Steer-by-wire system of intelligent driving tricycle

Abstract

The invention discloses an intelligent driving tricycle steer-by-wire system which comprises a front frame, a front suspension, a steering column, a steering motor, a steering rod, a steering column bevel gear, a steering rod bevel gear, a visual recognition system, a positioning module, an obstacle avoidance sensor, a controller and a power supply battery. A column body of the steering column is rotatably connected with the front frame, the steering motor is fixedly connected with the front frame, one end of the steering rod is fixedly connected with a motor shaft of the steering motor, the other end of the steering rod is fixedly connected with the steering rod bevel gear, the other end of the steering column is fixedly connected with the steering column bevel gear, and the steering column bevel gear is meshed with the steering rod bevel gear. And the steering motor, the visual identification system, the positioning module and the obstacle avoidance sensor are respectively controlled by the controller. The system is simple in structure, and can intelligently, linearly and accurately control a turning angle and control a vehicle to flexibly steer, so that intelligent unmanned driving of the vehicle is realized, the working efficiency is improved, and the working intensity is reduced.

Description

Technical Field

[0001] This invention relates to the field of tricycle technology, and in particular to a drive-by-wire steering system for an intelligent driving tricycle. Background Technology

[0002] Currently, for cleaning stubborn stains on city streets and guardrails, electric high-pressure washing vehicles are generally used. During cleaning, workers need to drive the washing vehicles, which is physically demanding, causes fatigue, and is inefficient. Therefore, there is a need for a smart, driverless tricycle with washing capabilities to meet the demands of environmentally friendly cleaning.

[0003] When using a smart driving tricycle with a rinsing function for cleaning, the steering system is indispensable for the operation of the smart driving tricycle. Therefore, the steering system is a very important system for smart driving tricycles.

[0004] To cover the cleaning needs of narrow areas such as sidewalks and curbs, and to improve work efficiency and mobility, intelligent driving tricycles must have a steering system that can precisely control the turning angle and flexibly turn. Therefore, there is an urgent need to develop an intelligent driving tricycle steering system that can achieve precise closed-loop linear control. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an intelligent driving tricycle drive-by-wire steering system that can not only accurately control the turning angle and steer flexibly during cleaning work, but also has high work efficiency, low work intensity, and reduces worker fatigue, and has a simple structure.

[0006] To solve the above-mentioned technical problems, the present invention adopts a drive-by-wire steering system for an intelligent driving tricycle, including a front frame, a front suspension, and a steering column. One end of the steering column is fixedly connected to the connecting plate of the front suspension, and the column body is rotatably connected to the front frame. The system also includes a steering motor, a steering rod, a steering column bevel gear, a steering rod bevel gear, a vision recognition system, a positioning module, an obstacle avoidance sensor, a controller, and a power supply battery. The steering motor is fixedly connected to the front frame. One end of the steering rod is fixedly connected to the motor shaft of the steering motor, and the other end of the steering rod is fixedly connected to the steering rod bevel gear. The other end of the steering column is fixedly connected to the steering column bevel gear, and the steering column bevel gear meshes with the steering rod bevel gear. The steering motor, vision recognition system, positioning module, and obstacle avoidance sensor are electrically connected to the controller, and the steering motor, vision recognition system, positioning module, obstacle avoidance sensor, and controller are electrically connected to the power supply battery.

[0007] In a preferred embodiment of the present invention, the upper end of the steering column is fixedly connected to the upper connecting plate of the front suspension, the column body of the steering column is rotatably connected to the front frame through a front sleeve, the bottom end of the steering column is fixedly connected to the steering column bevel gear, the steering motor is fixedly connected to the front frame through a fixed bracket, the rear end of the steering rod is fixedly connected to the motor shaft of the steering motor, the front end of the steering rod is fixedly connected to the steering rod bevel gear, and the steering column bevel gear meshes with the steering rod bevel gear.

[0008] In a preferred embodiment of the present invention, the steer-by-wire system further includes a universal coupling, and the rear end of the steering rod is connected to the motor shaft of the steering motor through the universal coupling.

[0009] In a preferred embodiment of the present invention, the steer-by-wire system further includes a steering column bearing, a steering rod bearing, a bevel gear housing, and a bevel gear housing cover plate. The steering column bearing is sleeved on the lower part of the steering column body, and the steering rod bearing is sleeved on the front part of the steering rod body. The side of the bevel gear housing is fixedly connected to the fixed bracket. The bevel gear housing cover plate is fitted onto the bevel gear housing. The bevel gear housing and the bevel gear housing cover plate have groove structures inside for fitting and installing the steering column bearing and the lower part of the steering column body, and the steering rod bearing and the front part of the steering rod body. The steering column bearing and the lower part of the steering column body, and the steering rod bearing and the front part of the steering rod body are respectively installed in the groove structures. The steering column bevel gear meshes with the steering rod bevel gear and is installed in the cavity formed by the bevel gear housing and the bevel gear housing cover plate.

[0010] In a preferred embodiment of the present invention, the steer-by-wire system further includes a steering column link, the upper end of the steering column is fixedly connected to the lower end of the steering column link, the upper end of the steering column link is fixedly connected to the upper connecting plate of the front suspension, and the body of the steering column link is rotatably connected to the front frame through a front sleeve.

[0011] In a preferred embodiment of the present invention, the fixed bracket includes a lower vertical plate, a horizontal plate, a side vertical plate, and an upper vertical plate. The lower vertical plate is vertically arranged, and the steering motor is mounted on the lower vertical plate. The horizontal plate is longitudinally arranged, and its rear side is fixedly connected to the upper end of the lower vertical plate. The side vertical plate is vertically arranged, and its upper side is fixedly connected to the front side of the horizontal plate. The side of the bevel gear housing is connected to the side vertical plate. The upper vertical plate is U-shaped, and its bottom end is fixedly connected to the horizontal plate. Its upper end is fixedly connected to the front frame.

[0012] In a preferred embodiment of the present invention, the visual recognition system employs a high-definition camera and / or a lidar, the positioning module employs an RTK high-precision positioning module and / or a SLAM lidar mapping and navigation fusion positioning module, the obstacle avoidance sensor employs an ultrasonic sensor and / or an infrared sensor, the controller employs an RK3588 controller, and the power supply battery employs a lithium battery and / or a lead-acid battery. The visual recognition system, positioning module, obstacle avoidance sensor, controller, and power supply battery are all mounted on the vehicle frame.

[0013] By adopting the above structure, the present invention has the following beneficial effects: This invention discloses an intelligent driving tricycle steer-by-wire system, comprising a front frame, a front suspension, and a steering column. One end of the steering column is fixedly connected to the connecting plate of the front suspension, and the column body is rotatably connected to the front frame. The system also includes a steering motor, a steering rod, a steering column bevel gear, a steering rod bevel gear, a vision recognition system, a positioning module, an obstacle avoidance sensor, a controller, and a power supply battery. The steering motor is fixedly connected to the front frame. One end of the steering rod is fixedly connected to the motor shaft of the steering motor, and the other end of the steering rod is fixedly connected to the steering rod bevel gear. The other end of the steering column is fixedly connected to the steering column bevel gear, and the steering column bevel gear meshes with the steering rod bevel gear. The steering motor, vision recognition system, positioning module, and obstacle avoidance sensor are electrically connected to the controller, and the steering motor, vision recognition system, positioning module, obstacle avoidance sensor, and controller are electrically connected to the power supply battery. This invention is powered by a battery and uses a controller for precise closed-loop linear control of the steering motor. The steering system, connected by bevel gears, precisely controls the steering angle for flexible maneuverability, ensuring both maximum steering torque and accurate steering. Under the controller's control, the steering motor, vision recognition system, positioning module, and obstacle avoidance sensors work collaboratively. The vision recognition system captures target features, the positioning module ensures the intelligent driving tricycle maintains a relative position with the target, and the obstacle avoidance sensors help the tricycle detect its surroundings in real time to avoid collisions. The controller comprehensively processes this data and linearly and precisely adjusts the tricycle's direction and speed to achieve intelligent driving. During cleaning operations, the drive-by-wire steering system eliminates the need for manual operation by cleaning staff, and the intelligent driving tricycle requires no manual driving, resulting in high work efficiency, low workload, reduced staff fatigue, and a simple and reliable structure.

[0014] In this invention, the upper end of the steering column is fixedly connected to the upper connecting plate of the front suspension; the column body is rotatably connected to the front frame via a front sleeve; the bottom end of the steering column is fixedly connected to the steering column bevel gear; the steering motor is fixedly connected to the front frame via a fixed bracket; the rear end of the steering rod is fixedly connected to the motor shaft of the steering motor; the front end of the steering rod is fixedly connected to the steering rod bevel gear; and the steering column bevel gear meshes with the steering rod bevel gear. This structure of the invention is easy to install, provides reliable connection, and is convenient and securely fixed.

[0015] The steer-by-wire system of this invention also includes a universal joint, through which the rear end of the steering rod is connected to the motor shaft of the steering motor. The structure of the universal joint facilitates the installation and maintenance of the steering motor, steering rod, and steering rod bevel gear, and allows the steering motor to be adjusted within a certain angle range.

[0016] The steer-by-wire system of this invention further includes a steering column bearing, a steering rod bearing, a bevel gear housing, and a bevel gear housing cover. The steering column bearing is sleeved on the lower part of the steering column shaft, and the steering rod bearing is sleeved on the front part of the steering rod shaft. The side of the bevel gear housing is fixedly connected to the fixed bracket. The bevel gear housing cover is fitted onto the bevel gear housing. The bevel gear housing and the bevel gear housing cover have internal groove structures for fitting the steering column bearing and the lower part of the steering column shaft, and the steering rod bearing and the front part of the steering rod shaft. The steering column bearing and the lower part of the steering column shaft, and the steering rod bearing and the front part of the steering rod shaft are respectively installed within the groove structures. The steering column bevel gear meshes with the steering rod bevel gear and is installed within the cavity formed by the bevel gear housing and the bevel gear housing cover. Thus, the structure of the bearing, housing, and housing cover of this invention allows for more accurate and precise installation of the steering column, steering rod, and bevel gear, a more compact and suitable bevel gear meshing connection, and smoother rotation. Simultaneously, the housing and housing cover also provide positioning and protection for the bevel gear.

[0017] The steer-by-wire system of this invention also includes a steering column link. The upper end of the steering column is fixedly connected to the lower end of the steering column link, and the upper end of the steering column link is fixedly connected to the upper connecting plate of the front suspension. The body of the steering column link is rotatably connected to the front frame through a front sleeve. This structure makes the installation and maintenance of the steering column and steering column bevel gear more convenient and quick.

[0018] The fixed bracket of this invention includes a lower vertical plate, a horizontal plate, a side vertical plate, and an upper vertical plate. The lower vertical plate is vertically arranged, and the steering motor is mounted on the lower vertical plate. The horizontal plate is longitudinally arranged, and its rear side is fixedly connected to the upper end of the lower vertical plate. The side vertical plate is vertically arranged, and its upper side is fixedly connected to the front side of the horizontal plate. The side of the bevel gear housing is connected to the side vertical plate. The upper vertical plate is U-shaped, and its bottom end is fixedly connected to the horizontal plate. Its upper end is fixedly connected to the front frame. With this structure, the bevel gear housing and the steering motor are fixedly connected to the front frame via the fixed bracket, resulting in a more stable and reliable structure and a more reasonable and precise installation.

[0019] The visual recognition system of this invention employs a high-definition camera and / or LiDAR; the positioning module employs an RTK high-precision positioning module and / or a SLAM LiDAR mapping, navigation, and fusion positioning module; the obstacle avoidance sensor employs an ultrasonic sensor and / or an infrared sensor; the controller employs an RK3588 controller; and the power supply battery employs a lithium battery and / or a lead-acid battery. The visual recognition system, positioning module, obstacle avoidance sensor, controller, and power supply battery are all mounted on the vehicle frame. This allows for a more flexible and practical approach to achieving intelligent driving.

[0020] This invention has a simple structure, is easy to implement, simple to install and operate, and has low manufacturing cost. Attached Figure Description

[0021] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] Figure 1 This is a three-dimensional schematic diagram of the structure of the intelligent driving tricycle steer-by-wire system of the present invention.

[0023] Figure 2 This is a side perspective three-dimensional schematic diagram of the structure of the intelligent driving tricycle steer-by-wire system of the present invention.

[0024] Figure 3 This is a three-dimensional schematic diagram of the structure of the transmission part of the steering system of the present invention.

[0025] Figure 4 This is a three-dimensional schematic diagram of the structure of the bevel gear housing and the fixed bracket of the present invention.

[0026] Figure 5 This is a three-dimensional schematic diagram of the structure of the bevel gear, bearing, steering column connecting rod, and universal coupling of the present invention.

[0027] Figure 6 This is a three-dimensional schematic diagram of the structure of the fixing bracket of the present invention from another perspective. Detailed Implementation

[0028] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The diagram illustrates a drive-by-wire steering system for an intelligent driving tricycle, comprising a front frame 1, a front suspension 2, and a steering column 3. One end of the steering column 3 is fixedly connected to the connecting plate 4 of the front suspension 2, and the column body of the steering column 3 is rotatably connected to the front frame 1. The system also includes a steering motor 5, a steering rod 6, a steering column bevel gear 7, a steering rod bevel gear 8, a vision recognition system, a positioning module, an obstacle avoidance sensor, a controller, and a power supply battery. The steering motor 5 is fixedly connected to the front frame 1. One end of the steering rod 6 is fixedly connected to the motor shaft of the steering motor 5, and the other end of the steering rod 6 is fixedly connected to the steering rod bevel gear 8. The other end of the steering column 3 is fixedly connected to the steering column bevel gear 7, and the steering column bevel gear 7 meshes with the steering rod bevel gear 8. The steering motor 5, vision recognition system, positioning module, and obstacle avoidance sensor are electrically connected to the controller, and the steering motor 5, vision recognition system, positioning module, obstacle avoidance sensor, and controller are electrically connected to the power supply battery. The vision recognition system, positioning module, obstacle avoidance sensor, controller, and power supply battery are not shown in the diagram.

[0029] As a preferred embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the upper end of the steering column 3 is fixedly connected to the upper connecting plate 4-1 of the front suspension 2, the column body of the steering column 3 is rotatably connected to the front frame 1 through the front sleeve 9, the bottom end of the steering column 3 is fixedly connected to the steering column bevel gear 7, the steering motor 5 is fixedly connected to the front frame 1 through the fixed bracket 10, the rear end of the steering rod 6 is fixedly connected to the motor shaft of the steering motor 5, the front end of the steering rod 6 is fixedly connected to the steering rod bevel gear 8, and the steering column bevel gear 7 and the steering rod bevel gear 8 are meshed together.

[0030] As a preferred embodiment of the present invention, such as Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the steer-by-wire system also includes a universal coupling 11, and the rear end of the steering rod 6 is connected to the motor shaft of the steering motor 5 through the universal coupling 11.

[0031] As a preferred embodiment of the present invention, such as Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the steer-by-wire system also includes a steering column bearing 12, a steering rod bearing 13, a bevel gear housing 14, and a bevel gear housing cover. The steering column bearing 12 is sleeved on the lower part of the steering column 3, and the steering rod bearing 13 is sleeved on the front part of the steering rod 6. The side of the bevel gear housing 14 is fixedly connected to the fixed bracket 10. The bevel gear housing cover is fitted onto the bevel gear housing 14. The bevel gear housing 14 and the bevel gear housing cover have groove structures 15 inside for fitting the steering column bearing 12 and the lower part of the steering column 3, and the steering rod bearing 13 and the front part of the steering rod 6. The steering column bearing 12 and the lower part of the steering column 3, and the steering rod bearing 13 and the front part of the steering rod 6 are respectively installed in the groove structure 15. The steering column bevel gear 7 meshes with the steering rod bevel gear 8 and is installed in the cavity 16 formed by the bevel gear housing 14 and the bevel gear housing cover. The bevel gear housing cover is not shown in the figure.

[0032] As a preferred embodiment of the present invention, such as Figure 3 , Figure 4 and Figure 5 As shown, the steer-by-wire system also includes a steering column link 17. The upper end of the steering column 3 is fixedly connected to the lower end of the steering column link 17. The upper end of the steering column link 17 is fixedly connected to the upper connecting plate 4-1 of the front suspension 2. The body of the steering column link 17 is rotatably connected to the front frame 1 through the front sleeve 9.

[0033] As a preferred embodiment of the present invention, such as Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the fixed bracket 10 includes a lower vertical plate 10-1, a horizontal plate 10-2, a side vertical plate 10-3, and an upper vertical plate 10-4. The lower vertical plate 10-1 is vertically arranged, and the steering motor 5 is mounted on the lower vertical plate 10-1. The horizontal plate 10-2 is longitudinally arranged, and its rear side is fixedly connected to the upper end of the lower vertical plate 10-1. The side vertical plate 10-3 is vertically arranged, and its upper side is fixedly connected to the front side of the horizontal plate 10-2. The side of the bevel gear housing 14 is connected to the side vertical plate 10-3. The upper vertical plate 10-4 is U-shaped, and its bottom end is fixedly connected to the horizontal plate 10-2. The upper end of the upper vertical plate 10-4 is fixedly connected to the front frame 1.

[0034] In a preferred embodiment of the present invention, the visual recognition system employs a high-definition camera and / or a lidar, the positioning module employs an RTK high-precision positioning module and / or a SLAM lidar mapping and navigation fusion positioning module, the obstacle avoidance sensor employs an ultrasonic sensor and / or an infrared sensor, the controller employs an RK3588 controller, and the power supply battery employs a lithium battery and / or a lead-acid battery. The visual recognition system, positioning module, obstacle avoidance sensor, controller, and power supply battery are all mounted on the vehicle frame.

[0035] This invention utilizes a lithium battery and / or lead-acid battery for power supply. A controller provides precise closed-loop linear control of the steering motor, which is connected to the steering rod bevel gear via a steering column bevel gear for precise angle control and flexible steering of the tricycle. The controller coordinates the steering motor, vision recognition system, positioning module, and obstacle avoidance sensors. The vision recognition system captures target features using a camera and / or LiDAR. The positioning module combines RTK high-precision positioning technology and / or SLAM LiDAR mapping and navigation fusion positioning technology to ensure the intelligent driving tricycle maintains a relative position with the target. The obstacle avoidance sensors use ultrasonic and / or infrared sensors to help the intelligent driving tricycle detect the surrounding environment in real time and avoid collisions with obstacles. The controller uses an RK3588 controller to comprehensively process this data, linearly and precisely adjusting the tricycle's direction and speed to achieve intelligent driving.

[0036] When this invention is in operation, based on data from the visual recognition system, positioning module, and obstacle avoidance sensor, the controller linearly controls the rotation of the motor shaft of the steering motor 5. The motor shaft drives the steering rod 6 to rotate through the universal coupling 11. The steering rod 6 drives the steering rod bevel gear 8 to rotate. Since the steering rod bevel gear 8 is meshed with the steering column bevel gear 7, the steering rod bevel gear 8 transmits power to the steering column bevel gear 7 to make it rotate. The steering column bevel gear 7 then drives the steering column 3 to rotate, and the steering column connecting rod 17 also rotates synchronously. Since the steering column connecting rod 17 is fixedly connected to the upper connecting plate 4-1 of the front suspension 2, the steering column connecting rod 17 drives the front suspension 2 to steer the front wheels of the tricycle.

[0037] After testing, the intelligent driving tricycle's steer-by-wire system of this invention can achieve precise closed-loop linear control through an intelligent control system, accurately controlling the turning angle and flexibly steering the vehicle, ensuring that the vehicle can operate even in narrow areas. During cleaning operations, the intelligent driving tricycle described in this invention can achieve intelligent unmanned driving, eliminating the need for cleaning workers to manually drive the vehicle. This results in high work efficiency, low workload, and excellent vehicle maneuverability, achieving good practical results.

Claims

1. A drive-by-wire steering system for an intelligent driving tricycle, comprising a front frame (1), a front suspension (2), and a steering column (3), wherein one end of the steering column (3) is fixedly connected to the connecting plate (4) of the front suspension (2), and the column body of the steering column (3) is rotatably connected to the front frame (1), characterized in that: It also includes a steering motor (5), a steering rod (6), a steering column bevel gear (7), a steering rod bevel gear (8), a vision recognition system, a positioning module, an obstacle avoidance sensor, a controller, and a power supply battery. The steering motor (5) is fixedly connected to the front frame (1). One end of the steering rod (6) is fixedly connected to the motor shaft of the steering motor (5), and the other end of the steering rod (6) is fixedly connected to the steering rod bevel gear (8). The other end of the steering column (3) is fixedly connected to the steering column bevel gear (7). The steering column bevel gear (7) meshes with the steering rod bevel gear (8). The steering motor (5), the vision recognition system, the positioning module, and the obstacle avoidance sensor are electrically connected to the controller, and the steering motor (5), the vision recognition system, the positioning module, the obstacle avoidance sensor, and the controller are electrically connected to the power supply battery.

2. The intelligent driving tricycle steer-by-wire system according to claim 1, characterized in that: The upper end of the steering column (3) is fixedly connected to the upper connecting plate (4-1) of the front suspension (2). The column body of the steering column (3) is rotatably connected to the front frame (1) through the front sleeve (9). The bottom end of the steering column (3) is fixedly connected to the steering column bevel gear (7). The steering motor (5) is fixedly connected to the front frame (1) through the fixed bracket (10). The rear end of the steering rod (6) is fixedly connected to the motor shaft of the steering motor (5). The front end of the steering rod (6) is fixedly connected to the steering rod bevel gear (8). The steering column bevel gear (7) and the steering rod bevel gear (8) are meshed together.

3. The intelligent driving tricycle steer-by-wire system according to claim 2, characterized in that: The steer-by-wire system also includes a universal coupling (11), and the rear end of the steering rod (6) is connected to the motor shaft of the steering motor (5) through the universal coupling (11).

4. The intelligent driving tricycle steer-by-wire system according to claim 2, characterized in that: The steer-by-wire system also includes a steering column bearing (12), a steering rod bearing (13), a bevel gear housing (14), and a bevel gear housing cover. The steering column bearing (12) is fitted onto the lower part of the steering column (3), and the steering rod bearing (13) is fitted onto the front part of the steering rod (6). The side of the bevel gear housing (14) is fixedly connected to the fixed bracket (10). The bevel gear housing cover is fitted onto the bevel gear housing (14). The bevel gear housing (14) and the bevel gear housing cover are internally provided with... There is a groove structure (15) for mounting the steering column bearing (12) and the lower part of the steering column (3) and the steering rod bearing (13) and the front part of the steering rod (6). The steering column bearing (12) and the lower part of the steering column (3), and the steering rod bearing (13) and the front part of the steering rod (6) are respectively installed in the groove structure (15). The steering column bevel gear (7) meshes with the steering rod bevel gear (8) and is installed in the cavity (16) formed by the bevel gear housing (14) and the bevel gear housing cover plate.

5. The intelligent driving tricycle steer-by-wire system according to claim 2, characterized in that: The steer-by-wire system also includes a steering column link (17), the upper end of the steering column (3) is fixedly connected to the lower end of the steering column link (17), the upper end of the steering column link (17) is fixedly connected to the upper connecting plate (4-1) of the front suspension (2), and the body of the steering column link (17) is rotatably connected to the front frame (1) through the front sleeve (9).

6. The intelligent driving tricycle steer-by-wire system according to claim 4, characterized in that: The fixed bracket (10) includes a lower vertical plate (10-1), a horizontal plate (10-2), a side vertical plate (10-3), and an upper vertical plate (10-4). The lower vertical plate (10-1) is vertically arranged, and the steering motor (5) is mounted on the lower vertical plate (10-1). The horizontal plate (10-2) is longitudinally arranged, and the rear side of the horizontal plate (10-2) is fixedly connected to the upper end of the lower vertical plate (10-1). The side vertical plate (10-3) is vertically arranged, and the upper side of the side vertical plate (10-3) is fixedly connected to the front side of the horizontal plate (10-2). The side of the bevel gear housing (14) is connected to the side vertical plate (10-3). The upper vertical plate (10-4) is U-shaped, and the bottom end of the upper vertical plate (10-4) is fixedly connected to the horizontal plate (10-2). The upper end of the upper vertical plate (10-4) is fixedly connected to the front frame (1).

7. The intelligent driving tricycle steer-by-wire system according to claim 1, characterized in that: The visual recognition system uses a high-definition camera and / or LiDAR; the positioning module uses an RTK high-precision positioning module and / or a SLAM LiDAR mapping, navigation and positioning fusion module; the obstacle avoidance sensor uses an ultrasonic sensor and / or an infrared sensor; the controller uses an RK3588 controller; and the power supply battery uses a lithium battery and / or a lead-acid battery. The visual recognition system, positioning module, obstacle avoidance sensor, controller and power supply battery are all mounted on the vehicle frame.

Images