Integrated steering wheel set controller and control method

Abstract

The invention discloses an integrated steering wheel set controller and a control method, and relates to the technical field of steering wheel set control, the integrated steering wheel set controller comprises a bottom plate, a lower-layer control set and an upper partition plate, the lower-layer control set is arranged between the bottom plate and the upper partition plate, and the upper-layer control set is arranged above the upper partition plate; the lower layer control group comprises a central direction motor, the central direction motor is fixedly mounted on the bottom plate, an upper partition plate is fixedly mounted on the bottom plate, a half gear and a wire drawing gear are rotatably mounted on the upper partition plate, the half gear and the wire drawing gear form gear matching, a winding wheel is arranged above the bottom plate and below the upper partition plate, and the winding wheel is fixedly connected with the wire drawing gear; a pull rope is wound around the reel, and one end of the pull rope is fixedly installed on the connecting rod. The integrated steering wheel set controller can control the steering wheel sets to move uniformly to switch working modes, and the modes of linear movement, in-situ rotation and the like can be switched.

Description

Technical Field

[0001] The present invention relates to the technical field of steering wheel assembly control, and in particular to an integrated steering wheel assembly controller and a control method. Background Art

[0002] As a unique driving system with omnidirectional motion capability, the advantage of the steering wheel assembly is that it can realize all-round and free motion without dead angles. However, in practical applications, especially in complex motion modes, how to efficiently control the action of each steering wheel and ensure that the system works smoothly, efficiently and accurately is still a technical problem. At present, there are various control methods for the steering wheel assembly, and the direction of the steering wheel is usually combined and controlled according to a specific motion mode. These control methods involve a variety of different motion states such as linear movement, rotation in place, oblique movement, and arc movement, and the control method and coordination requirements for the steering wheel in each state are different. The present invention develops an integrated steering wheel assembly controller, which can automatically adjust the combined control strategy of the steering wheel direction according to the specific motion mode. By accurately controlling the direction of the steering wheel assembly, different motion modes can be effectively switched, thereby improving the maneuverability and stability of the system in complex tasks and environments, such as straight-line driving, rotation in place, oblique movement or execution of arc trajectory. Summary of the invention

[0003] The present invention aims to provide an integrated steering wheel controller which can effectively switch between different motion modes.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an integrated steering wheel group controller, including a base plate, a lower control group and an upper partition, the lower control group is between the base plate and the upper partition, and the upper control group is above the upper partition; the lower control group includes a center direction motor, the center direction motor is fixedly mounted on the base plate, the upper partition is fixedly mounted on the base plate, a half gear and a wire pulling gear are rotatably mounted on the upper partition, the half gear and the wire pulling gear form a gear match, a winding wheel is arranged above the base plate and below the upper partition, the winding wheel is fixedly connected to the wire pulling gear, a pull rope is wound around the winding wheel, one end of the pull rope is fixedly mounted on a connecting rod, a sliding rack is fixedly mounted on the connecting rod, a sliding frame is fixedly mounted on the base plate, the sliding rack is slidably mounted on the sliding frame, an integrated steering wheel is fixedly mounted on the lower end of the base plate, a steering wheel frame is rotatably mounted on the integrated steering wheel, a rear steering wheel gear is fixedly mounted on the steering wheel frame, and the rear steering wheel gear forms a gear rack match with the sliding rack.

[0005] Furthermore, a lower spring is fixedly connected between the sliding frame and the sliding rack.

[0006] Furthermore, the pull rope, the connecting rod, the sliding rack, the sliding frame, the steering wheel frame, and the lower spring are symmetrically arranged in two groups on the front and rear of the bottom plate, and the rear steering wheel gear is symmetrically arranged with the front steering wheel gear.

[0007] Furthermore, a traveling wheel is rotatably mounted on the steering wheel frame, a traveling wheel frame is fixedly mounted on the steering wheel frame, a traveling wheel is rotatably mounted on the traveling wheel frame, a steering controller is fixedly mounted on the integrated steering wheel, a steering control gear is fixedly mounted on the output shaft of the steering controller, and the steering control gear forms a gear match with the front steering wheel gear.

[0008] Furthermore, the controller also includes an upper control group, which includes an upper control gear, an upper control gear is rotatably mounted on the upper baffle, the upper control gear and the half gear form a gear match, a front rack is slidably mounted on the upper baffle, a connecting rack is fixedly mounted on the front rack, the connecting rack and the upper control gear form a gear-rack match, an upper front gear is rotatably mounted on the upper baffle, the upper front gear is fixedly connected to the front steering wheel gear, the upper front gear and the front rack form a gear-rack match, a protrusion is fixedly mounted on the front rack, and the upper baffle A front swing bar is rotatably installed on the plate, a slide groove is provided on the front swing bar, and the protrusion slides in the slide groove of the front swing bar; a rear swing bar is rotatably installed on the upper partition, a rear rack is slidably installed on the upper partition, the rear rack is slidably connected to the rear swing bar, an upper rear gear is rotatably installed on the upper partition, the upper rear gear is fixedly connected to the rear steering wheel gear, the upper rear gear and the rear rack form a gear and rack match, a lifting connecting pin is slidably installed on the front swing bar, one end of the lifting connecting pin is slidably installed on the front swing bar, and the other end of the lifting connecting pin slides in the pin hole of the rear swing bar.

[0009] Furthermore, an upper spring is fixedly mounted on the rear rack, and the other end of the upper spring is fixedly mounted on the upper partition.

[0010] Furthermore, an inclined sliding groove is fixedly installed on the upper partition plate, and the lower end of the lifting connecting pin slides on the upper surface of the inclined sliding groove.

[0011] Furthermore, empty tooth portions are also provided on the front rack and the rear rack, and the front rack and the rear rack will not be controlled to move when the upper front gear and the upper rear gear rotate.

[0012] A control method for an integrated steering wheel assembly controller adopts the above controller, and the specific steps include: S1: Start the center direction motor and the steering controller, and rotate the half gear. At this time, the half gear just forms a gear match with the cable gear. The cable gear rotates to drive the lower control unit to work, drive the rear steering wheel gear and the front steering wheel gear to rotate, and drive the travel wheel to adjust the direction. The travel wheel is perpendicular to the center position of the device. The steering controller assists in providing power. The center direction motor and the steering controller are uniformly controlled through the coding program; S2: The travel motor on the controller drives the travel wheels to rotate, the two travel wheels on the left are started in the forward direction, the two travel wheels on the right are started in the reverse direction, and the steering wheel group rotates clockwise; S3: Continue to drive the center direction motor, the half gear and the cable pull gear are disengaged, and under the action of the lower spring, the lower control group returns to its original position, and the half gear cooperates with the upper control gear, driving the front rack and the rear rack to move in the opposite direction, driving the upper front gear and the upper rear gear to rotate in the same direction, and the steering wheel group enters the oblique movement mode; S4: Continue to drive the central direction motor until the lifting connecting pin moves to the highest point of the inclined slide slot, the rear swing arm is disconnected from the lifting connecting pin, the upper rear gear returns to its position under the elastic force of the upper spring, the two rear running wheels return to a straight line, and the two front running wheels still rotate at a fixed angle, the steering wheel group enters the simulated car mode or arc movement mode, and the central direction motor is controlled in the reverse direction to rotate a certain angle, thereby reducing the rotation angle, and will not affect the two rear running wheels, so as to adjust the arc movement angle.

[0013] Compared with the prior art, the present invention has the following advantages: (1) the present invention controls the integrated steering wheel vehicle set to switch between linear movement and in-situ rotation through the lower control group, so that the integrated steering wheel vehicle set can rotate in-situ to any direction and then move; (2) the upper control group of the present invention can control the four steering wheels of the integrated steering wheel vehicle set to rotate in the same direction, so that the integrated steering wheel vehicle set can translate without changing the direction; (3) the upper control group of the present invention can control the integrated steering wheel vehicle set to simulate the moving mode of a car and move in a circular arc, so that the integrated steering wheel vehicle set can move cyclically on a fixed track, and switching between multiple modes can be achieved by only controlling the central direction motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the lower control group of the present invention.

[0016] Figure 3 It is a top view of the overall structure of the present invention.

[0017] Figure 4 It is a top view of the lower control group of the present invention.

[0018] Figure 5 It is the right view of the overall structure of the present invention.

[0019] Figure 6 This is a wiring harness layout connection diagram of the integrated control driver module of the present invention.

[0020] Figure 7 This is a control signal flow chart of the integrated controller of the present invention.

[0021] Figure numbers: 1-bottom plate; 2-center direction motor; 3-half gear; 4-wire pulling gear; 5-winding wheel; 6-pull rope; 7-connecting rod; 8-sliding rack; 9-sliding frame; 10-steering wheel frame; 11-rear steering wheel gear; 12-lower spring; 13-front steering wheel gear; 14-steering control gear; 15-traveling wheel; 16-traveling wheel frame; 17-steering controller; 18-upper partition; 19-upper control gear; 20-front rack; 21-connecting rack; 22-upper front gear; 23-bump; 24-front swing arm; 25-rear swing arm; 26-rear rack; 27-upper rear gear; 28-upper spring; 29-lifting connecting pin; 30-inclined slide groove. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0023] Example: Figure 1-Figure 5 The integrated steering wheel group controller shown in the figure includes a bottom plate 1, a lower control group and an upper partition 18, wherein the lower control group is between the bottom plate 1 and the upper partition 18, and the upper control group is above the upper partition 18; the lower control group includes a central direction motor 2, which is fixedly mounted on the bottom plate 1, and the upper partition 18 is fixedly mounted on the bottom plate 1, and a half gear 3 and a wire pulling gear 4 are rotatably mounted on the upper partition 18, and the half gear 3 forms a gear match with the wire pulling gear 4, and a winding wire is arranged above the bottom plate 1 and below the upper partition 18 Wheel 5, the winding wheel 5 is fixedly connected with the wire pulling gear 4, a pull rope 6 is wound on the winding wheel 5, one end of the pull rope 6 is fixedly installed on the connecting rod 7, a sliding rack 8 is fixedly installed on the connecting rod 7, a sliding frame 9 is fixedly installed on the base plate 1, the sliding rack 8 is slidably installed on the sliding frame 9, an integrated steering wheel is fixedly installed on the lower end of the base plate 1, a steering wheel frame 10 is rotatably installed on the integrated steering wheel, a rear steering wheel gear 11 is fixedly installed on the steering wheel frame 10, and the rear steering wheel gear 11 forms a gear rack match with the sliding rack 8. The integrated steering wheel is uniformly controlled by the integrated steering wheel group controller. The lower control group controls the integrated steering wheel between the linear movement and the in-situ steering movement mode. The central direction motor 2 is started to drive the half gear 3 to rotate. The rotation of the half gear 3 intermittently controls the movement of the wire pulling gear 4. The wire pulling gear 4 drives the winding wheel 5 to rotate. The winding wheel 5 rotates to stretch the pull rope 6. The pull rope 6 drives the connecting rod 7 to move. The connecting rod 7 drives the sliding rack 8 to move. The movement of the sliding rack 8 drives the rear steering wheel gear 11 to rotate. The rear steering wheel gear 11 drives the steering wheel frame 10 to rotate to adjust the rotation direction. The sliding racks 8 on the left and right sides respectively drive the rear steering wheel gears 11 on both sides to rotate, and the steering wheel frames 10 on the left and right sides rotate in opposite directions, thereby rotating to a specific angle, driving the vehicle group composed of the integrated steering wheel to switch between the linear movement and the in-situ rotation mode.

[0024] A lower spring 12 is fixedly connected between the sliding frame 9 and the sliding rack 8. The lower spring 12 provides the elastic force for the sliding rack 8 to return automatically.

[0025] The pull rope 6, the connecting rod 7, the sliding rack 8, the sliding frame 9, the steering wheel frame 10, and the lower spring 12 are arranged in two groups symmetrically on the front and rear sides of the bottom plate 1, and the rear steering wheel gear 11 is symmetrically arranged with the front steering wheel gear 13. When the lower control unit is working, the steering wheel frames 10 on the front and rear sides rotate in opposite directions, that is, the rear steering wheel gear 11 on the left rotates in opposite directions to the front steering wheel gear 13, and the rear steering wheel gear 11 on the right rotates in opposite directions to the front steering wheel gear 13, so that each steering wheel frame 10 is rotated to a direction perpendicular to the center point of the device.

[0026] A traveling wheel 15 is rotatably mounted on the steering wheel frame 10, a traveling wheel frame 16 is fixedly mounted on the steering wheel frame 10, the traveling wheel 15 is rotatably mounted on the traveling wheel frame 16, a steering controller 17 is fixedly mounted on the integrated steering wheel, a steering control gear 14 is fixedly mounted on the output shaft of the steering controller 17, and the steering control gear 14 forms a gear match with the front steering wheel gear 13. The controller drives the travel motor to start and drive the travel wheel 15 to rotate, thereby controlling the travel movement. The steering controller 17 starts to drive the steering control gear 14 to rotate. The steering control gear 14 drives the front steering wheel gear 13 to rotate, providing power for auxiliary direction rotation. When the steering wheel frame 10 rotates to a direction perpendicular to the center point of the device, the travel wheel 15 also rotates to a vertical direction. The default forward movement direction of the four travel wheels 15 before switching is positive. After the lower control group is switched, the two left groups of travel wheels 15 rotate forward, and the two right groups of travel wheels 15 rotate reversely, thereby controlling the integrated steering wheel vehicle group to rotate clockwise, the two left groups of travel wheels 15 rotate reversely, and the two right groups of travel wheels 15 rotate forward, controlling the integrated steering wheel vehicle group to rotate counterclockwise.

[0027] The controller also includes an upper control group, which includes an upper control gear 19, an upper control gear 19 is rotatably mounted on the upper partition 18, and the upper control gear 19 forms a gear match with the half gear 3, a front rack 20 is slidably mounted on the upper partition 18, a connecting rack 21 is fixedly mounted on the front rack 20, and the connecting rack 21 forms a gear-rack match with the upper control gear 19, an upper front gear 22 is rotatably mounted on the upper partition 18, the upper front gear 22 is fixedly connected to the front steering wheel gear 13, the upper front gear 22 forms a gear-rack match with the front rack 20, a protrusion 23 is fixedly mounted on the front rack 20, and a rotatable upper front gear 22 is mounted on the upper partition 18. A front swing bar 24 is provided with a slide groove, and the protrusion 23 slides in the slide groove of the front swing bar 24. A rear swing bar 25 is rotatably installed on the upper partition 18, and a rear rack 26 is slidably installed on the upper partition 18. The rear rack 26 is slidably connected with the rear swing bar 25. An upper rear gear 27 is rotatably installed on the upper partition 18. The upper rear gear 27 is fixedly connected with the rear steering wheel gear 11, and the upper rear gear 27 and the rear rack 26 form a gear rack match. A lifting connecting pin 29 is slidably installed on the front swing bar 24, and one end of the lifting connecting pin 29 is slidably installed on the front swing bar 24, and the other end of the lifting connecting pin 29 slides in the pin hole of the rear swing bar 25. The integrated steering wheel vehicle group is switched to the oblique linear movement or arc movement mode through the upper control group. When the gear part of the half gear 3 rotates to match with the upper control gear 19, the half gear 3 disengages from the wire-drawing gear 4, and the rotation of the half gear 3 drives the upper control gear 19 to rotate, and the upper control gear 19 drives the connecting rack 21 to move, and the connecting rack 21 drives the front rack 20 to move, and the front rack 20 drives the upper front gear 22 to move. At this time, the wire-drawing gear 4 is disengaged from the half gear 3, and the rotation of the wire-drawing gear 4 will not affect the rotation of the half gear 3. The rotation of the upper front gear 22 drives the front steering wheel gear 13 to rotate, and the front steering wheel gear 13 drives the steering wheel frame 10 to rotate, and the movement of the front rack 20 drives the protrusion 23 to move, and the protrusion 23 drives The front swing arm 24 rotates, and the front swing arm 24 drives the rear swing arm 25 to rotate through the lifting connecting pin 29. The rear swing arm 25 drives the rear rack 26 to slide left and right, and the rear rack 26 drives the upper rear gear 27 to move left and right. When the front rack 20 moves to the left, the upper front gear 22 rotates clockwise, and the front swing arm 24 and the rear swing arm 25 rotate clockwise, driving the rear rack 26 to move left. The rear rack 26 moves left and drives the upper rear gear 27 to rotate clockwise, and the rotation angle of the upper front gear 22 and the upper rear gear 27 is also the same, so that the four sets of running wheels 15 can rotate to the same direction at the same time, and the integrated steering wheel vehicle group can rotate to any direction for linear movement.

[0028] An upper spring 28 is fixedly mounted on the rear rack 26, and the other end of the upper spring 28 is fixedly mounted on the upper partition 18. The power of the rear rack 26 automatic return is given by the upper spring 28.

[0029] The upper partition 18 is fixedly provided with an inclined slide groove 30, and the lower end of the lifting connecting pin 29 slides on the upper surface of the inclined slide groove 30. When the front swing arm 24 and the rear swing arm 25 rotate, the lifting connecting pin 29 is driven to rotate, and the lifting connecting pin 29 moves to the top of the inclined slide groove 30 and slides on the top of the inclined slide groove 30. When the lifting connecting pin 29 slides to the highest point of the inclined slide groove 30, the lifting connecting pin 29 cuts out the pin hole of the rear swing arm 25, and the rear rack 26 returns to its original position under the action of the upper spring 28, driving the rear swing arm 25 to rotate to the initial position, that is, the rear running wheel 15 moves forward, and the front running wheel 15 rotates a specific angle under the rotation control of the upper front gear 22. At this time, the integrated steering wheel vehicle group simulates the movement of the car, that is, the front wheels are turned and the rear wheels remain vertical, simulating the steering movement of the car. When the upper control gear 19 rotates back, the connecting rack 21 and the front rack 20 also return, and the front swing bar 24 returns and rotates. Before the front swing bar 24 rotates to the initial position, the lifting connecting pin 29 will not slide into the rear swing bar 25, so as to facilitate the adjustment of the rotation angle. When the front swing bar 24 rotates to the initial position, the lifting connecting pin 29 enters the rear swing bar 25, and the front swing bar 24 and the rear swing bar 25 rotate simultaneously again.

[0030] The front rack 20 and the rear rack 26 are also provided with empty tooth portions, and when the upper front gear 22 and the upper rear gear 27 rotate, they will not control the movement of the front rack 20 and the rear rack 26.

[0031] The control module structure of the integrated steering wheel controller is as follows. Figure 6 As shown: The integrated steering wheel controller can drive and control the direction motor and the travel motor. It adopts a one-to-two overall structure. The control body is integrated inside the travel wheel and adopts a circular hollow structure. The direction motor position sensor adopts a single-turn absolute encoder with a hollow structure. The communication method is RS485 and the baud rate is 2.5M. The travel motor position sensor adopts a linear Hall method and calculates and identifies the magnetic pole position of the motor rotor permanent magnet through an algorithm.

[0032] The wiring harness connection of the integrated steering wheel controller is as follows: the wiring harness adapter board adopts a hollow structure around the absolute encoder, and it is in the same plane as the absolute encoder. The wiring harness adapter board receives the external 48V power supply harness and the P12 signal harness, which is a standard terminal required by Party A's technology; at the same time, the wiring harness adapter board integrates the Type-C serial port program burning port. The wiring harness adapter board and the integrated steering wheel controller protect the 48V power supply and the three-phase power harness of the direction motor through the P5 power harness. The signal harness between the wiring harness adapter board and the integrated steering wheel controller includes the absolute encoder RS485 communication harness, the system control harness, and the program burning and upgrade harness.

[0033] Integrated controller function module as attached Figure 7As shown: The integrated controller uses a high-performance domestic 32-bit floating-point DSP with a maximum system frequency of 150M. It has two PWM drives for the travel motor and the direction motor, and can independently control the two motors. The direction motor integrates a hollow absolute position 17-bit encoder, and reads data through the serial port RS485. The travel motor position sensor uses a linear Hall to calculate and identify the motor rotor magnetic poles. The external voltage of the integrated servo controller is divided into a 48V power supply and a 24V control power supply, which are provided independently; the 48V power supply provides power for the travel motor and the direction motor. The 24V voltage is the control power supply, which provides internal logic signals, control signals, and drive module power. When the 48V power supply is urgently powered off, the angle information of the direction motor can also be read. At the same time, the step-down module is used to convert 12V, 5V, 3.3V and 1.8V voltages respectively. All voltages required by the system are independently transformed and powered. The communication module includes a CAN bus module, whose main function is to receive external control signals and provide system parameter information to the outside. Two-way RS485 communication module, the first one is mainly used to receive external control signals and provide system parameter information to the outside; the second one is for the data communication of the absolute encoder integrated inside the direction motor to read the rotor pole position of the direction motor. The I2C communication integrates the E2ROM chip externally, which stores the parameters that the controller system can modify. The serial port RS232 (Type-C) provides a program burning and upgrade channel for basic control. The IO interface provides an external STO signal for the emergency safety torque shutdown function and other logic action signals. When an abnormal situation occurs, the STO port and the GND signal port are disconnected, and the DSP quickly cuts off the power torque output of the motor according to the received emergency signal. The logic protection circuit integrates current protection, voltage protection and voltage discharge functions.

[0034] A control method of an integrated steering wheel assembly controller adopts the above controller, and the specific steps include: S1: Start the center direction motor 2 and the steering controller 17, rotate the half gear 3, at this time the half gear 3 just forms a gear match with the wire pulling gear 4, the wire pulling gear 4 rotates to drive the lower control unit to work, drive the rear steering wheel gear 11 and the front steering wheel gear 13 to rotate, drive the running wheel 15 to adjust the direction, the running wheel 15 is perpendicular to the center position of the device, the steering controller 17 assists in providing power, and the center direction motor 2 and the steering controller 17 are uniformly controlled by the coding program; S2: The controller drives the travel motor to start, driving the travel wheels 15 to rotate, starting the two travel wheels 15 on the left side in the forward direction, and starting the two travel wheels 15 on the right side in the reverse direction, and the steering wheel group rotates clockwise; S3: Continue to drive the center direction motor 2, the half gear 3 is disengaged from the pull-wire gear 4, and under the action of the lower spring 12, the lower control group returns to its original position, and the half gear 3 is matched with the upper control gear 19, driving the front rack 20 and the rear rack 26 to move in the opposite direction, driving the upper front gear 22 and the upper rear gear 27 to rotate in the same direction, and the steering wheel vehicle group enters the oblique movement mode; S4: Continue to drive the central direction motor 2 until the lifting connecting pin 29 moves to the highest point of the inclined slide groove 30, the rear swing arm 25 is disconnected from the lifting connecting pin 29, and the upper rear gear 27 returns to its original position under the elastic force of the upper spring 28, and the two rear running wheels 15 return to a straight line movement, while the two front running wheels 15 still rotate at a fixed angle, and the steering wheel vehicle group enters the simulated car mode or the arc movement mode, and the central direction motor 2 is controlled in the reverse direction to rotate a certain angle, thereby reducing the rotation angle, and will not affect the two rear running wheels 15, and adjust the arc movement angle.

Claims

1. An integrated steering wheel assembly controller, comprising a bottom plate (1), a lower control group and an upper partition (18), wherein the lower control group is between the bottom plate (1) and the upper partition (18), and the upper control group is above the upper partition (18), characterized in that: The lower control group comprises a central direction motor (2), the central direction motor (2) is fixedly mounted on the bottom plate (1), the upper partition plate (18) is fixedly mounted on the bottom plate (1), a half gear (3) and a wire pulling gear (4) are rotatably mounted on the upper partition plate (18), the half gear (3) and the wire pulling gear (4) form a gear match, a winding wheel (5) is arranged above the bottom plate (1) and below the upper partition plate (18), the winding wheel (5) is fixedly connected to the wire pulling gear (4), and a pulling rope (6) is wound around the winding wheel (5). ), one end of the pull rope (6) is fixedly mounted on the connecting rod (7), a sliding rack (8) is fixedly mounted on the connecting rod (7), a sliding frame (9) is fixedly mounted on the bottom plate (1), the sliding rack (8) is slidably mounted on the sliding frame (9), an integrated steering wheel is fixedly mounted on the lower end of the bottom plate (1), a steering wheel frame (10) is rotatably mounted on the integrated steering wheel, a rear steering wheel gear (11) is fixedly mounted on the steering wheel frame (10), and the rear steering wheel gear (11) and the sliding rack (8) form a gear rack match.

2. The integrated steering wheel controller according to claim 1, characterized in that: A lower spring (12) is fixedly connected between the sliding frame (9) and the sliding rack (8).

3. The integrated steering wheel controller according to claim 2, characterized in that: The pull rope (6), the connecting rod (7), the sliding rack (8), the sliding frame (9), the steering wheel frame (10), and the lower spring (12) are arranged in two groups symmetrically in front and behind the bottom plate (1), and the rear steering wheel gear (11) and the front steering wheel gear (13) are arranged symmetrically.

4. The integrated steering wheel controller according to claim 3, characterized in that: A travel wheel (15) is rotatably mounted on the steering wheel frame (10), a travel wheel frame (16) is fixedly mounted on the steering wheel frame (10), a travel wheel (15) is rotatably mounted on the travel wheel frame (16), a steering controller (17) is fixedly mounted on the integrated steering wheel, a steering control gear (14) is fixedly mounted on the output shaft of the steering controller (17), and the steering control gear (14) forms a gear match with the front steering wheel gear (13).

5. The integrated steering wheel controller according to claim 4, characterized in that: The controller further comprises an upper control group, the upper control group comprising an upper control gear (19), the upper control gear (19) being rotatably mounted on the upper baffle (18), the upper control gear (19) and the half gear (3) forming a gear match, a front rack (20) being slidably mounted on the upper baffle (18), a connecting rack (21) being fixedly mounted on the front rack (20), the connecting rack (21) and the upper control gear (19) forming a gear-rack match, an upper front gear (22) being rotatably mounted on the upper baffle (18), the upper front gear (22) being fixedly connected to the front steering wheel gear (13), the upper front gear (22) and the front rack (20) forming a gear-rack match, a protrusion (23) being fixedly mounted on the front rack (20), and a rotatable upper front gear (22) being rotatably mounted on the upper baffle (18). A front swing bar (24) is provided with a slide groove, and the protrusion (23) slides in the slide groove of the front swing bar (24); a rear swing bar (25) is rotatably mounted on the upper partition (18); a rear rack (26) is slidably mounted on the upper partition (18); the rear rack (26) is slidably connected to the rear swing bar (25); an upper rear gear (27) is rotatably mounted on the upper partition (18); the upper rear gear (27) is fixedly connected to the rear steering wheel gear (11); the upper rear gear (27) and the rear rack (26) form a gear rack match; a lifting connecting pin (29) is slidably mounted on the front swing bar (24); one end of the lifting connecting pin (29) is slidably mounted on the front swing bar (24); and the other end of the lifting connecting pin (29) slides in the pin hole of the rear swing bar (25).

6. The integrated steering wheel controller according to claim 5, characterized in that: An upper spring (28) is fixedly mounted on the rear rack (26), and the other end of the upper spring (28) is fixedly mounted on the upper partition (18).

7. The integrated steering wheel controller according to claim 6, characterized in that: An inclined sliding groove (30) is fixedly mounted on the upper partition plate (18), and the lower end of the lifting connecting pin (29) slides on the upper surface of the inclined sliding groove (30).

8. The integrated steering wheel controller according to claim 7, characterized in that: The front rack (20) and the rear rack (26) are also provided with empty tooth portions, and when the upper front gear (22) and the upper rear gear (27) rotate, they will not control the movement of the front rack (20) and the rear rack (26).

9. A control method for an integrated steering wheel assembly controller, characterized in that: The control method according to any one of claims 1 to 8 is adopted, and the specific steps include: S1: Start the central direction motor (2) and the steering controller (17), rotate the half gear (3), at which time the half gear (3) just forms a gear match with the wire pulling gear (4), the wire pulling gear (4) rotates to drive the lower control unit to work, drive the rear steering wheel gear (11) and the front steering wheel gear (13) to rotate, drive the running wheel (15) to adjust the direction, the running wheel (15) is perpendicular to the center position of the device, the steering controller (17) assists in providing power, and the central direction motor (2) and the steering controller (17) are uniformly controlled through a coding program; S2: The travel motor on the controller drives the travel wheels (15) to rotate, the two travel wheels (15) on the left side are started in the forward direction, and the two travel wheels (15) on the right side are started in the reverse direction, and the steering wheel group rotates clockwise; S3: Continue to drive the center direction motor (2), the half gear (3) and the cable pull gear (4) are disengaged, and under the action of the lower spring (12), the lower control group returns to its original position, and the half gear (3) and the upper control gear (19) form a match, driving the front rack (20) and the rear rack (26) to move in the opposite direction, driving the upper front gear (22) and the upper rear gear (27) to rotate in the same direction, and the steering wheel group enters the oblique movement mode; S4: Continue to drive the central direction motor (2) until the lifting connecting pin (29) moves to the highest point of the inclined slide groove (30), the rear swing rod (25) is disconnected from the lifting connecting pin (29), the upper rear gear (27) returns to its original position under the elastic force of the upper spring (28), the two rear running wheels (15) return to a straight line movement, while the two front running wheels (15) still rotate at a fixed angle, the steering wheel vehicle group enters the simulated car mode or arc movement mode, and the central direction motor (2) is controlled in the reverse direction to rotate a certain angle, thereby reducing the rotation angle, and will not affect the two rear running wheels (15), so as to adjust the arc movement angle.

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