Traveling control device and automatic traveling apparatus

Abstract

The application discloses a driving control device and an automatic driving equipment, and solves the technical problem that at least two hands are needed to operate the prior art vehicle. The driving control device comprises a base, a first movable seat, a second movable seat and an operating handle. The first movable seat is provided with a throttle sensor, the second movable seat is provided with a steering sensor, and the first movable seat and / or the base is provided with a brake sensor. The brake sensor is triggered when the first movable seat moves relative to the base, the throttle sensor is triggered when the second movable seat moves relative to the first movable seat, and the steering sensor is triggered when the operating handle rotates relative to the second movable seat. The driving control device disclosed by the application can realize the operations of forward movement, backward movement, steering and braking by using only one operating handle, and has the advantages of simple structure, convenient operation, great convenience for people's travel and great convenience for the separate travel of the physically disabled.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of travel control technology, and particularly relates to a travel control device and an automatic travel equipment. BACKGROUND

[0002] In order to facilitate travel, many traffic tools and auxiliary tools that can be used for walking appear on the market, such as cars, tricycles or wheelchairs, etc. These walking tools and auxiliary tools have a common feature, that is, they have a driving module and a control module. The control module is mainly used for transmitting signals to the driving module to control the tool to move forward or backward.

[0003] The existing control module is generally common and uses a steering wheel or a faucet in cooperation with a foot pedal. There are also some control modules that abandon the foot pedal and only need to be manually controlled, such as the control module on the wheelchair. However, the existing wheelchair also needs to be operated by two hands to realize forward movement or braking.

[0004] The existing control module needs to be operated by at least two hands. There is an urgent need for a one-handed operation module in the field to make the control of the traffic tool and the auxiliary tool more convenient, which is also a blessing for people with physical disabilities. SUMMARY

[0005] To solve the above technical problems, the application provides a travel control device and a vehicle.

[0006] The technical scheme adopted to achieve the purpose of the application is that, in the first aspect of the application, a travel control device is disclosed, which comprises:

[0007] a base;

[0008] a first movable seat movably connected with the base, wherein an accelerator sensor is arranged on the first movable seat, and a brake sensor is arranged on the first movable seat and / or the base;

[0009] a second movable seat movably connected with the first movable seat, wherein the movement direction of the second movable seat is arranged at an angle with respect to the movement direction of the first movable seat, and a steering sensor is arranged on the second movable seat;

[0010] an operation handle rotatably connected with the second movable seat;

[0011] wherein the brake sensor is triggered when the first movable seat moves relative to the base, the accelerator sensor is triggered when the second movable seat moves relative to the first movable seat, and the steering sensor is triggered when the operation handle rotates relative to the second movable seat.

[0012] In some embodiments, the operation handle comprises a handle body and a grating disc connected with the handle body.

[0013] The turning sensor comprises a signal transmitter and a signal receiver, both of which are mounted on the second movable seat and located on the inner side and the outer side of the gear ring of the grating disc respectively.

[0014] In some embodiments, the handle body comprises a hand-held part and a spline shaft connected with the handle body, the grating disc is spline-connected with the spline shaft, and the spline shaft is rotationally fitted with the second movable seat through a bearing.

[0015] The second movable seat is provided with a second mounting cavity, the hand-held part, the spline shaft, the grating disc and the bearing are located in the second mounting cavity, the first interfacing surface of the bearing is connected with the bottom of the hand-held part, the second interfacing surface of the bearing is connected with the top of the second movable seat, and the grating disc is located below the bearing.

[0016] In some embodiments, the first movable seat is slidingly connected with the base along a first direction, and the second movable seat is slidingly connected with the first movable seat along a second direction perpendicular to the first direction.

[0017] The driving control device further comprises a first reset elastic member and a second reset elastic member, two ends of the first reset elastic member are respectively applied to the base and the first movable seat, the first reset elastic member is used to drive the first movable seat to move to an initial position relative to the base, two ends of the second reset elastic member are respectively applied to the first movable seat and the second movable seat, and the second reset elastic member is used to drive the second movable seat to move to an initial position relative to the first movable seat.

[0018] In some embodiments, the brake sensor is provided in plurality, and the plurality of brake sensors are uniformly distributed on the same mounting surface of the base.

[0019] In some embodiments, the brake sensor comprises a brake sensor probe, a brake limiter and a distance detection unit, the brake sensor probe is mounted on the bottom of the first movable seat, the brake limiter is mounted on the base at a position corresponding to the brake sensor probe, and the distance detection unit is electrically connected with the brake sensor probe and the brake limiter.

[0020] In some embodiments, the driving control device further comprises a parking seat provided with a parking sensor, the base is movably fitted with the parking seat, and the parking sensor is triggered when the base moves relative to the parking seat.

[0021] In some embodiments, the parking seat is provided with a hinge shaft, the base is connected with the hinge shaft, and the parking sensor is triggered when the base rotates relative to the parking seat by a preset angle.

[0022] The technical scheme adopted to achieve the object of the present application is that, in the second aspect of the present application, the present application further discloses an automatic driving device, characterized in that comprising:

[0023] a device body provided with a throttle assembly, a steering assembly and a brake assembly;

[0024] a controller installed on the device body, the controller being electrically connected with the throttle assembly, the steering assembly and the brake assembly; and

[0025] the driving control device described above, which is installed on the device body, the throttle sensor, the steering sensor and the brake sensor being signal coupled with the controller.

[0026] In some embodiments, the automatic driving device is one of a vehicle and an electric wheelchair.

[0027] From the above technical scheme, it can be seen that the driving control device disclosed by the present application comprises a base, a first movable seat, a second movable seat and an operating handle. The first movable seat is provided with a throttle sensor, the second movable seat is provided with a steering sensor, and the first movable seat and / or the base is provided with a brake sensor. The brake sensor is triggered when the first movable seat moves relative to the base, the throttle sensor is triggered when the second movable seat moves relative to the first movable seat, and the steering sensor is triggered when the operating handle rotates relative to the second movable seat.

[0028] The present application has the following advantages or benefits: the driving control device disclosed by the present application can realize the operations of forward movement, backward movement, steering and braking by using only one operating handle, has a simple structure, is easy to operate, greatly facilitates people's travel, and especially provides great convenience for the independent travel of people with physical disabilities. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic view of the driving control device in the embodiment of the present application;

[0030] Figure 2 is a sectional view of the driving control device in the embodiment of the present application;

[0031] Figure 3 is a partial schematic view of Figure 2 in the embodiment of the present application;

[0032] Figure 4Fig. 1 is a schematic view of the operation handle in the embodiment of the present application;

[0033] Figure 5 Fig. 2 is an exploded schematic view of the operation handle in the embodiment of the present application;

[0034] Figure 6 Fig. 3 is a schematic view of the cooperation between the grating disc and the steering sensor in the embodiment of the present application;

[0035] Figure 7 Fig. 4 is a schematic view of the bearing in the embodiment of the present application;

[0036] Figure 8 Fig. 5 is a schematic view of the reset assembly in the embodiment of the present application;

[0037] Figure 9 Fig. 6 is a schematic view of the cooperation between the operation handle and the second movable seat in the embodiment of the present application;

[0038] Figure 10 Fig. 7 is a schematic view of the cooperation between the second movable seat and the first movable seat in the embodiment of the present application;

[0039] Figure 11 Fig. 8 is a schematic view of the base in the embodiment of the present application.

[0040] Legend of reference signs:

[0041] 1000 - driving control device, 100 - base, 200 - first movable seat, 300 - second movable seat, 400 - operation handle, 500 - parking seat,

[0042] 110 - brake sliding groove, 120 - guide groove, 130 - first reset elastic member, 140 - brake sensor, 210 - first mounting cavity, 220 - guide rail, 230 - sliding groove, 240 - limiting sliding groove, 250 - second reset elastic member, 260 - accelerator sensor, 310 - steering sensor, 311 - signal transmitter, 312 - signal receiver, 320 - reset assembly, 321 - fixed disc, 322 - rotating disc, 323 - transmission bearing, 324 - spline hole, 325 - third reset elastic member, 330 - second mounting cavity, 340 - support frame, 350 - pulley, 360 - sliding rod, 410 - handle body, 411 - hand holding part, 412 - spline shaft, 420 - grating disc, 421 - grating gear ring, 430 - bearing, 431 - upper rotating disc, 432 - lower rotating disc, 433 - ball bearing. DETAILED DESCRIPTION

[0043] In order to make the person skilled in the art to which the present application belongs more clearly understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor are within the scope of protection of the present application.

[0044] In addition, reference numbers and / or reference letters can be repeated in different examples in the present application, and such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or arrangements discussed per se. In addition, the present application provides examples of various specific processes and materials, but the person skilled in the art can realize the application of other processes and / or the use of other materials.

[0045] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0046] The embodiments of the present application disclose a driving control device and an automatic driving device, which can solve the technical problem that the existing driving devices need to be operated by at least two hands, so that people including people with physical disabilities can better control the driving device and facilitate their travel.

[0047] The technical solutions of the present application will be described in detail below through specific embodiments:

[0048] Referring to Figure 1 , Figure 2 and Figure 3 , in the first aspect of the present application, a driving control device 1000 is provided, which comprises a base 100, a first movable seat 200, a second movable seat 300 and an operating handle 400. An accelerator sensor 260 is arranged on the first movable seat 200, a steering sensor 310 is arranged on the second movable seat 300, and a brake sensor 140 is arranged on the first movable seat 200 and / or the base 100. The brake sensor 140 is triggered when the first movable seat 200 moves relative to the base 100, the accelerator sensor 260 is triggered when the second movable seat 300 moves relative to the first movable seat 200, and the steering sensor 310 is triggered when the operating handle 400 rotates relative to the second movable seat 300.

[0049] Referring to Figure 9 , the operating handle 400 and the second movable seat 300 are in rotational cooperation, and when the operating handle 400 rotates, the steering sensor 310 on the second movable seat 300 can be triggered, so as to control the steering of the automatic driving device.

[0050] Referring toFigure 10 and Figure 11 The first movable seat 200 is movably connected with the base 100, the second movable seat 300 is movably connected with the first movable seat 200, and the moving direction of the second movable seat 300 is arranged at an angle with the moving direction of the first movable seat 200, so that the driver can more easily control the throttle and brake by operating the handle 400, and avoid triggering the throttle sensor 260 and the brake sensor 140 at the same time.

[0051] Referring to Figure 4 , Figure 5 and Figure 6 In an embodiment, the handle 400 includes a handle body 410 and a grating disc 420 connected with each other. The grating disc 420 is a disc-shaped structure coaxially connected with the handle body 410. A grating gear ring 421 is arranged on one end surface of the grating disc 420. In the embodiment, in order to make the direction control more accurate and more suitable for single-hand control, the total rotation angle of the handle 400 can be less than 360 degrees. For example, the left rotation of the travel control device 1000 can be set to 90 degrees, and the right rotation of the travel control device 1000 can also be set to 90 degrees, so that the operator can easily rotate the handle 400 to the limit angle to make the automatic travel equipment turn at the maximum turning angle.

[0052] Based on the above, since the maximum free rotation angle of the handle body 410 is 180 degrees, the grating gear ring 421 can be arranged as a half circle, that is, the grating gear ring 421 is arranged only in the effective rotation range of the handle, which is sufficient to control the travel control device 1000 completely. Of course, in other embodiments, the grating gear ring 421 can also be arranged as a complete whole circle.

[0053] In addition, the total rotation angle of the handle 400 being less than 360 degrees is only one embodiment in the embodiment, and in other application scenarios, in order to make the angle control of the handle 400 more accurate and make the angle control of the handle 400 more controllable, the total rotation angle of the handle 400 can also be larger. For example, the control angle of the left rotation can be 540 degrees, and the control angle of the right rotation can also be 540 degrees.

[0054] Referring to Figure 6 In an embodiment, the steering sensor 310 includes a signal transmitter 311 and a signal receiver 312. The signal transmitter 311 and the signal receiver 312 are both mounted on the second movable seat 300, and the signal transmitter 311 and the signal receiver 312 are respectively located on the inner side and the outer side of the grating gear ring 421. The grating disc 420 is rotated to make the signal receiver 312 intermittently receive the signal emitted by the signal transmitter 311.

[0055] The grating gear ring 421 can be arranged on the upper surface of the grating disc 420, or on the lower surface of the grating disc 420. See Figure 6 In this embodiment, the grating gear ring 421 is arranged on the lower surface of the grating disc 420. One of the signal transmitter 311 and the signal receiver 312 is arranged on the outer side of the grating gear ring 421, and the other is arranged on the inner side of the grating gear ring 421. See Figure 6 The signal transmitter 311 can be arranged on the outer side of the grating gear ring 421, and the signal receiver 312 can be arranged on the inner side of the grating gear ring 421. Of course, this is only one embodiment, and in this embodiment, the signal receiver 312 can be arranged on the outer side of the grating gear ring 421, and the signal transmitter 311 can be arranged on the inner side of the grating gear ring 421.

[0056] In one embodiment, the signal transmitter 311 can be an infrared emitter, and the signal receiver 312 can be an infrared receiver. When the operating handle 400 is rotated to the left, the grating disc 420 and the grating gear ring 421 are rotated synchronously. When the grating gear ring 421 is rotated to the position between the signal transmitter 311 and the signal receiver 312, the signal receiver 312 cannot receive the signal emitted by the signal transmitter 311. When the tooth gap of the grating gear ring 421 is located between the signal transmitter 311 and the signal receiver 312, the signal receiver 312 can receive the signal emitted by the signal transmitter 311. At this time, the grating gear ring 421 can intermittently interrupt the signal received by the infrared receiver, so that the photosensitive diode is intermittently powered, thereby forming a high-low voltage point output at the output end of the rotation angle sensor circuit. The photosensitive sensor records these data signals and sends them to the processor after tuning and integration. The processor calculates the flashing frequency of the high-low voltage and the first voltage difference to know the angle of the left rotation of the operating handle, and transmits this signal to the electronic power steering mechanism of the automatic driving device, so that the automatic driving device steering mechanism rotates the wheels to the corresponding angle.

[0057] For example, when the operating handle 400 is initially rotated to the left, the grating gear ring 421 is not blocked, and the initial voltage signal is high. Conversely, when the operating handle 400 is initially rotated to the right, the grating gear ring 421 is blocked, and the initial voltage signal is low. The electronic steering power system of the automatic driving device will execute the car steering according to the rotation signal of the operating handle 400 transmitted by the processor.

[0058] See Figure 4 and Figure 5In one embodiment, the operation handle 400 comprises a hand-held part 411 and a spline shaft 412, the raster disc 420 is spline-connected with the spline shaft 412, the hand-held part 411 is installed on the top of the spline shaft 412, and the spline shaft 412 and the hand-held part 411 can be provided with a hollow structure, the inside of which can be used for wiring, so that the structure of the operation handle 400 is more compact and simple. A palmprint sensor can also be provided in the hand-held part 411, when the operator places his hand on the hand-held part 411, the palmprint sensor scans and identifies the driver's palmprint, and if it matches the feature library, the owner's identity is verified, and the car can be started.

[0059] In this embodiment, the hand-held part 411 can be provided in a semispherical shape, the lower plane of the hand-held part 411 is connected with the spline shaft 412, and the upper half is spherical, which is convenient for the operator to hold. Of course, in other embodiments, the holding part can also be provided in other shapes.

[0060] Referring to Figure 5 , Figure 8 and Figure 9 , the hand-held part 411 is rotatably connected with the second movable seat 300 through a bearing 430, that is, the hand-held part 411 and the second movable seat 300 can only rotate relative to each other. A reset assembly 320 is provided between the second movable seat 300 and the spline shaft 412, and the two ends of the reset assembly 320 act on the second movable seat 300 and the operation handle 400 respectively, and the reset assembly 320 is used to drive the operation handle 400 to move to the initial position relative to the second movable seat 300. The reset assembly 320 comprises a fixed disc 321, a rotating disc 322, a transmission bearing 323 and a third reset elastic member 325. The fixed disc 321 is fixedly installed on the second movable seat 300, the rotating disc 322 is connected with the fixed disc 321 through the transmission bearing 323, and the rotating disc 322 can rotate relative to the fixed disc 321. The fixed disc 321 and the rotating disc 322 are both provided in a stepped shape, and the cross sections of the fixed disc 321 and the rotating disc 322 are both provided in a circular shape, and the rotating disc 322 can rotate relative to the fixed disc 321 along its axis. The two ends of the third reset elastic member 325 act on the movable disc and the fixed disc 321 respectively, one end of the third reset elastic member 325 is clamped on the edge of the fixed disc 321, and the other end is clamped on the rotating disc 322, and the third reset elastic member 325 is used to drive the rotating disc 322 to rotate to the initial position relative to the fixed disc 321. The third reset elastic member 325 can be a clockwork, a spring or rubber, etc.

[0061] In the center of the rotating disc 322, a spline hole 324 is provided, and after the bottom of the spline shaft 412 is inserted into the spline hole 324, the spline shaft 412 is spline-connected with the rotating disc 322, and when the spline shaft 412 rotates, the rotating disc 322 will be synchronously driven to rotate, and after the spline shaft 412 loses external force, the third reset elastic member 325 will drive the rotating disc 322 and the spline shaft 412 to rotate to the initial position.

[0062] By setting the length and thickness of the third reset elastic member 325, the rotation angle of the rotating disc 322 and the spline shaft 412 can be controlled, i.e. when the third reset elastic member 325 is fully stretched, the steering limit dead angle phenomenon occurs. When setting, the maximum rotation angle of the rotating disc 322 can be determined, and then the steering sensor 310 is adjusted so that when the third reset elastic member 325 is fully stretched, the steering system of the automatic driving device is just at the maximum steering angle.

[0063] Referring to Figure 5 , Figure 7 and Figure 9 , the bearing 430 includes an upper rotating disc 431 and a lower rotating disc 432. The upper rotating disc 431 and the lower rotating disc 432 are matched by the ball 433. The lower rotating disc 432 is connected with the second movable seat 300, and the upper rotating disc 431 is connected with the bottom of the hand-held part 411. The second movable seat 300 is provided with a second installation cavity 330 and a support frame 340. The support frame 340 is located at the opening of the second installation cavity 330. The second movable seat 300 is a cuboid. The cross section of the second installation cavity 330 can also be rectangular. In order to facilitate the installation of the bearing 430, the cross section of the second installation cavity 330 can be square.

[0064] At least one set of opposite side walls of the second installation cavity 330 is provided with the above-mentioned support frame 340 to form stable support for the lower rotating disc 432. In an embodiment, the support frame 340 can be provided on each side wall of the second installation cavity 330 to make the lower rotating disc 432 more stable and firm.

[0065] Referring to Figure 10 , in an embodiment, the first movable seat 200 is also a cuboid. The first movable seat 200 is provided with a first installation cavity 210. The cross section of the first installation cavity 210 can also be rectangular. In order to facilitate the movement of the second movable seat 300, the cross section of the second installation cavity 330 can be rectangular.

[0066] The second movable seat 300 is installed in the first installation cavity 210, and the second movable seat 300 can move back and forth relative to the first movable seat 200 along the length direction of the first installation cavity 210. A second reciprocating spring is arranged between the second movable seat 300 and the first movable seat 200. The two ends of the second reset elastic member 250 are connected with the first movable seat 200 and the second movable seat 300 respectively. The second reset elastic member 250 is used to drive the second movable seat 300 to move to the initial position relative to the first movable seat 200. The second elastic member 250 can be a spring, a tension spring, a spring sheet or rubber, etc.

[0067] In the embodiment, the length direction of the first mounting cavity 210 is the second direction, and the height direction of the first movable seat 200 is the first direction.

[0068] Referring to Figure 10 The front end and the rear end of the second movable seat 300 in the second direction are respectively provided with a probe of the accelerator sensor 260, and the front end and the rear end of the second movable seat 300 in the second direction are respectively provided with a second reset elastic member 250, so as to ensure that the second movable seat 300 can return to the initial position under the action of the second reset elastic member 250 no matter it is advanced or retreated.

[0069] In the embodiment, the accelerator sensor 260 is mainly redesigned and refitted from a structured light depth sensor. The accelerator sensor 260 is composed of a structured light exciter, an infrared receiver, a depth sensor, an accelerator sensor 260 probe, an accelerator limiter, and a processor. The structured light exciter, the infrared receiver, and the depth sensor are installed on the front wall of the first mounting cavity 210 in the second direction. The structured light exciter projects an infrared structured light dot array on the front outer wall of the second movable seat 300 in front, and the infrared receiver captures and receives these dot array signals. The position and distance of the dot array signal can be converted by the time of infrared light irradiation and reflection, and the accuracy is at least 1 mm. The accelerator sensor 260 probe is installed in the front and rear outer wall circular groove on the second movable seat 300, and the circular groove corresponding to the position of the accelerator sensor 260 probe on the first movable seat 200 is installed with the above-mentioned accelerator limiter.

[0070] The initial distance between the accelerator sensor 260 probe and the accelerator limiter is set to 40 mm. When the second movable seat 300 slides forward or backward, the second reset elastic member 250 is compressed, so that the distance between the probe and the limiter changes. The specific distance value and position change are measured by the depth sensor, the processor converts the signal transmitted by the depth sensor, and transmits it to the actuator of the automatic driving device. When the second movable seat 300 slides forward to compress the second reset elastic member 250, the dot array signal light return time is shortened, the front probe and the limiter distance is shortened, and the rear probe and the limiter distance is increased. The depth sensor transmits the distance and position change signal to the processor, and the processor converts the signal and transmits it to the accelerator actuator of the automatic driving device. When the second movable seat 300 slides backward to compress the second reset elastic member 250, the dot array signal light return time is increased, the front probe and the limiter distance is shortened, and the rear probe and the limiter distance is increased. The depth sensor transmits the distance and position change signal to the processor, and the processor converts the signal and transmits it to the reverse gear mechanism and the automobile accelerator mechanism of the automatic driving device. When the front probe and the limiter contact, the accelerator opening is maximum, and the automobile drives forward. When the rear probe and the limiter contact, the automobile is in reverse gear and the accelerator opening is maximum.

[0071] A pulley 350 is arranged on the bottom of the second movable seat 300, and a guide rail 220 is arranged on the first movable seat 200 to cooperate with the pulley 350. The pulley 350 cooperates with the guide rail 220 to reduce friction, so that the second movable seat 300 is more flexible and easier to control.

[0072] A slide rod 360 is arranged on the side wall of the second movable seat 300, and a slide groove 230 is arranged on the first movable seat 200 to cooperate with the slide rod 360. The slide rod 360 cooperates with the slide groove 230 to limit the movement of the second movable seat 300, so that the second movable seat 300 can only move in the second direction relative to the first movable seat 200 and cannot move or rotate in other directions.

[0073] Of course, the second movable seat 300 sliding relative to the first movable seat 200 in the first direction is only one embodiment in the present embodiment. In other embodiments, the second movable seat 300 can rotate relative to the first movable seat 200 in the second direction to trigger the throttle sensor 260. Since the operation handle 400 rotates relative to the second movable seat 300 in the first direction to control the direction, the second movable seat 300 rotating or sliding relative to the first movable seat 200 can well control the throttle, and the control between the throttle and the steering will not affect each other.

[0074] Referring to Figure 1 , Figure 3 and Figure 11 , in one embodiment, the base 100 is provided with a brake slide groove 110, and the first movable seat 200 is in sliding cooperation with the brake slide groove 110. The first movable seat 200 can move relative to the base 100 in the first direction. A first reset elastic member 130 is arranged between the base 100 and the first movable seat 200, and the two ends of the first reset elastic member 130 act on the base 100 and the first movable seat 200 respectively. The first reset elastic member 130 is used to drive the first movable seat 200 to move relative to the base 100 to the initial position. The first elastic member 130 can be a spring, a tension spring, a spring sheet or rubber, etc.

[0075] A limiting slide block is arranged on the outer side wall of the first movable seat 200, and a guide groove 120 is arranged on the base 100 corresponding to the position of the limiting slide block. The guide groove 120 extends in the first direction, so that the first movable seat 200 can slide relative to the base 100 in the first direction.

[0076] Among them, the limiting slide block described above can be arranged on each outer side wall of the first movable seat 200, and correspondingly, the guide groove 120 is also arranged in multiple. The multiple guide grooves 120 are arranged one by one corresponding to the multiple limiting slide blocks, so that the movement of the first movable seat 200 is more stable.

[0077] In one embodiment, the brake sensor 140 comprises a brake sensor probe, a brake limiter and a distance detection unit. The brake sensor probe is installed on the bottom of the first movable seat, the brake limiter is installed on the base at a position corresponding to the brake sensor probe, and the distance detection unit is electrically connected with the brake sensor probe and the brake limiter. The brake sensor 140 can be provided in multiple numbers, and the multiple brake sensors 140 are uniformly distributed on the mounting surface of the base 100 along the first direction, so as to detect the moving distance of the first movable seat 200 simultaneously, and then take the average value, so that the obtained data is more accurate. Of course, providing multiple brake sensors 140 is only one embodiment in the present embodiment, and in other embodiments, only one brake sensor 140 can also be provided.

[0078] In one embodiment, the distance detection unit can adopt at least one of a Hall sensor, a laser ranging sensor and a radar, which is not limited in the present application.

[0079] In some embodiments, the distance detection unit is a Hall sensor, the brake sensor probe is installed on the base 100, and the brake limiter is installed on the first movable seat 200.

[0080] The initial gap between the brake sensor probe and the brake limiter can be set to 40 mm, and the Hall sensor has an accuracy of at least 1 mm. When the driver presses the operating handle 400 downward, the first movable seat 200 slides downward on the guide groove 120, which compresses the multiple first reset elastic members 130, so that the gap between the probe and the limiter changes, and the specific gap change is measured by the Hall sensor. The probe is connected with a closed coil, which is placed between the probe and the limiter, and has a fixed magnetic field flowing through the space between the probe and the limiter. When the distance between the probe and the limiter changes, the magnetic flux flowing through the closed coil changes, so that the output voltage value changes. The Hall sensor receives the voltage value change signal and transmits it to the processor for logical conversion, and the processor transmits the converted signal to the automobile brake mechanism.

[0081] When the operating handle 400 is pressed downward, the gap between the probe and the limiter becomes smaller, the magnetic flux on the Hall sensor increases, and the output level rises. The Hall sensor transmits the received level signal to the processor, the greater the level rise amplitude, the greater the brake demand force calculated by the processor, and the processor finally transmits the demand signal to the brake mechanism of the automatic driving device. When the probe contacts the limiter, the level signal received by the Hall sensor is maximum, which drives the brake pedal of the automatic driving device to be stepped to the bottom. When the operating handle 400 is released, the first reset elastic member 130 returns to normal, and the level signal decreases to zero, and the brake pedal of the automatic driving device is completely released.

[0082] The Hall voltage varies with the strength of the magnetic field, the stronger the magnetic field, the higher the voltage, the weaker the magnetic field, the lower the voltage. The Hall voltage value is very small, usually only a few millivolts, but through the amplifier in the integrated circuit, the voltage can be amplified to be strong enough to output a signal. If the Hall integrated circuit is used as a sensor, the strength of the magnetic field needs to be changed mechanically.

[0083] In one embodiment, the driving control device 1000 further comprises a parking seat 500, the parking seat 500 is provided with a parking sensor, and the base 100 is movably connected with the parking seat 500, and the parking sensor is triggered when the base 100 moves relative to the parking seat 500.

[0084] In one embodiment, the parking seat 500 is provided with a hinge shaft, and the base 100 is connected with the hinge shaft, and the parking sensor is triggered when the base 100 rotates by a preset angle relative to the parking seat 500. The hinge shaft is also provided with a parking handle.

[0085] Of course, the rotation cooperation between the base 100 and the parking seat 500 is only one embodiment in the present embodiment, and in other embodiments, the base 100 and the parking seat 500 are arranged in sliding cooperation, and the parking operation can also be completed when the base 100 slides by a preset distance relative to the parking seat 500.

[0086] Through the above embodiment, the driving control device 1000 disclosed in the present application can realize the operations of forward movement, backward movement, turning and braking by using only one operation handle 400, and has the advantages of simple structure, convenient operation, great convenience for people's travel, and great convenience for the independent travel of people with physical disabilities. The embodiment of the present application discloses the improvement direction of the future automobile steering control system, and besides embodying the sense of technology and humanistic care, the steering wheel and the foot pedal are omitted, and the driver's seating space is greatly improved, and other high-tech equipment can be arranged.

[0087] Based on the same inventive concept, the second embodiment of the present application discloses an automatic driving device, which comprises a device body, a controller and the driving control device 1000 of any one of the above-mentioned first aspect embodiments. The device body is provided with a throttle assembly, a steering assembly and a brake assembly. The controller is installed on the device body, and the controller is electrically connected with the throttle assembly, the steering assembly and the brake assembly. The driving control device 1000 is installed on the device body, and the throttle sensor 260, the steering sensor 310 and the brake sensor 140 are signal coupled with the controller.

[0088] The electrical signal, electromagnetic signal or Bluetooth signal between the throttle sensor 260, the steering sensor 310 and the brake sensor 140 and the controller is all possible.

[0089] The operation method of the automatic driving device is described by taking a vehicle as an example. The automatic driving device provided in the second aspect of the present application is operated as follows:

[0090] Start: when the operator places the palm on the control handle, the palm print sensor scans and identifies the driver's palm print. If the characteristics library is consistent, the identity of the vehicle owner is verified, and the car can be started.

[0091] Forward: pushing the operation handle 400 forward can make the automatic driving device move forward.

[0092] When the user pushes the operation handle 400 forward, the operation handle 400 drives the second movable seat 300 to move forward relative to the first movable seat 200, at this time the second movable seat 300 compresses the second reset elastic member 250 in front, so that the distance between the probe and the stopper changes. After the processor processes the distance change data, the signal is transmitted to the actuator of the automatic driving device. The greater the distance the user pushes the operation handle 400 forward, the greater the throttle.

[0093] Reverse: pulling the operation handle 400 backward can make the automatic driving device reverse.

[0094] When the user pulls the operation handle 400 backward, the operation handle 400 drives the second movable seat 300 to move backward relative to the first movable seat 200, at this time the second movable seat 300 compresses the second reset elastic member 250 in back, so that the distance between the probe and the stopper changes. After the processor processes the distance change data, the signal is transmitted to the actuator of the automatic driving device. The greater the distance the user pulls the operation handle 400 backward, the greater the throttle.

[0095] Left turn: turning the operation handle 400 to the left can make the automatic driving device turn left.

[0096] When the user twists the operation handle 400 to the left, the operation handle 400 drives the grating disc 420 to turn to the left, in the process, the grating ring 421 can intermittently interrupt the signal received by the infrared receiver, so that the photodiode is intermittently powered, forming a high-low voltage point output. The processor calculates the flashing frequency of the high-low voltage and the first voltage difference to know the angle of the left turning of the control handle, and transmits the signal to the electronic power steering mechanism of the automatic driving device. The steering mechanism of the automatic driving device turns the wheels to the left by a corresponding angle.

[0097] Right turn: turning the operation handle 400 to the right can make the automatic driving device turn right.

[0098] When the user twists the operating handle 400 to the right, the operating handle 400 drives the grating disc 420 to rotate to the right, in the process, the grating gear ring 421 can intermittently interrupt the signal received by the infrared receiver, so that the photosensitive diode is intermittently powered on, forming a high-low voltage point output, and the processor calculates the flashing frequency of the high-low voltage and the first voltage difference to know the angle of the left rotation of the operating handle, and transmits the signal to the electronic power steering mechanism of the automatic driving device, and the automatic driving device steering mechanism drives the wheels to rotate to the left by a corresponding angle.

[0099] Brake: pressing the operating handle 400 downward can make the automatic driving device brake.

[0100] When the user applies downward pressure to the operating handle 400, the operating handle 400 drives the second movable seat 300 and the first movable seat 200 to move downward relative to the base 100 along the height direction of the base 100, and the first movable seat 200 slides downward on the guide groove 120 to compress the plurality of first reset elastic members 130, so that the gap between the probe and the stopper changes, and when the distance between the probe and the stopper changes, the output voltage value changes, and the processor transmits the converted signal to the brake mechanism of the automatic driving device.

[0101] Parking: rotating the base 100 as a whole by 90 degrees upward can realize parking.

[0102] The operator's palm leaves the operating handle 400, the palm holds the front end of the base 100, and the palm upwardly forces the front end of the base 100 to rotate upward, and when the base is rotated by 90 degrees, the parking sensor can be triggered, and at this time the processor transmits the signal to the parking mechanism of the automatic driving device.

[0103] When the driver encounters congestion in front of the car and needs to change lanes to the left, the palm only needs to push the operating handle 400 forward and rotate it to the left, while pressing downward appropriately. After the lane change is successful, the operating handle 400 can be released, and the direction is returned to normal.

[0104] When the driver encounters congestion in front of the car and needs to change lanes to the right, the right hand palm only needs to push the operating handle 400 forward and rotate it to the right, while pressing downward appropriately. After the lane change is successful, the operating handle 400 can be released, and the direction is returned to normal.

[0105] When the driver backs into the garage to the left, the right hand palm only needs to push the operating handle 400 backward and rotate it to the right, while pressing downward appropriately. After the garage entry is successful, the operating handle 400 can be released, and the direction is returned to normal.

[0106] When the driver backs into the garage to the right, the right hand palm only needs to push the operating handle 400 backward and rotate it to the left, while pressing downward appropriately. After the garage entry is successful, the operating handle 400 can be released, and the direction is returned to normal.

[0107] When the driver wants to stop the automatic driving device, the driver can trigger the parking sensor by turning the base 100 up with the right hand, so as to realize parking. When the driver puts down the base 100, the parking brake of the automatic driving device is unlocked.

[0108] In one embodiment, the automatic driving device is one of a vehicle and an electric wheelchair.

[0109] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application are described clearly and completely above in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0110] Therefore, the above detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0111] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0112] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated wearable anti-thrombus pressure pump detection system or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0113] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0114] In the present application, unless specifically stated and limited otherwise, a first feature on or under a second feature can include the first and second features being in direct contact, or can include the first and second features not being in direct contact but being in contact through another feature between them. Also, a first feature on, above and over a second feature includes the first feature being directly above and obliquely above the second feature, or simply means the first feature being horizontally higher than the second feature. A first feature under, below and under a second feature includes the first feature being directly below and obliquely below the second feature, or simply means the first feature being horizontally lower than the second feature.

[0115] While the preferred embodiments of the application have been described, additional modifications and changes can occur to those skilled in the art once they learn of the basic creative principles disclosed herein. Accordingly, it is intended that the present application be construed as including all such modifications and changes as fall within the scope of the present application.

[0116] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A travel maneuvering device characterized by, The application relates to a driving control device, which comprises a base provided with a brake sliding groove; a first movable seat in sliding fit with the brake sliding groove, the first movable seat being movable relative to the base along a first direction, the first movable seat being provided with a first mounting cavity, an accelerator sensor being arranged on the first movable seat, and a brake sensor being arranged on the first movable seat and / or the base; a second movable seat located in the first mounting cavity and movable back and forth relative to the first movable seat along the length direction of the first mounting cavity, the movement direction of the second movable seat being arranged at an angle with the movement direction of the first movable seat, and a steering sensor being arranged on the second movable seat; and an operation handle in rotary connection with the second movable seat. The operation handle comprises a handle body and a grating disc connected with the handle body. The steering sensor comprises a signal transmitter and a signal receiver, both of which are mounted on the second movable seat and located on the inner side and the outer side of the gear ring of the grating disc respectively. The handle body comprises a hand holding part and a spline shaft connected with each other, the hand holding part being in rotary fit with the second movable seat through a bearing, and the grating disc being spline-connected with the spline shaft. The second movable seat is provided with a second mounting cavity, the hand holding part, the spline shaft, the grating disc and the bearing are located in the second mounting cavity, a first abutting surface of the bearing is connected with the bottom of the hand holding part, a second abutting surface of the bearing is connected with the top of the second movable seat, and the grating disc is located below the bearing. The driving control device further comprises a reset assembly located in the second mounting cavity and below the grating disc, the reset assembly comprising a fixed disc, a rotary disc, a transmission bearing and a third reset elastic member, the fixed disc being mounted on the second movable seat, the rotary disc being connected with the fixed disc through the transmission bearing and spline-connected with the spline shaft, and the two ends of the third reset elastic member being respectively applied to the fixed disc and the rotary disc, the third reset elastic member being used for driving the rotary disc to rotate to an initial position relative to the fixed disc.

2. The travel maneuvering device according to claim 1, characterized by The first movable seat is in sliding connection with the base along a first direction, the second movable seat is in sliding connection with the first movable seat along a second direction, and the second direction is perpendicular to the first direction. ​ 3. The travel handling device according to claim 2, characterized in that ​ ​ 4. The travel control device according to claim 3, characterized by ​ 5. The travel control device according to any one of claims 1 to 4, characterized by ​ The driving control device further comprises a first reset elastic member and a second reset elastic member, two ends of the first reset elastic member are respectively applied to the base and the first movable seat, the first reset elastic member is used to drive the first movable seat to move to an initial position relative to the base, two ends of the second reset elastic member are respectively applied to the first movable seat and the second movable seat, and the second reset elastic member is used to drive the second movable seat to move to an initial position relative to the first movable seat.

6. The travel control device according to any one of claims 1 to 4, characterized by The brake sensors are arranged in multiple numbers and uniformly distributed on the same mounting surface of the base. The brake sensor comprises a brake sensor probe, a brake limiter and a distance detection unit, the brake sensor probe is installed at the bottom of the first movable seat, the brake limiter is installed on the base at a position corresponding to the brake sensor probe, and the distance detection unit is electrically connected with the brake sensor probe and the brake limiter.

7. The travel control device according to any one of claims 1 to 4, characterized by The driving control device further comprises a parking seat, the parking seat is provided with a parking sensor, the base is movably connected with the parking seat, and the parking sensor is triggered when the base moves relative to the parking seat.

8. The travel maneuvering device according to claim 7, characterized by The parking seat is provided with a hinge shaft, the base is connected with the hinge shaft, and the parking sensor is triggered when the base rotates relative to the parking seat by a preset angle.

9. An automatic traveling apparatus characterized by comprising: Comprise: A device body provided with a throttle assembly, a steering assembly and a brake assembly; A controller installed on the device body, the controller is electrically connected with the throttle assembly, the steering assembly and the brake assembly; And The driving control device of any one of claims 1 to 8 is installed on the device body, and the throttle sensor, the steering sensor and the brake sensor are signal coupled with the controller.

10. The automatic traveling apparatus according to claim 9, characterized by The automatic driving device is one of a vehicle and an electric wheelchair.

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