) external diameter is fusiformis, and small end place inserts described Steering gear sheath fixed parts (41) is connected gap bottom with steering post jacket, screwed connection bottom the outer cylinder of described friction top (43) and described Steering gear sheath fixed parts (41), described transmission device is connected on described Steering gear sheath fixed parts (41) by bearing carrier ring.
3. a kind of self-steering gear according to claim 2, it is characterized in that, described transmission device comprises driving gear (51) and the driven gear (52) of engagement, described driving gear (51) is fixed on the turning cylinder of actuating motor (20), and is positioned at housing; Described driven gear (52) is connected with Steering gear sheath fixed parts (41) by bearing (53).
4. a kind of self-steering gear according to claim 3, is characterized in that, the upper end of described driven gear (52) is fixed several and prolonged spindle unit (54).
5. a kind of self-steering gear according to any one of claim 1-4, it is characterized in that, described transmission device comprises toggle mechanism, described toggle mechanism turns to wiper arm (62) to form by the connecting arm be fastenedly connected up and down (61) and U-shaped card, and described U-shaped card turns to wiper arm (62) to be stuck on bearing circle (10) spoke.
6. a kind of self-steering gear according to any one of claim 1-4, it is characterized in that, described engaging and disengaging gear comprises connecting panel (71), clutch rod (72), retracing spring (73), turning cylinder (74) and turning handle (75), described connecting panel (71) is fixed on actuating motor (20) upper surface, and described connecting panel (71) rotates around the turning cylinder (74) be fixed on housing (30); Described connecting panel (71) is fixedly connected with one end of described clutch rod (72); The other end of described clutch rod (72) stretches out the side of housing (30), and described turning handle (75) is enclosed within described clutch rod (72); On described clutch rod (72), also cover has the limiting stopper (76) being fixed on housing (30) lateral surface; Described limiting stopper (76) tilts to coincide with the corresponding surface inclined side facade of described turning handle (75); Described retracing spring (73) is enclosed within described clutch rod (72), and its one end is fixed on housing (30), and the other end is fixed on connecting panel (71).
7. one kind adopts the application system of the self-steering gear according to any one of claim 1-4, it is characterized in that, also comprise traveling mechanism, control system (81), data acquisition conversion card (82) and bearing circle (10), the front end of described traveling mechanism is fixed with track collection as head (83), the Steering gear of described traveling mechanism and wheel shaft are provided with angular transducer (84), the shaft swing that Steering gear pendulum angle sensor (84) is fixing on wheel shaft; Information Monitoring and induction information are transferred to control system (81) by wire harness as head (83) by described angular transducer (84) and track collection; Described control system (81) is connected to described data acquisition by wire harness and transforms card (82), described data acquisition transforms card (82) and is connected to described actuating motor (20) by wire harness, and described actuating motor (20) connects described bearing circle (10) by transmission device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520474029.3U CN204775444U (en) | 2015-06-30 | 2015-06-30 | Automatic steering mechanism and application system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520474029.3U CN204775444U (en) | 2015-06-30 | 2015-06-30 | Automatic steering mechanism and application system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204775444U true CN204775444U (en) | 2015-11-18 |
Family
ID=54515553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520474029.3U Expired - Fee Related CN204775444U (en) | 2015-06-30 | 2015-06-30 | Automatic steering mechanism and application system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204775444U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423059A (en) * | 2017-02-13 | 2018-08-21 | 操纵技术Ip控股公司 | Steering column assembly for autonomous vehicle |
| CN108454690A (en) * | 2017-02-21 | 2018-08-28 | 操纵技术Ip控股公司 | Ball-type coupling assembly for steering column assembly |
| CN108639146A (en) * | 2018-05-30 | 2018-10-12 | 南京航空航天大学 | A kind of intelligence assist steering system and its control method |
-
2015
- 2015-06-30 CN CN201520474029.3U patent/CN204775444U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423059A (en) * | 2017-02-13 | 2018-08-21 | 操纵技术Ip控股公司 | Steering column assembly for autonomous vehicle |
| CN108454690A (en) * | 2017-02-21 | 2018-08-28 | 操纵技术Ip控股公司 | Ball-type coupling assembly for steering column assembly |
| CN108639146A (en) * | 2018-05-30 | 2018-10-12 | 南京航空航天大学 | A kind of intelligence assist steering system and its control method |
| CN108639146B (en) * | 2018-05-30 | 2023-06-09 | 南京航空航天大学 | Intelligent auxiliary steering system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204775443U (en) | Automatic steering mechanism and application system thereof | |
| CN204775444U (en) | Automatic steering mechanism and application system thereof | |
| CN205499106U (en) | Novel pole -climbing supervisory -controlled robot | |
| CN104503473B (en) | Inertial stabilization controller | |
| CN204437606U (en) | A kind of binocular camera The Cloud Terrace for underwater robot detection | |
| CN101403848A (en) | Three-dimensional automatic stabilization camera shooting system | |
| CN104690708A (en) | Balance mechanism of force operator | |
| CN112350214A (en) | High-altitude line inspection robot | |
| CN205365796U (en) | Pole -climbing supervisory -controlled robot | |
| CN103471566A (en) | Scanning mechanism applied to aerial camera | |
| CN108989653A (en) | The fatigue driving early-warning device of vehicular adaptive environment light and head pose | |
| CN106569205A (en) | Co-aperture infrared/radar composite seeker | |
| CN104714558A (en) | Pilot helmet follow-up demonstration instrument | |
| CN108705980B (en) | Vehicle front wheel and camera synchronous steering system | |
| CN201608828U (en) | High-precision intelligent servo monitoring device for laser illuminator | |
| CN205173424U (en) | Transmission structure , with burnt ware, with burnt ware execution end and image device | |
| CN220189134U (en) | Unmanned bicycle based on contest | |
| CN204350179U (en) | A kind of gyro steady picture rotation table device | |
| CN205716277U (en) | A kind of photoelectric stable platform based on AC servo machinery driving | |
| CN104483984A (en) | Cloud deck accurate positioning device for valve hall intelligent inspection tour robot and working method of accurate positioning device | |
| CN208316878U (en) | A kind of monitoring device and a kind of reconstruct formula mechanical arm | |
| CN110260278A (en) | A kind of intelligent-induction follow-up steering lamps and lanterns | |
| CN209305648U (en) | A kind of unmanned pure electric vehicle truck and its wheel steering system | |
| CN209944263U (en) | Intelligent induction follow-up steering lamp | |
| CN109621260A (en) | A kind of control system of extinguishing vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20170630 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |