Driving robot and installation method

Abstract

The invention discloses a driving robot and an installation method, and the driving robot comprises an installation disc which is disposed above an original vehicle steering wheel of an automatic driving vehicle; the cross-shaped workbench comprises an X-axis track, a Y-axis track and a sliding table, the X-axis track is arranged on the upper surface of the mounting disc, the Y-axis track is arranged on the X-axis track in a sliding mode, and the sliding table is arranged on the X-axis track in a sliding mode; the robot steering wheel and the sliding table are connected to the upper end and the lower end of a rotor of the robot motor respectively; the stay wire sensor is connected with the edge of the steering wheel of the robot through a stay wire and used for obtaining the distance between a connecting point and the stay wire sensor when the steering wheel of the original vehicle rotates so as to estimate the rotating center deviation value of the steering wheel of the robot and the steering wheel of the original vehicle. According to the invention, the installation and debugging time can be greatly shortened, the workload of a test engineer is reduced, and the test cost is controlled.

Description

Technical Field

[0001] The present invention relates to the technical field related to autonomous driving, and more specifically, to a driving robot and an installation method thereof. Background Art

[0002] With the rapid development of autonomous driving technology, the demand for testing autonomous vehicles is growing. To ensure the accuracy and consistency of test results, driving robots, as a device that can accurately control the steering wheel rotation angle and speed, have been widely used in autonomous driving tests. The driving robot is a mechanism installed on the steering wheel of the original vehicle. The steering wheel of the original vehicle rotates accordingly by rotating the motor rotor of the driving robot. The stator and the housing are connected and fixed to the vehicle-mounted fixed gas rod through a torque sensor. There is also a robot steering wheel above the driving robot for manual operation.

[0003] The concentricity adjustment of the robot steering wheel, robot motor and original car steering wheel (because the installation positions of the robot steering wheel and robot motor are predetermined, the two are assumed to be concentric, which will not be discussed in this application) is also a critical and time-consuming link. If they are not concentric, the steering control accuracy will be seriously affected and the test purpose cannot be achieved. In the prior art, concentricity adjustment requires the use of an external laser device. During the specific operation, the laser is pointed to a fixed position of a robot steering wheel, and then the robot steering wheel is rotated for a circle. The engineer observes the offset of the laser during the rotation of the robot steering wheel with the naked eye to determine the overall angle to which the adjustment needs to be made. However, this adjustment method relies entirely on the experience and naked eye judgment of the engineer, and it is difficult to achieve the expected effect directly after one adjustment. It is often necessary to repeatedly disassemble and assemble the driving robot and the steering wheel connection components, and then adjust them together until the offset generated by one rotation of the steering wheel is as small as possible, so that the shaking of the stator and torque sensor driven by the steering wheel rotation can be controlled within an acceptable range. This process not only consumes a lot of time and energy, greatly increasing the workload of test engineers, but also significantly increases the time cost for testing companies, seriously affecting the overall testing efficiency, thereby slowing down the research and development and verification process of autonomous driving technology.

[0004] Therefore, it is necessary to design a technical solution that can overcome the above-mentioned defects. Summary of the invention

[0005] An object of the present invention is to provide a driving robot and an installation method, which can significantly shorten the installation and debugging time, reduce the workload of test engineers, and control the test cost.

[0006] In order to achieve these purposes and other advantages of the present invention, according to one aspect of the present invention, the present invention provides a driving robot for an autonomous driving vehicle, comprising: a mounting plate, which is arranged above the original vehicle steering wheel of the autonomous driving vehicle; a cross workbench, which includes an X-axis track, a Y-axis track and a slide, the X-axis track is arranged on the upper surface of the mounting plate, the Y-axis track is slidably arranged on the X-axis track, and the slide is slidably arranged on the X-axis track; a robot motor and a robot steering wheel, the robot steering wheel and the slide are respectively connected to the upper and lower ends of the robot motor rotor; a wire sensor, which is connected to the edge of the robot steering wheel by a wire, and is used to obtain the distance between the connection point and the wire sensor when the original vehicle steering wheel rotates, so as to estimate the rotation center deviation value between the robot steering wheel and the original vehicle steering wheel.

[0007] Furthermore, it also includes: a plurality of clamps, the clamps include a pair of clamps, one end of the pair of clamps is hinged, and the other end is detachably connected, the pair of clamps are used to clamp the original vehicle steering wheel, and the clamps and the fixed plate are both provided with fixing holes for realizing the connection between the installation plate and the original vehicle steering wheel.

[0008] Furthermore, the area on the clamping member surrounding the fixing hole forms a plane for supporting the lower surface of the mounting plate.

[0009] Furthermore, screw holes are provided in the Y-axis track and the slide, and screw rods are provided in the screw holes for driving the Y-axis track to move along the X-axis track and the slide to move along the X-axis track.

[0010] Furthermore, a crank connected to the lead screw is disposed outside the X-axis track and the Y-axis track, and is used to manually drive the Y-axis track and the slide to move.

[0011] Furthermore, it includes: fixing the mounting plate on the original steering wheel of the autonomous driving vehicle, installing a cross workbench on the mounting plate, installing the robot motor on the slide, and installing the robot steering wheel on the robot motor; installing the pull-wire sensor so that its pull-wire is connected to the edge of the robot steering wheel, rotating the original vehicle steering wheel to obtain the distance between the connection point and the pull-wire sensor, and estimating the deviation value of the rotation center between the robot steering wheel and the original vehicle steering wheel; according to the deviation value, adjusting the position of the Y-axis track on the X-axis track and the position of the slide on the X-axis track, so that the rotation center of the robot steering wheel coincides with that of the original vehicle steering wheel.

[0012] Furthermore, the steering wheel of the original vehicle is rotated to obtain the maximum and minimum values ​​of the distance between the connection point and the wire sensor, and the X-axis deviation value and the Y-axis deviation value are estimated in combination with the rotation radius of the robot steering wheel.

[0013] Furthermore, a gyroscope and an accelerometer are arranged on the steering wheel of the robot to obtain the pitch angle α, yaw angle β and roll angle γ during rotation; Establish a coordinate system with the rotation center of the robot steering wheel as the origin, construct the following rotation matrix R (α, β, γ) and equation, and solve (X0, Y0, Z0), ; Among them, (X0, Y0, Z0) is the rotation center coordinate of the original car steering wheel, (x0, y0, z0) is the initial coordinate of the connection point, (x 1i , y 1i , z 1i ) is the coordinate of the connection point during the rotation process, i=1, 2, 3...n; The X-axis deviation value, the Y-axis deviation value and the Z-axis deviation value are determined according to (X0, Y0, Z0) to adjust the position of the Y-axis track on the X-axis track, the position of the slide on the X-axis track, and to perform installation correction on the mounting plate and the cross worktable.

[0014] The present invention has at least the following beneficial effects: The present invention introduces a cross workbench and cooperates with a wire sensor to quantify the adjustment data, thereby realizing fast and accurate adjustment of the robot steering wheel position, ensuring the concentricity of the robot steering wheel (robot motor) and the original vehicle steering wheel. Compared with the driving robot in the prior art, the installation and debugging time is greatly shortened, which not only reduces the workload of test engineers but also effectively controls the testing cost.

[0015] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a driving robot according to an embodiment of the present application; Figure 2 This is a schematic diagram of calculating the X-axis deviation and the Y-axis deviation of one embodiment of the present application; Figure 3 This is a schematic diagram of the structure of a clamp according to an embodiment of the present application; Figure 4 This is a schematic diagram of the structure of an installation disk according to an embodiment of the present application; Figure 5 This is a schematic diagram of the structure of a cross workbench according to an embodiment of the present application; Figure 6 This is a schematic diagram of the structure of a robot motor according to an embodiment of the present application; Figure 7 This is a schematic diagram of the structure of a robot steering wheel according to an embodiment of the present application; Figure 8 This is a schematic diagram of the installation of a driving robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0018] It should be understood that the terms such as "having", "including" and "comprising" used in the embodiments of the present application do not exclude the existence or addition of one or more other elements or their combinations. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. When an element is referred to as "fixed on" or "set on" another element, it can be directly on the other element or there may be a centering element at the same time. When an element is referred to as "connecting" another element, it can be directly connected to another element or it can be indirectly connected to another element through a centering element. The description of "first", "second", etc. in the embodiments of the present application is only for descriptive purposes, and cannot be understood as indicating or implying its relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features.

[0019] It should be noted that the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0020] like Figure 1-8As shown, an embodiment of the present application provides a driving robot, including: a mounting plate 2, which is arranged above the original car steering wheel 1 of the autonomous driving vehicle; a cross workbench 3, which includes an X-axis track 301, a Y-axis track 302 and a slide 303, wherein the X-axis track 301 is arranged on the upper surface of the mounting plate 2, the Y-axis track 302 is slidably arranged on the X-axis track 301, and the slide 303 is slidably arranged on the X-axis track 301; a robot motor 4 and a robot steering wheel 5, wherein the rotor of the robot motor 4 extends from the upper and lower ends, and the robot steering wheel 5 and the slide 303 are respectively connected to the upper and lower ends of the rotor of the robot motor 4; a wire sensor 6, which is connected to the edge of the robot steering wheel 5 through a wire 601, and is used to obtain the distance between the connection point and the wire sensor 6 when the original car steering wheel 1 rotates, so as to estimate the rotation center deviation value of the robot steering wheel 5 and the original car steering wheel 1; Specifically, the mounting plate 2 is located above the original vehicle steering wheel 1 of the autonomous driving vehicle, and needs to be finely machined to have a high surface flatness, so as to provide a stable and reliable installation foundation for subsequent components; illustratively, the mounting plate 2 is stably and detachably connected to the original vehicle steering wheel 1 by means of binding, clamps 201, etc., to ensure that the mounting plate 2 is always stable during the driving of the vehicle without shaking or displacement; The X-axis track 301 is installed on the upper surface of the mounting plate 2, and the Y-axis track 302 is slidably set on the X-axis track 301 through a slider, both of which use high-precision linear guides, and the slide 303 is further slidably set on the X-axis track 301, providing a stable installation platform for the robot motor 4; in the actual installation process, when it is necessary to fine-tune the position of the robot steering wheel 5, the fine-tuning knobs on the X-axis and Y-axis tracks 302 can be rotated to accurately control the moving distance of the slide 303 in the X-axis and Y-axis directions, so as to achieve millimeter-level precision adjustment and adjust the position of the robot steering wheel 5 to be concentric with the original vehicle steering wheel 1; the robot motor 4 and the robot steering wheel 5 are the key execution components for the driving robot to realize the function, and the robot motor 4 can use a dual-axis motor, and the rotors extending up and down are respectively connected to the robot motor 4 and the slide 303, so that the motor can drive the original vehicle steering wheel 1 and the robot steering wheel 5 to rotate, so as to realize the control of the autonomous driving vehicle; The installation disk 2, the cross slide 3, the robot motor 4, and the robot steering wheel 5 should have a high installation accuracy to ensure that the robot motor 4 is concentric with the robot steering wheel 5 and reduce the rotation center deviation of the original vehicle steering wheel 1 and the robot steering wheel 5 caused by the installation. For example, a positioning pin 306 is set on the slide, and a corresponding hole is set on the rotor of the robot motor 4 to accurately position the robot motor 4. Bolt holes are set on the rotor of the robot motor 4, the slide 303, and the center of the robot steering wheel, and a mounting stud 6 is penetrated in the installation hole to connect the slide 303, the rotor, and the robot steering wheel 5 together to ensure concentricity. The wire sensor 6 is connected to the edge of the robot steering wheel 5 through a high-strength, thin-diameter steel wire rope, and the other end is connected to the reel inside the wire sensor 6. The wire sensor 6 is arranged in the car and ensured to be in the same plane as the robot steering wheel 5; when the original car steering wheel 1 rotates, the robot steering wheel 5 rotates accordingly, and the steel wire rope will expand and contract as the position of the connection point changes. The wire sensor 6 can obtain the distance change between the connection point and itself in real time. By analyzing and processing these distance data, the rotation center deviation value of the robot steering wheel 5 and the original car steering wheel 1 can be estimated; for example, the rotation center deviation value of the robot steering wheel 5 and the original car steering wheel 1 measured by the wire sensor 6 is 2 mm in the X direction and 1.5 mm in the Y direction. Based on these data, the tester uses the cross workbench 3 to quickly adjust the position of the driving robot to ensure the accuracy and reliability of the test; The following is a method for calculating the deviation values ​​in the X-axis and Y-axis directions: See also Figure 2 , assuming a point with the maximum reading, and the radius of the robot steering wheel 5 is known, in this triangle composed of the maximum reading point, the center point of the robot steering wheel 5, and the connection point of the pull-wire sensor 6, the lengths of the three sides are all known, and the value of Cosα can be calculated according to the cosine theorem; Where a is the maximum value read by the wire sensor 6; b is the steering wheel radius; c is the steering wheel radius + the low point reading of the cable sensor 6; Then the value of the α angle can be obtained by calculation; In the triangle formed by the XY component of the highest point of the reading and the radius, the long side is the radius, and the angle is α-90°. The corresponding XY value can be found by calculation; Sin(α-90)=Y / b Cos(α-90)=X / b After obtaining the XY value, adjust the calculated X value to the right in the X-axis direction, and adjust the radius minus the Y value upward in the Y-axis direction. This process can be quickly adjusted through the crank 304 of the cross workbench 3. After the adjustment is completed, it can be verified again. The ideal maximum value point is the top of the direction in which the pull-wire sensor 6 points, and the value is the low point reading plus the steering wheel diameter; It can be seen that this embodiment introduces a cross workbench 3 and cooperates with the pull-wire sensor 6 to quantify the adjustment data, so as to achieve fast and accurate position adjustment of the robot steering wheel 5, ensure the concentricity of the robot steering wheel 5 and the original vehicle steering wheel 1, and also ensure the concentricity of the original vehicle steering wheel 1 and the robot motor 4, improve the control accuracy and test effect of the driving robot, and compared with the driving robot in the prior art, the installation and debugging time is greatly shortened, which not only reduces the workload of the test engineer but also effectively controls the test cost. According to the test, the installation and centering time of the driving robot in the prior art is about 1 to 2 hours, while the present embodiment can control the time consumption to less than half an hour.

[0021] See also Figure 3 and Figure 4 In another embodiment, it further comprises: a plurality of clamps 201, wherein the clamps 201 comprise a pair of clamps 2011, wherein one end of the pair of clamps 2011 is hinged and the other end is detachably connected, and the pair of clamps 2011 are used to clamp the original vehicle steering wheel 1, and the clamps 2011 and the fixing plate are both provided with fixing holes 2012 for realizing the connection between the installation plate 2 and the original vehicle steering wheel 1; Specifically, each clamp 201 is composed of a pair of hinged clamps 2011, so that they can be flexibly opened and closed, and are convenient for adapting to original vehicle steering wheels 1 of different sizes. The other end adopts a detachable connection method. This design is not only convenient for operation during installation, but also more convenient when the driving robot needs to be disassembled; fixing holes are carefully arranged on the clamps 2011 and the fixing plate. When the clamp 201 clamps the original vehicle steering wheel 1, a tight and stable connection between the installation plate 2 and the original vehicle steering wheel 1 can be achieved by passing a suitable connecting piece through the fixing hole 2012 on the clamp 2011 and the corresponding fixing hole 202 on the fixing plate; this connection method can not only ensure that the position of the installation plate 2 on the original vehicle steering wheel 1 is accurate and correct, but also can withstand various forces generated by the driving robot during work, ensuring that when the driving robot simulates driving operations, the installation plate 2 and the original vehicle steering wheel 1 always remain relatively still; It should be pointed out that, when the traditional driving robot is connected to the original vehicle steering wheel 1, a triangular clamp (including a triangular plate and three buckles connected around the triangular plate) is used. The original intention of the design of this clamp is for steering wheels of regular shape, and the driving robot is firmly connected to the outer ring of the steering wheel through three fixed points; however, with the diversification of automobile design, more and more vehicles are beginning to use special-shaped steering wheels, and when the triangular clamp faces special-shaped steering wheels, due to the irregular shape of the special-shaped steering wheels, the triangular clamp cannot find a suitable fixing point, resulting in the inability to install the clamp or even if it is barely installed, it is extremely unstable; this not only makes it impossible to carry out the automatic driving test of vehicles equipped with special-shaped steering wheels normally, but also brings serious safety hazards during the test process; this embodiment uses the clamp 201 and the mounting plate 2 to adapt to all shapes of steering wheels on the market, especially to solve the installation problem on special-shaped steering wheels.

[0022] In another embodiment, the area around the fixing hole on the clamp 2011 forms a plane 2013 for supporting the lower surface of the mounting plate 2; the plane provides direct and effective support for the lower surface of the mounting plate 2, and ensures that the mounting plate 2 is parallel to the plane of the original vehicle steering wheel 1, thereby improving the installation accuracy and further improving the control and testing effects.

[0023] See also Figure 5 In another embodiment, screw holes are provided in the Y-axis track 302 and the slide 303, and screw rods 305 are provided in the screw holes for driving the Y-axis track 302 to move along the X-axis track 301 and the slide 303 to move along the X-axis track 301; further, crank handles 304 connected to the screw rods 305 are provided outside the X-axis track 301 and the Y-axis track 302 for manually driving the Y-axis track 302 and the slide 303 to move; Specifically, screw holes are provided inside the Y-axis track 302 and the slide 303 to adapt to the screw rod 305 that fits tightly therewith, and to construct a screw rod 305 nut mechanism, so as to accurately drive the Y-axis track 302 to move smoothly along the X-axis track 301, and the slide 303 to move precisely along the X-axis track 301; the operation can be performed by hand-cranking the crank handle 304, which can easily drive the screw rod 305 connected thereto to rotate, thereby realizing the movement of the Y-axis track 302 and the slide 303, and the number of rotations of the crank handle 304 can be converted according to the calculated deviation values ​​in the X-axis direction and the Y-axis direction, and the conversion formula can be obtained by testing in advance.

[0024] The embodiment of the present application also provides a driving robot installation method, comprising: S1: The installation plate 2 is fixed on the original steering wheel 1 of the autonomous driving vehicle, and the plurality of clamps 201 mentioned above can be used for fixing; a pair of clamps 2011 of the clamp 201 are placed around the original steering wheel 1, so that the hinge at one end fits naturally, and the other end is firmly fixed by a detachable connection method (such as tightening bolts or fastening buckles), and then the connection between the installation plate 2 and the original steering wheel 1 is further reinforced by using suitable connecting parts (such as bolts, etc.) through the clamps 2011 and the fixing holes on the fixing plate to ensure that the installation plate 2 will not be displaced during subsequent operations; S2: Install the cross workbench 3 on the mounting plate 2, first assemble the X-axis track 301, the Y-axis track 302 and the slide 303, then stably place the X-axis track 301 on the upper surface of the mounting plate 2, and accurately adjust the position of the X-axis track 301 according to the preset positioning mark or reference line on the mounting plate 2, so that its relative position with the mounting plate 2 meets the design requirements, providing a precise adjustment platform for the subsequent installation of the robot motor 4 and the steering wheel; S3: Install the robot motor 4 on the slide 303, place the robot motor 4 on the slide 303, align the mounting hole of the motor with the mounting hole on the slide 303, and then use bolts or nuts to fix the motor on the slide 303; S4: Install the robot steering wheel 5 on the robot motor 4, align the robot steering wheel 5 with the upper end of the rotor of the robot motor 4, ensure that the connection parts of the two can fit tightly, and use corresponding fastening devices (such as nuts, pins, etc.) to firmly fix the robot steering wheel 5 on the motor rotor to ensure that the steering wheel can accurately rotate with the motor rotor when the robot is driven to work; S5: Install the cable sensor 6 so that its cable is connected to the edge of the robot steering wheel 5, and determine the appropriate installation position of the cable sensor 6 in the cab, ensuring that the sensor can be stably installed and that its cable can be smoothly connected to the edge of the robot steering wheel 5 without interfering with other components; when installing the sensor, use a suitable bracket or fixing device to firmly fix it in the corresponding position; then, connect one end of the cable to the cable sensor 6, and carefully connect the other end to the edge of the robot steering wheel 5; S6: After completing the above installation steps, enter the critical debugging stage, turn the original car steering wheel 1, and the robot steering wheel 5 will follow the rotation. At this time, the wire sensor 6 starts to work and obtains the distance data between the connection point and itself in real time; as the original car steering wheel 1 rotates, the sensor will record a series of distance values. Through calculation, the rotation center deviation value between the robot steering wheel 5 and the original car steering wheel 1 can be estimated. If the calculation method mentioned above is used, the maximum and minimum values ​​of the distance between the connection point and the wire sensor 6 are combined with the rotation radius of the robot steering wheel 5 to estimate the X-axis deviation value and the Y-axis deviation value; S7: According to the X-axis deviation value and the Y-axis deviation value, adjust the position of the Y-axis track 302 on the X-axis track 301 and the position of the slide 303 on the X-axis track 301, so that the rotation center of the robot steering wheel 5 coincides with the rotation center of the original vehicle steering wheel 1; during specific operation, if the deviation value shows that the rotation center of the robot steering wheel 5 deviates from the original vehicle steering wheel 1 in a certain direction, the crank 304 connected to the X-axis track 301 and the Y-axis track 302 can be rotated. During the adjustment process, pay close attention to the changes in the deviation value, and through multiple fine-tuning, gradually make the rotation center of the robot steering wheel 5 coincide with the rotation center of the original vehicle steering wheel 1.

[0025] In another embodiment, the robot steering wheel 5 is provided with a gyroscope and an accelerometer (which may be provided inside the steering wheel) to obtain the pitch angle α, yaw angle β and roll angle γ during rotation; A coordinate system is established with the rotation center of the robot steering wheel 5 as the origin, and the following rotation matrix R (α, β, γ) and equation are constructed to solve (X0, Y0, Z0), ; Among them, (X0, Y0, Z0) is the rotation center coordinate of the original vehicle steering wheel 1, (x0, y0, z0) is the initial coordinate of the connection point, (x 1i , y 1i , z 1i ) is the coordinate of the connection point during the rotation process, i=1, 2, 3...n; Determine the X-axis deviation value, the Y-axis deviation value and the Z-axis deviation value according to (X0, Y0, Z0) to adjust the position of the Y-axis track 302 on the X-axis track 301, the position of the slide 303 on the X-axis track 301, and perform installation correction on the mounting plate 2 and the cross workbench 3; Specifically, the gyroscope is a sensor that can accurately measure the angular velocity of an object's rotation. By monitoring the angular velocity of the robot's steering wheel 5 during its rotation, the gyroscope can quickly and accurately calculate the angular changes of the steering wheel in various directions, thereby providing key data support for obtaining the pitch angle α, yaw angle β and roll angle γ. The accelerometer is mainly responsible for measuring the acceleration changes of the object in various directions. By analyzing and processing these acceleration data, the angle information obtained by the gyroscope can be further calibrated and optimized, thereby improving the accuracy and stability of the angle measurement. After obtaining the attitude angle information of the robot steering wheel 5 during rotation, an accurate coordinate system is established with the rotation center of the robot steering wheel 5 as the origin; the rotation matrix R (α, β, γ) is a matrix constructed based on the pitch angle α, the yaw angle β and the roll angle γ, which can accurately describe the rotation state of the robot steering wheel 5 in three-dimensional space. Through this rotation matrix, the coordinate information of the robot steering wheel 5 in different postures can be accurately converted; by collecting the coordinates of the connection points at different times, and combining with the rotation matrix R (α, β, γ), and using mathematical algorithms to solve the constructed equations, the precise coordinates (X0, Y0, Z0) of the rotation center of the original vehicle steering wheel 1 in the coordinate system with the rotation center of the robot steering wheel 5 as the origin can be obtained; after obtaining (X0, Y0, Z0), by comparing and analyzing with the rotation center coordinates (0, 0, 0) of the robot steering wheel 5 itself, the X-axis deviation value, Y-axis deviation value and Z-axis deviation value can be determined. These deviation values ​​intuitively reflect the position difference between the original vehicle steering wheel 1 and the robot steering wheel 5 in three dimensions. Based on these precise deviation values, technicians can make targeted adjustments to various components of the driving robot.

[0026] For the position of the Y-axis track 302 on the X-axis track 301 and the position of the slide 303 on the X-axis track 301, by adjusting the driving device connected to the X-axis track 301 and the Y-axis track 302 (such as the combination of the screw rod 305 and the crank 304 described above), accurate linear displacement adjustment is performed according to the X-axis deviation value and the Y-axis deviation value, so that the position of the robot steering wheel 5 on the horizontal plane is optimized, and the deviation from the original vehicle steering wheel 1 in the XY plane is gradually reduced; For the installation plate 2 and the cross workbench 3, determine whether they need to be installed and corrected based on the comprehensive analysis of the Z-axis deviation value and the X- and Y-axis deviation values; if the deviation exceeds the allowable range, it may be necessary to recheck the fixing of the installation plate 2 and the original vehicle steering wheel 1 to ensure that the installation plate 2 is installed horizontally and firmly; for the cross workbench 3, it may be necessary to check whether the connection between its tracks is tight and whether there is position offset due to improper installation; through fine adjustment and correction of these components, the rotation center of the robot steering wheel 5 and the original vehicle steering wheel 1 in three-dimensional space is finally made to coincide as much as possible, which greatly improves the installation accuracy and control performance of the driving robot, and provides more reliable and accurate support for the testing of autonomous driving vehicles; Compared with the aforementioned embodiment, which only considers the deviations of the X-axis and Y-axis, can only adjust the position difference in the plane, and ignores the possible deviation in the Z-axis direction (vertical direction), this embodiment introduces a gyroscope and an accelerometer to obtain the rotation angle, constructs a rotation matrix and solves the equation (X0, Y0, Z0), and comprehensively considers the position relationship between the robot steering wheel 5 and the original vehicle steering wheel 1 in three-dimensional space; this makes it possible to capture slight deviations in any direction (convenient to determine the cause of the deviation), achieve more accurate installation correction, and greatly improve the concentricity and position matching accuracy of the driving robot and the original vehicle steering wheel 1; in actual installation and operation, ignoring the Z-axis deviation may cause additional cumulative errors when adjusting the X- and Y-axis deviations; for example, when trying to compensate for the Z-axis deviation that has not been considered by adjusting the X- and Y-axis positions, the position that has been adjusted in the plane may deviate again; this embodiment comprehensively considers the three-dimensional deviation, fundamentally avoids this cumulative error caused by the lack of dimension, and ensures that each adjustment is based on accurate overall deviation information, thereby improving the final installation accuracy.

[0027] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A driving robot for an autonomous driving vehicle, characterized in that: include: A mounting plate, which is arranged above the original steering wheel of the autonomous driving vehicle; A cross workbench, comprising an X-axis track, a Y-axis track and a slide, wherein the X-axis track is arranged on the upper surface of the mounting plate, the Y-axis track is slidably arranged on the X-axis track, and the slide is slidably arranged on the X-axis track; A robot motor and a robot steering wheel, wherein the robot steering wheel and the slide are respectively connected to the upper and lower ends of the robot motor rotor; A pull-wire sensor is connected to the edge of the robot steering wheel through a pull-wire, and is used to obtain the distance between the connection point and the pull-wire sensor when the original vehicle steering wheel rotates, so as to estimate the rotation center deviation value between the robot steering wheel and the original vehicle steering wheel.

2. The driving robot according to claim 1, characterized in that: Also includes: A plurality of clamps, wherein the clamps include a pair of clamps, one end of the pair of clamps is hinged and the other end is detachably connected, the pair of clamps are used to clamp the original vehicle steering wheel, and fixing holes are provided on the clamps and the fixing plate for realizing the connection between the installation plate and the original vehicle steering wheel.

3. The driving robot according to claim 1, characterized in that: The area of ​​the clamping member surrounding the fixing hole forms a plane for supporting the lower surface of the mounting plate.

4. The driving robot according to claim 1, characterized in that: Screw holes are arranged in the Y-axis track and the slide, and screw rods are arranged in the screw holes for driving the Y-axis track to move along the X-axis track and the slide to move along the X-axis track.

5. The driving robot according to claim 4, characterized in that: A crank connected to the lead screw is disposed outside the X-axis track and the Y-axis track for manually driving the Y-axis track and the slide to move.

6. The method for installing a driving robot according to claim 1, characterized in that: include: Fix the mounting plate on the original steering wheel of the autonomous driving vehicle, install a cross workbench on the mounting plate, install the robot motor on the slide, and install the robot steering wheel on the robot motor; Install the cable sensor so that its cable is connected to the edge of the robot steering wheel, rotate the original vehicle steering wheel to obtain the distance between the connection point and the cable sensor, and estimate the rotation center deviation value between the robot steering wheel and the original vehicle steering wheel; According to the deviation value, the position of the Y-axis track on the X-axis track and the position of the slide on the X-axis track are adjusted so that the rotation center of the robot steering wheel coincides with the rotation center of the original vehicle steering wheel.

7. The method for installing a driving robot according to claim 1, characterized in that: The original vehicle steering wheel is rotated to obtain the maximum and minimum values ​​of the distance between the connection point and the wire sensor, and the X-axis deviation value and the Y-axis deviation value are estimated in combination with the rotation radius of the robot steering wheel.

8. The method for installing a driving robot according to claim 6, characterized in that: A gyroscope and an accelerometer are arranged on the steering wheel of the robot to obtain the pitch angle α, yaw angle β and roll angle γ during rotation; Establish a coordinate system with the rotation center of the robot steering wheel as the origin, construct the following rotation matrix R (α, β, γ) and equation, and solve (X0, Y0, Z0), Among them, (X0, Y0, Z0) is the rotation center coordinate of the original car steering wheel, (x0, y0, z0) is the initial coordinate of the connection point, (x 1i , y 1i , z 1i ) is the coordinate of the connection point during the rotation process, i=1, 2, 3...n; The X-axis deviation value, the Y-axis deviation value and the Z-axis deviation value are determined according to (X0, Y0, Z0) to adjust the position of the Y-axis track on the X-axis track, the position of the slide on the X-axis track, and to perform installation correction on the mounting plate and the cross worktable.

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