CN217227678U

CN217227678U - Electric steering wheel, automatic driving navigation device, vehicle and system

Info

Publication number: CN217227678U
Application number: CN202123436869.5U
Authority: CN
Inventors: 刘国锋; 孙飞; 吴琼; 韩天; 刘俊; 张一龙
Original assignee: Nanjing Gallop Sky Electronic Technology Co ltd; Shanghai Huace Navigation Technology Ltd
Current assignee: Nanjing Gallop Sky Electronic Technology Co ltd; Shanghai Huace Navigation Technology Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-08-19
Anticipated expiration: 2031-12-30

Abstract

The application provides an electric steering wheel, an automatic driving navigation device, a vehicle and a system. The electric steering wheel comprises a steering wheel and a motor shell; a display is arranged on the steering wheel; a motor, an encoder and a main board are sealed in the motor shell; the mainboard comprises a processor, a driver connected with the processor, a GNSS module and a wireless communication module; the motor is respectively connected with the encoder and the steering wheel, and the motor sends the motor rotation angle information to the processor through the encoder; the processor controls the motor to rotate through the driver; the GNSS module is connected with the GNSS antenna and used for receiving satellite signals through the GNSS antenna and sending the satellite signals to the processor; the wireless communication module is used for communicating with a remote terminal. According to the embodiment of the application, the steering wheel, the display, the motor, the encoder, the processor, the driver, the GNSS module and the wireless communication module are integrated, so that the number of installation parts is reduced, and the installation time is shortened.

Description

Electric steering wheel, automatic driving navigation device, vehicle and system

Technical Field

The application relates to the technical field of automatic driving, in particular to an electric steering wheel, an automatic driving navigation device, a vehicle and a system.

Background

The agricultural mechanization degree of China is higher and higher, and the agricultural productivity is greatly improved. However, the traditional mechanical application completely depends on manual operation, the labor intensity is high, the requirement on the skill of a driver is high, the operation quality cannot be ensured, and the night operation quality is lower or even impossible; particularly, operations such as seeding, ditching, film mulching, ridging, intertillage, pesticide spraying and the like with high requirements on linearity and joint line precision cannot be guaranteed, so that the land waste is serious, and the operation loss is serious.

The agricultural machinery with the automatic driving function solves the problems, but the agricultural machinery navigation automatic driving system in the prior art is complex to install, so that the installation time is long.

SUMMERY OF THE UTILITY MODEL

An object of the embodiments of the present application is to provide an electric steering wheel, an automatic navigation device, a vehicle and a system, so as to solve the problem of long installation time of an automatic navigation system.

In a first aspect, embodiments of the present application provide an electric steering wheel, including a steering wheel and a motor housing; a display is arranged on the steering wheel; a motor, an encoder and a main board are packaged in the motor shell; the mainboard comprises a processor, a driver, a Global Navigation Satellite System (GNSS) module and a wireless communication module; the display, the encoder, the driver, the GNSS module and the wireless communication module are respectively connected with the processor; the motor shell comprises a motor upper shell and a motor lower shell; the motor is connected with the motor upper shell, and the motor upper shell is connected with the steering wheel and the vehicle steering shaft; the motor drives the steering wheel and the vehicle steering shaft to rotate through the motor upper shell; the main board is connected with the lower motor shell, and the lower motor shell is fixedly arranged on a vehicle; the encoder is arranged on the motor and used for acquiring the rotation angle information of the motor and sending the rotation angle information of the motor to the processor; the processor controls the motor to rotate through the driver, so that the motor drives the steering wheel and the vehicle steering shaft to rotate; the GNSS module is connected with the GNSS antenna and is used for receiving satellite signals through the GNSS antenna and sending the satellite signals to the processor; the wireless communication module is used for communicating with a remote terminal; the display is used for displaying the network connection state of the wireless communication module sent by the processor and the satellite signal.

The embodiment of the application reduces the number of installation parts and shortens the installation time by integrating the steering wheel, the display, the motor, the encoder, the processor, the driver, the GNSS module and the wireless communication module into a whole.

In any embodiment, the motor upper shell is connected with the steering wheel through an outer rotor of a bearing; the display is connected with the lower motor shell through the inner stator of the bearing; the motor upper shell is connected with the vehicle steering shaft through a sleeve.

The outer rotor of bearing connects steering wheel and motor epitheca through this application embodiment, connects display and motor inferior valve through the bearing inner stator to and through muffjoint vehicle steering spindle, thereby obtain the corner of accurate steering wheel and the corner of vehicle steering spindle, be convenient for rectify the steering wheel, and realize that the display does not rotate along with the steering wheel rotation, provide convenience for the user watches the content on the display.

In any embodiment, the sleeve is provided with an internal spline, and the vehicle steering shaft is provided with an external spline matched with the internal spline. Ensuring the transmission continuity and stability between the sleeve and the vehicle steering shaft.

In any embodiment, a plurality of function buttons are disposed in the display, the plurality of function buttons including an operating mode setting button, a mechanical calibration setting button, and an automatic driving function switch button; and triggering the function button to send a corresponding control instruction to the processor. According to the embodiment of the application, the plurality of function buttons are arranged in the display, so that a user can conveniently interact with a system of a vehicle in the process of driving the vehicle.

In any embodiment, the wireless communication module comprises a mobile network module, a bluetooth module and a WIFI module. Through the wireless communication module, communication with a remote terminal is enabled.

In any embodiment, the motor is a dc torque motor. The embodiment of the application uses the direct current torque motor as a power source, so that the direct current torque motor is more economical and practical, and saves cost.

In a second aspect, an embodiment of the present application provides an automatic driving navigation device, including the electric steering wheel, the GNSS antenna, and the vehicle body attitude sensor of the first aspect; the GNSS antenna is arranged on the roof of the vehicle and connected with a GNSS module in the electric steering wheel, and the GNSS antenna is used for receiving satellite signals and sending the satellite signals to the GNSS module; the vehicle body attitude sensor is connected with a processor in the electric steering wheel and used for acquiring the position and attitude information of a vehicle and sending the position and attitude information of the vehicle to the electric steering wheel.

According to the embodiment of the application, the steering wheel, the display, the motor, the encoder, the processor, the driver, the GNSS module and the wireless communication module are integrated into a whole, so that the electric steering wheel is formed, the number of installation parts is reduced, and the installation time is shortened.

In a third aspect, an embodiment of the present application provides another autopilot navigation device, the electric steering wheel and the GNSS antenna of the first aspect; the GNSS antenna module comprises a GNSS antenna and a vehicle body attitude sensor; the GNSS antenna module is arranged on the roof of the vehicle, and the GNSS antenna is connected with the GNSS module in the electric steering wheel and used for receiving satellite signals and sending the satellite signals to the GNSS module; the vehicle body attitude sensor is connected with a processor in the electric steering wheel and used for acquiring the position and attitude information of a vehicle and sending the position and attitude information of the vehicle to the electric steering wheel.

The embodiment of the application integrates the steering wheel, the display, the motor, the encoder, the processor, the driver, the GNSS module and the wireless communication module into a whole to form the electric steering wheel, so that the number of installation parts is reduced, and the installation time is shortened.

In a fourth aspect, an embodiment of the present application provides an autonomous navigation vehicle, including the autonomous navigation apparatus according to the second aspect or the third aspect.

In a fifth aspect, an embodiment of the present application provides an automatic driving navigation system, including: the autonomous navigation vehicle and the remote terminal of the third aspect; the automatic driving navigation vehicle is communicated with the remote terminal through a wireless communication module; the remote terminal is used for receiving vehicle running information sent by the automatic driving navigation vehicle and sending a control instruction to the automatic driving navigation vehicle.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an electric steering wheel according to an embodiment of the present disclosure;

fig. 2 is a schematic plan view of a steering wheel according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an autopilot navigation apparatus according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of another autopilot navigation apparatus according to an embodiment of the present application;

FIG. 5 is a schematic view of an autonomous navigation vehicle according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an automatic driving navigation system according to an embodiment of the present application.

Icon:

electric steering wheel-100; a steering wheel-101; a display-102; a motor housing-103; a control panel-104; -a motor-1031; bearing-10312; an encoder-1032; a main board-1033; a processor-10331; a driver-10332; a GNSS module-10333; a wireless communication module-10334; motor top case-1034; a motor lower shell-1035; a GNSS antenna-302; a vehicle body attitude sensor-303; a GNSS antenna module-401; a vehicle body-501; an autonomous navigation vehicle-601; remote terminal-602.

Detailed Description

Based on the loaded down with trivial details, the longer problem of installation time of present agricultural machinery navigation autopilot system installation, this application embodiment provides an electric steering wheel, and this electric steering wheel possesses high integrated attribute, is integrated as an organic whole with multiple part, has reduced the quantity of the part that needs the installation, has shortened installation time.

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

Fig. 1 is a schematic structural diagram of an electric steering wheel according to an embodiment of the present disclosure, as shown in fig. 1, including a steering wheel 101, a display 102, and a motor housing 103.

Wherein, the display 102 is arranged on the steering wheel 101, specifically, the center of the display 102 can coincide with the center of the steering wheel 101, that is, the display 102 is arranged right above the steering wheel 101, and the direction in which the display 102 is arranged is the forward direction, that is, when the driver sits on the driver seat and looks at the display 102, the picture on the display 102 is the forward direction, rather than the oblique or the reverse direction. It should be noted that, in an ideal state where the display 102 is disposed right above the steering wheel 101, in practical applications, the specific position where the display 102 is disposed on the steering wheel 101 may be determined according to the size of the steering wheel 101, the size of the display 102, and the shape of the steering wheel 101, and this is not particularly limited in the embodiment of the present application.

The display 102 is used for displaying the network connection state of the wireless communication module, satellite signals and the like transmitted by the processor.

The steering wheel 101 may also be provided with a control panel, which is provided with various function keys, for example: a whistle key, a meter page toggle key, an answer/hang-up phone key, etc. The shape of the steering wheel 101 may be circular, elliptical, irregular circular, or the like.

The motor housing 103 is a housing for enclosing the motor 1031, the encoder 1032, and the main board 1033, and the material of the housing may be plastic, stainless steel, or other materials, which is not limited in this embodiment of the present invention. The motor housing 103 includes a motor upper shell 1034 and a motor lower shell 1035, the motor upper shell 1034 and the motor lower shell 1035 are rotatably connected, and the motor lower shell 1035 is fixedly provided on the vehicle, so that the motor lower shell 1035 does not rotate with the rotation of the motor upper shell 1034.

The main board 1033 includes a processor 10331, a driver 10332, a Global Navigation Satellite System (GNSS) module 10333, and a wireless communication module 10334. The driver 10332, the GNSS module 10333, and the wireless communication module 10334 are all connected to the processor 10331.

Processor 10331 may be, for example, an integrated circuit chip having signal processing capabilities. The Processor 10331 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. Which may implement or perform the various methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The motor upper shell 1034 is connected with the motor 1031, and the motor upper shell 1034 is further connected with the steering wheel 101 and the vehicle steering shaft, so that when the motor 1031 rotates, the motor upper shell 1034 is driven to rotate, and the steering wheel 101 and the vehicle steering shaft are driven to synchronously rotate by the motor upper shell 1034. The encoder 1032 is provided on the motor, converts the angular displacement of the motor 1031 into an electrical signal, i.e., rotation angle information, and transmits the rotation angle information to the processor 10331.

The main function of the driver 10332 is to receive the signal from the processor 10331, process the signal and transfer the signal to the motor 1031, the motor 1031 rotates the steering wheel 101 according to the signal, and feed back the operation condition of the motor 1031 to the processor 10331.

The GNSS module 10333 is connected to the GNSS antenna, and the GNSS module 10333 searches for satellite signals using a GNSS technique, which is a measurement technique for obtaining absolute positioning coordinates in a coordinate system by observing GNSS satellites. It is understood that GNSS is a generic term for all navigation positioning satellites, and all modules that can perform positioning by acquiring and tracking satellite signals thereof can be included in the range of the GNSS module 10333. The GNSS antenna may be disposed on the roof of the vehicle, and further, the GNSS antenna may include two, that is, a first GNSS antenna and a second GNSS antenna, the first GNSS antenna may be disposed at a rear end of the roof at a position along an axis of the vehicle, and the second GNSS antenna may be disposed at a front end of the roof at the axis of the vehicle. The GNSS module 10333 is in communication connection with the GNSS antenna through a radio frequency line, and sends the satellite signal to the processor after receiving the satellite signal through the GNSS antenna. The satellite signals include satellite position information, and the position information of the GNSS module 10333 may be determined according to the satellite position information, so as to realize positioning of the vehicle.

Wireless communication module 10334 is coupled to processor 10331 for communicating with remote terminals, i.e., for transmitting data received by processor 10331 to remote terminals. The data received by the processor 10331 includes rotation angle information of the motor 1031, satellite signals, and the like. The wireless communication module 10334 may include a mobile network module, a bluetooth module, and a WIFI module. The mobile network module can be a 2G, 3G, 4G or 5G module.

In addition, the motherboard 1033 may further include a Memory communicatively connected to the processor, and the Memory may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an Electrically Erasable Read Only Memory (EEPROM), and the like. The memory may store data received by the processor to record an operational state of the electric steering wheel.

The embodiment of the application reduces the number of installation parts and shortens the installation time by integrating the steering wheel, the display, the motor, the encoder, the processor, the driver, the GNSS module and the wireless communication module into a whole. The highly integrated electric steering wheel can reduce the cost and improve the purchasing power of users. In addition, the complexity of the system wiring harness is reduced, the number of communication cables in the wiring harness is reduced, and the cost is reduced in the aspects of process manufacturing cost and material cost.

On the basis of the above embodiment, a bearing 10312 is provided between the motor upper shell and the steering wheel, the bearing 10312 includes an outer rotor and an inner stator, and the motor upper shell is connected with the steering wheel through the outer rotor. The motor upper shell is connected with a vehicle steering shaft through a sleeve.

On the basis of the above embodiment, the sleeve is provided with the internal spline, the vehicle steering shaft is provided with the external spline matched with the internal spline, and the internal spline is tightly matched with the external spline, so that the transmission continuity and stability between the sleeve and the vehicle steering shaft are ensured.

At present, displays on some agricultural machines are arranged at the position of a right upright post, so that the display is inconvenient for a driver to view and operate. Therefore, in the embodiment of the present application, the display 102 may be detachably and fixedly connected to the inner stator of the bearing, and particularly, the display 102 may be connected to the inner stator of the bearing by a fastener. Since the inner stator of the bearing is stationary, the display 102 does not rotate with the rotation of the steering wheel 101. Thus, the display 102 is always in front of the driver, which facilitates the driver to view the information displayed on the display 102 and to give some operation instructions through the display 102. Fig. 2 is a schematic plan view of a steering wheel according to an embodiment of the present disclosure, as shown in fig. 2. The display 102 is disposed at the center of the steering wheel 101, two sides of the display 102 are respectively provided with a control panel 104, and the control panel 104 is provided with a plurality of function keys. The control panel 104 is fixedly connected to the display 102 and slidably connected to the steering wheel 101, specifically, a slide is provided on the inner circumference of the steering wheel 101, and the side of the control panel 104 contacting the steering wheel 101 can slide in the slide, so that the display 102 and the control panel 104 do not rotate along with the rotation of the steering wheel 101.

In the embodiment of the application, the display is connected with the inner stator of the bearing, so that the display does not rotate along with the rotation of the steering wheel, and convenience is provided for a user to watch contents on the display.

On the basis of the above-described embodiment, the display 102 may be a screen with a touch function, and a plurality of function buttons including an operation mode setting button, a mechanical calibration setting button, and an automatic driving function switch button are provided in the display. The driver can send corresponding control instructions to the processor by triggering the function buttons. For example: when the vehicle is currently in the automatic driving function, the driver triggers the automatic driving function switch button again, and the display sends a control instruction for turning off the automatic driving function to the processor.

Fig. 3 is a schematic structural diagram of an autopilot navigation apparatus according to an embodiment of the present application, and as shown in fig. 3, the apparatus includes an electric steering wheel 100, a GNSS antenna 302, and a body attitude sensor 303. For the functional modules included in the electric steering wheel 100 and the connection relationship among the functional modules, reference is made to the above embodiments, and details are not repeated here. The GNSS antenna 302 is connected to the GNSS module in the electric steering wheel 100 through a radio frequency line, and the GNSS antenna 302 may be disposed on the roof of the vehicle, and configured to receive satellite signals, send the satellite signals to the GNSS module, and then send the satellite signals to the processor by the GNSS module. The satellite signals comprise satellite position information, and the position information of the GNSS module can be determined through the satellite position information so as to realize positioning of the vehicle.

The body attitude sensor 303 may be an Inertial sensor (IMU), a sensor that primarily detects and measures acceleration and rotational motion. An inertial sensor is a device that reacts to physical motion, such as linear displacement or angular rotation, and converts this reaction into an electrical signal that is amplified and processed by electronic circuitry. Accelerometers and gyroscopes are the two most common types of MEMS inertial sensors. Accelerometers are sensors that sense axial acceleration and convert to a usable output signal; a gyroscope is a sensor that is capable of sensing the angular velocity of motion of a moving body relative to inertial space. The three MEMS accelerometers and the three MEMS gyroscopes are combined to form a Micro Inertial Measurement Unit (MIMU) which can sense linear acceleration of a carrier in 3 directions and acceleration in 3 directions, and an Inertial microsystem integrates functional parts such as the MEMS accelerometers, the gyroscopes, the pressure sensors, the magnetic sensors, the signal processing circuits and the like in a silicon chip by using a three-dimensional heterogeneous integration technology and embeds an algorithm to realize functions such as chip-level guidance, navigation, positioning and the like.

The body posture sensor 303 may be fixedly disposed at a suitable position of the vehicle, and connected to the processor in the electric steering wheel 100, specifically, may be connected through a communication cable, and after acquiring the position and posture information of the vehicle, the body posture sensor 303 transmits the position and posture information of the vehicle to the processor of the electric steering wheel 100. The processor, upon receiving the position and attitude information of the vehicle, makes information for controlling the operation of the vehicle based on the information. The position of the vehicle refers to longitude and latitude information of the current position of the vehicle, and the attitude information refers to direction information of the vehicle, angle information of rotation of a steering shaft of the vehicle and the like.

In the embodiment of the application, a plurality of functional modules are integrated into the electric steering wheel, the vehicle body attitude sensor is taken out independently, only one GNSS antenna is reserved on the vehicle roof, and the vehicle body attitude sensor is a relatively complex module, so that the installation requirement on the vehicle roof is high, the time is long, and the installation time is shortened due to the independent arrangement of the module.

Fig. 4 is a schematic structural view of another autopilot navigation device according to an embodiment of the present application, and as shown in fig. 4, the device includes an electric steering wheel 100 and a GNSS antenna module 401, where reference is made to the above embodiment for connection relationships among various functional modules included in the electric steering wheel 100, and details are not repeated here.

The GNSS antenna module 401 includes a GNSS antenna and a vehicle body attitude sensor, which are integrated into one body. The GNSS antenna is connected with the GNSS module in the electric steering wheel through a radio frequency line, and the GNSS antenna can be arranged on the roof of the vehicle and used for receiving satellite signals, sending the satellite signals to the GNSS module and then sending the satellite signals to the processor through the GNSS module. The satellite signals comprise satellite position information, and the position information of the GNSS module can be determined through the satellite position information so as to realize positioning of the vehicle.

The vehicle body attitude sensor is connected with a processor in the electric steering wheel and is used for acquiring the position and the attitude information of the vehicle, wherein the position of the vehicle refers to the longitude and latitude information of the current position of the vehicle, and the attitude information refers to the direction information of the vehicle, the rotating angle information of a steering shaft of the vehicle and the like. It should be noted that the working principle of the vehicle body posture sensor is the same as that described in the above embodiments, and the description thereof is omitted.

This application embodiment is through being integrated as electronic steering wheel with multiple function module to integrated as an organic whole with GNSS antenna and automobile body attitude sensor, provide satellite information and automobile body attitude data of high accuracy, provide the position and the attitude information of vehicle, and in electronic steering wheel, set up the display on the steering wheel, and realize through the structure of inside duplex bearing separation that the display does not follow steering wheel pivoted effect, the user provides more convenient operation experience.

Fig. 5 is a schematic view of an autopilot navigation vehicle according to an embodiment of the present application, as shown in fig. 5, the autopilot navigation vehicle includes a vehicle body 501, an electric steering wheel 100, and a GNSS antenna module 401; the electric steering wheel 100 and the GNSS antenna module 401 belong to functional modules in an autopilot device, and the autopilot device may specifically refer to the embodiment corresponding to fig. 4, it is understood that the functions of the autopilot device are referred to the above embodiment, and are not described herein again.

In another embodiment, the present application provides another autonomous navigation vehicle including a vehicle body and an autonomous navigation device including an electric steering wheel, a GNSS antenna, and a vehicle body attitude sensor. It should be noted that specific functions of the automatic driving navigation device are described with reference to the embodiment shown in fig. 3, and are not described herein again.

It should be noted that the automatic driving navigation vehicle may include an agricultural vehicle, various engineering work vehicles, and the like, and the specific type or model of the automatic driving navigation vehicle is not limited in the embodiments of the present application, and in the actual use process, the automatic driving navigation vehicle may be any type of work vehicle, for example: tractors, seeders, harvesters, and the like.

In the embodiment of the application, because the automatic driving navigation device belongs to high integration, when the automatic driving navigation device is installed on a vehicle, only two to three parts need to be installed, the number of the parts needing to be installed is reduced, and the installation time is shortened.

Fig. 6 is a schematic structural diagram of an autonomous navigation system provided in an embodiment of the present application, and as shown in fig. 6, the autonomous navigation system includes an autonomous navigation vehicle 601 and a remote terminal 602, where the autonomous navigation vehicle 601 refers to the description of the above embodiment and is not described herein again, and the autonomous navigation vehicle 601 communicates with the remote terminal 602 through a wireless communication module. The automated driving navigation vehicle 601 may transmit vehicle operation information including position and posture information of the vehicle, whether in an automated driving state, a remaining amount of oil, and the like, to the remote terminal 602. The remote terminal 602 may be a desktop computer, a laptop computer, a tablet computer, a mobile phone, an intelligent wearable device, and the like, and is capable of receiving vehicle operation information sent by the autonomous driving navigation vehicle 601 and sending a control instruction to the autonomous driving navigation vehicle 601, where the control instruction is used to control an operation state of the autonomous driving navigation vehicle 601.

According to the embodiment of the application, the automatic driving navigation vehicle is in communication connection with the remote terminal through the wireless communication module, so that a user can remotely control the automatic driving navigation vehicle.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An electric steering wheel, comprising a steering wheel and a motor housing; a display is arranged on the steering wheel; a motor, an encoder and a main board are packaged in the motor shell; the mainboard comprises a processor, a driver, a Global Navigation Satellite System (GNSS) module and a wireless communication module; the display, the encoder, the driver, the GNSS module and the wireless communication module are respectively connected with the processor;

the motor shell comprises a motor upper shell and a motor lower shell; the motor is connected with the motor upper shell, and the motor upper shell is connected with the steering wheel and the vehicle steering shaft; the motor drives the steering wheel and the vehicle steering shaft to rotate through the motor upper shell; the main board is connected with the lower motor shell, and the lower motor shell is fixedly arranged on a vehicle;

the encoder is arranged on the motor and used for acquiring the corner information of the motor and sending the corner information to the processor; the processor controls the motor to rotate through the driver, so that the motor drives the steering wheel and the vehicle steering shaft to rotate;

the GNSS module is connected with the GNSS antenna and is used for receiving satellite signals through the GNSS antenna and sending the satellite signals to the processor;

the wireless communication module is used for communicating with a remote terminal;

the display is used for displaying the network connection state of the wireless communication module sent by the processor and the satellite signal.

2. The electric steering wheel of claim 1, wherein the motor upper housing is coupled to the steering wheel through an outer rotor of a bearing; the display is connected with the lower motor shell through the inner stator of the bearing;

the motor upper shell is connected with the vehicle steering shaft through a sleeve.

3. The electric steering wheel according to claim 2, wherein the sleeve is provided with internal splines and the vehicle steering shaft is provided with external splines adapted to the internal splines.

4. The electric steering wheel of claim 1, wherein a plurality of function buttons are provided in the display, the plurality of function buttons including an operating mode setting button, a mechanical calibration setting button, and an autopilot function switch button; and triggering the function button to send a corresponding control instruction to the processor.

5. The electric steering wheel of claim 1, wherein the wireless communication module comprises a mobile network module, a bluetooth module, and a WIFI module.

6. The electric steering wheel of claim 1, wherein the motor is a direct current torque motor.

7. An autonomous driving navigation device, comprising an electric steering wheel, a GNSS antenna and a vehicle body attitude sensor according to any one of claims 1 to 6;

the GNSS antenna is arranged on the roof of the vehicle and connected with a GNSS module in the electric steering wheel, and the GNSS antenna is used for receiving satellite signals and sending the satellite signals to the GNSS module;

the vehicle body attitude sensor is connected with a processor in the electric steering wheel and used for acquiring the position and attitude information of a vehicle and sending the position and attitude information of the vehicle to the electric steering wheel.

8. An autopilot navigation device comprising an electric steering wheel according to any one of claims 1 to 6 and a GNSS antenna module; the GNSS antenna module comprises a GNSS antenna and a vehicle body attitude sensor;

the GNSS antenna module is arranged on the roof of the vehicle, and the GNSS antenna is connected with the GNSS module in the electric steering wheel and used for receiving satellite signals and sending the satellite signals to the GNSS module;

9. An autonomous driving navigation vehicle characterized by a vehicle body and an autonomous driving navigation apparatus according to claim 7 or 8.

10. An autonomous driving navigation system comprising the autonomous driving navigation vehicle according to claim 9 and a remote terminal;

the automatic driving navigation vehicle is communicated with the remote terminal through a wireless communication module;

the remote terminal is used for receiving vehicle running information sent by the automatic driving navigation vehicle and sending a control instruction to the automatic driving navigation vehicle.