CN103507789B - A kind of for vehicle 360 degree of devices and methods therefors entirely turned to - Google Patents
A kind of for vehicle 360 degree of devices and methods therefors entirely turned to Download PDFInfo
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- CN103507789B CN103507789B CN201310477783.8A CN201310477783A CN103507789B CN 103507789 B CN103507789 B CN 103507789B CN 201310477783 A CN201310477783 A CN 201310477783A CN 103507789 B CN103507789 B CN 103507789B
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- oil cylinder
- vehicle body
- auxiliary wheel
- telescopic oil
- vehicle
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Abstract
The invention discloses a kind of for vehicle 360 degree of devices and methods therefors entirely turned to.This device comprises rotation direction sensor, telescopic oil cylinder, auxiliary wheel, oil pump and petrol storage tank, controller.The method is: after chaufeur starting switch, and oil pump is to oil cylinder pump oil, and oil cylinder extends and makes auxiliary wheel and earth surface, and raise vehicle body, former wheel lift is unsettled; After chaufeur sends steering order, auxiliary wheel turns to; When rotation direction sensor sensing vehicle body reach predetermined corner, auxiliary wheel stops operating, auxiliary wheel under the driving of drive motor to direction initialization translation.360 degree, vehicle original place can be realized easily by these apparatus and method entirely to turn to, solve the difficulty of vehicle parking and pivot stud, make driver after finding a desirable parking site, need not toss to and fro again, and only need gently start button, settle down, loosen, automatically directly enter parking stall.
Description
Technical field
The present invention relates to a kind of Vehicular turn auxiliary device and method thereof, particularly a kind of for vehicle 360 degree of devices and methods therefors entirely turned to.
Background technology
Along with the development of urbanization, population and traffic density more and more concentrated.For many chaufeurs, often meet the nervous problem in the parking stall caused because parking space is limited.Even if sometimes find parking stall, parking is also a kind of experience of misery, seldom has and does not take the situation that some twists and turns has just stopped car.It is curved that parking may cause traffic tie-up, neurolysis and bumper/spoiler to be hit.
From phase late 1980s to today, automaker is devoted to the research of the technology of parking always.From Reverse Sensor the earliest, driver can be allowed probably to grasp the distance of front and back by the prompting of sound.Develop again reverse image system subsequently, because there has been viewable pictures intuitively, the difficulty of parking has reduced further.And have now a kind of configuration the difficulty of parking almost can be reduced to zero, Here it is relatively more advanced automated parking system.But automated parking system complex structure, after finding a desirable parking site, appoints and must carry out vehicle frequently and to move around operation, docking process is appointed so to compare and is turned from side to side.
Summary of the invention
For the problems referred to above that parking apparatus auxiliary in prior art exists, the invention provides a kind of for vehicle 360 degree of devices and methods therefors entirely turned to, 360 degree, vehicle original place can be realized easily by these apparatus and method entirely to turn to, solve the difficulty of vehicle parking and pivot stud.
Technical scheme of the present invention is:
For vehicle 360 degree of devices entirely turned to, comprising: rotation direction sensor, be arranged on vehicle body barycenter place, for locating vehicle body corner;
Telescopic oil cylinder, being arranged on and every parallel place of wheel, making wheel lift for raising vehicle body;
Auxiliary wheel, is arranged on telescopic oil cylinder bottom, for turning to and mobile vehicle body;
Oil pump and petrol storage tank, telescopic oil cylinder is connected with petrol storage tank by oil pump, and oil pump is used for according to the enabled instruction of chaufeur oily to telescopic oil cylinder pump.
Controller, is arranged in vehicle body, implements to control for turn to vehicle body according to steering instructions and move.
Further, described telescopic oil cylinder comprises urceolus, flange, petrol storage tank, oil pump, expansion link, pull back spring; Described urceolus is fixed on vehicle body and passes through flangeseal, and connect petrol storage tank and oil pump, telescopic oil cylinder is extended downwards by oil pump pressurizing urges expansion link, upwards shrinks during decompression under the effect of pull back spring, and expansion link bottom is bolted the bracing frame comprising steer motor.
Further, described auxiliary wheel comprise be arranged on telescopic oil cylinder bottom for fixed drive motor rotating shaft and the rubber tire that is arranged in rotating shaft, rubber tire is connected with telescopic oil cylinder by rotating shaft, realizes rotating.
For vehicle 360 degree of methods entirely turned to, after comprising the steps: A, chaufeur starting switch, oil pump is to telescopic oil cylinder pump oil, and telescopic oil cylinder extends and makes auxiliary wheel and earth surface, and raise vehicle body, wheel lift is unsettled;
After B, chaufeur send steering order, auxiliary wheel turns to;
C, when rotation direction sensor sensing vehicle body reach predetermined corner time, auxiliary wheel stops operating, auxiliary wheel under the driving of steer motor to direction initialization translation.
The invention has the beneficial effects as follows:
360 degree, vehicle original place can be realized easily by these apparatus and method entirely to turn to, solve the difficulty of vehicle parking and pivot stud, make driver after finding a desirable parking site, need not toss to and fro again, and only need gently start button, settle down, loosen, automatically directly enter parking stall.
Accompanying drawing explanation
Fig. 1 is layout and the principle schematic that 360 degree, vehicle turns to auxiliary wheel entirely;
Fig. 2 is the interconnecting wiring diagram of actuator SH-3F075M;
Fig. 3 is the connection mode figure of S3C44B0X chip;
Fig. 4 is DC voltage converter connection diagram;
Fig. 5 is the structural principle schematic diagram of auxiliary wheel and telescopic oil cylinder.
In figure: 1, urceolus; 2, expansion link; 3, pull back spring; 4, flange; 5, bracing frame; 6, bolt; 7, rubber tire; 8, rotating shaft; 9, oil pump; 10, petrol storage tank; 11, telescopic oil cylinder; 12, auxiliary wheel; 13, wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
One aspect of the present invention provides a kind of for vehicle 360 degree of devices entirely turned to, and it is arranged and schematic diagram comprises as shown in Figure 1:
Rotation direction sensor, is arranged on vehicle body barycenter place, for locating vehicle body corner;
Telescopic oil cylinder 11, is arranged on place parallel with every wheel 13, makes wheel 13 liftoff for raising vehicle body;
Auxiliary wheel 12, is arranged on telescopic oil cylinder 11 bottom, for turning to and mobile vehicle body;
Controller, is arranged in vehicle body, implements to control for turn to vehicle body according to steering instructions and move.
The structure principle chart of telescopic oil cylinder and auxiliary wheel as shown in Figure 5.
Telescopic oil cylinder 11 comprises urceolus 1, flange 4, petrol storage tank 10, oil pump 9, expansion link 2, pull back spring 3; Described urceolus 1 is fixed on vehicle body and is sealed by flange 4, and connect petrol storage tank 10 and oil pump 9, telescopic oil cylinder 11 is extended downwards by oil pump pressurizing urges expansion link 2, upwards shrink under the effect of pull back spring 3 during decompression, expansion link bottom is by the bracing frame 5 of bolt 6 fixed packet containing steer motor.
Auxiliary wheel 12 comprise be arranged on telescopic oil cylinder bottom for fixed drive motor rotating shaft 8 and the rubber tire 7 that is arranged in rotating shaft 8, rubber tire 7 is connected with telescopic oil cylinder by rotating shaft 8, realizes rotating.
The present invention also provides a kind of for vehicle 360 degree of methods entirely turned to, and comprises the steps:
After A, chaufeur starting switch, oil pump 9 is to telescopic oil cylinder 11 pump oil, and telescopic oil cylinder 11 extends and makes auxiliary wheel 12 and earth surface, and raise vehicle body, it is unsettled that wheel 13 is liftoff;
After B, chaufeur send steering order, auxiliary wheel 12 turns to;
C, when rotation direction sensor sensing vehicle body reach predetermined corner time, auxiliary wheel 12 stops operating, auxiliary wheel 12 under the driving of steer motor to direction initialization translation.
Below in conjunction with accompanying drawing, the stepper motor driving circuit used in the present invention, body roll angle transducer, controller, power supply are further described:
1, stepper motor driving circuit
Stepping motor adopts phase reaction formula stepping motor and actuator SH-3F075M supporting with it, Figure 2 shows that its interconnecting wiring diagram.
The incoming signal of SH-3F075M actuator has three tunnels, and they are: stepping pulse signal CP, direction level signal DIR, off line signal FREE, and they are at the negative input end of internal drive respectively by current-limiting resistance access optocoupler.
1) stepping pulse signal CP
Stepping pulse signal CP is used for position and the speed of control step motor.Actuator often accepts a CP pulse and rotates a step size with regard to Driving Stepping Motor, and the frequency of CP pulse is directly proportional to the rotating speed of stepping motor, the number of control CP pulse, and stepping motor just can be made accurately to locate.Therefore, input with microcontroller PORTA mouth control step impulse singla with Driving Stepping Motor.
2) direction level signal DIR
Direction level signal DIR is used for the hand of rotation of control step motor.During high level, stepping motor clickwise, during low level, stepping motor left-hand revolution.With the hand of rotation of microcontroller PORTA mouth control step motor.
3) off line signal FREE
This signal for selecting signal, Low level effective.When this signal is low level, motor is in free non-moment state, when this signal be high level or unsettled do not connect time, cancel off line state.The public anode of OPTO Duan Wei tri-road signal, the i.e. positive input terminal of three road optocouplers.OPTO end is powered by mu balanced circuit with+5V power supply.
SH-3F075M type stepper motor driver can be used for driving three-phase stepper motor, adopts three-phase six roots of sensation line stepping motor, stepping motor is directly connected with actuator (A in Fig. 2,
a, B,
b, C,
c).SH-3F075M type actuator needs outside to provide direct supply (in Fig. 2 DC), and power line voltage scope is+24V.
2, body roll angle transducer
Rotation direction sensor (body roll angle transducer) selects VG400CC-200 gyro sensor to gather vehicle body angular signal, is installed on vehicle body barycenter place.
3, controller
At present, the core that S3C44B0X develops using 32 bit processors as high performance embedded system has been the inexorable trend of embedded technology development.Arm processor obtains application widely because of its outstanding advantage in 32 8-digit microcontroller fields, and therefore, arm processor has good application prospect at vehicle electric field.S3C44B0X microprocessor Embedded ARM7TDMI core, adopts 0.25umCMOS manufacture technics, and be integrated with abundant peripheral functional modules on the basis of ARM7TDMI core basic function, be convenient to low-cost design application system.
The connection mode (as Fig. 3) of S3C44B0X chip.Input end AIN0, AIN1 meet high level Vout+ and the low level Vout-of CMOS respectively.Mouth GPF0, GPF0, GPF0, GPF0 connect CP, DIR, FREE, OPTO end of stepper motor driver respectively.
4, power supply
Power acquisition DC voltage converter, is converted to 5 volts for controller S3C44B0X and COMS by automotive battery voltage 12 volts, provides 24 volts to actuator SH-3F075M(Fig. 4 simultaneously).
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1., for vehicle 360 degree of devices entirely turned to, it is characterized in that, comprising:
Rotation direction sensor, is arranged on vehicle body barycenter place, for locating vehicle body corner;
Telescopic oil cylinder (11), is arranged on and every wheel (13) parallel place, makes wheel (13) liftoff for raising vehicle body; Described telescopic oil cylinder (11) comprises urceolus (1), flange (4), petrol storage tank (10), oil pump (9), expansion link (2), pull back spring (3); Described urceolus (1) is fixed on vehicle body and is sealed by flange (4), and connect petrol storage tank (10) and oil pump (9), telescopic oil cylinder (11) is extended downwards by oil pump pressurizing urges expansion link (2), upwards shrink under the effect of pull back spring (3) during decompression, expansion link bottom is by the bracing frame (5) of bolt (6) fixed packet containing steer motor;
Auxiliary wheel (12), is arranged on telescopic oil cylinder (11) bottom, for turning to and mobile vehicle body; Described auxiliary wheel (12) comprise be arranged on telescopic oil cylinder bottom for fixed drive motor rotating shaft (8) and the rubber tire (7) that is arranged in rotating shaft (8), rubber tire (7) is connected with telescopic oil cylinder (11) by rotating shaft (8), realizes rotating; When rotation direction sensor sensing vehicle body reach predetermined corner time, auxiliary wheel (12) stops operating, auxiliary wheel (12) under the driving of steer motor to direction initialization translation;
Oil pump (9) and petrol storage tank (10), telescopic oil cylinder (11) is connected with petrol storage tank (10) by oil pump (9), and oil pump (9) is oily to telescopic oil cylinder (11) pump for the enabled instruction according to chaufeur;
Controller, is arranged in vehicle body, implements to control for turn to vehicle body according to steering instructions and move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477783.8A CN103507789B (en) | 2013-10-14 | 2013-10-14 | A kind of for vehicle 360 degree of devices and methods therefors entirely turned to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477783.8A CN103507789B (en) | 2013-10-14 | 2013-10-14 | A kind of for vehicle 360 degree of devices and methods therefors entirely turned to |
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| Publication Number | Publication Date |
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| CN103507789A CN103507789A (en) | 2014-01-15 |
| CN103507789B true CN103507789B (en) | 2016-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310477783.8A Active CN103507789B (en) | 2013-10-14 | 2013-10-14 | A kind of for vehicle 360 degree of devices and methods therefors entirely turned to |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774787B (en) * | 2019-03-29 | 2023-09-26 | 广东机电职业技术学院 | Wheel transmission mechanism and electric automobile comprising same |
| CN113771807B (en) * | 2021-09-06 | 2023-05-09 | 东风汽车集团股份有限公司 | Vehicle steering auxiliary wheel device and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784400A (en) * | 1987-02-09 | 1988-11-15 | Hofius Walter E | Vehicle leveling and stabilizing apparatus |
| CN1577199A (en) * | 2003-06-26 | 2005-02-09 | 丰田自动车株式会社 | Driving assist apparatus and method for vehicle |
| CN101016046A (en) * | 2006-02-08 | 2007-08-15 | 涂荣安 | Transverse running, rotating and theft-proof method and device for vehicle |
| CN202669802U (en) * | 2012-03-07 | 2013-01-16 | 盐城纺织职业技术学院 | Vehicle driven wheel lifting and rotating one-time finishing parking device |
| CN102941843A (en) * | 2012-12-12 | 2013-02-27 | 唐维 | Parking device for automobiles and control method for parking device |
-
2013
- 2013-10-14 CN CN201310477783.8A patent/CN103507789B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784400A (en) * | 1987-02-09 | 1988-11-15 | Hofius Walter E | Vehicle leveling and stabilizing apparatus |
| CN1577199A (en) * | 2003-06-26 | 2005-02-09 | 丰田自动车株式会社 | Driving assist apparatus and method for vehicle |
| CN101016046A (en) * | 2006-02-08 | 2007-08-15 | 涂荣安 | Transverse running, rotating and theft-proof method and device for vehicle |
| CN202669802U (en) * | 2012-03-07 | 2013-01-16 | 盐城纺织职业技术学院 | Vehicle driven wheel lifting and rotating one-time finishing parking device |
| CN102941843A (en) * | 2012-12-12 | 2013-02-27 | 唐维 | Parking device for automobiles and control method for parking device |
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| CN103507789A (en) | 2014-01-15 |
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| C06 | Publication | ||
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20140115 Assignee: JIANGSU JINGJIANG FORKLIFT CO., LTD. Assignor: Jiangsu University Contract record no.: 2019320000055 Denomination of invention: Device and method for 360-degree full steering of vehicle Granted publication date: 20160406 License type: Exclusive License Record date: 20190320 |
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