Paver steering wheel control device based on automatic driving

Abstract

The utility model relates to a paver steering wheel control device based on automatic driving, and belongs to the field of pavers, the paver steering wheel control device comprises a paver vehicle body, a control mechanism is arranged on the inner wall of the paver vehicle body, a locking mechanism is arranged on the upper surface of the control mechanism, and the control mechanism comprises a control box. According to the paver steering wheel control device based on automatic driving, electric control over accurate steering operation can be achieved, a driver is allowed to directly control steering of a paver by manually operating a steering wheel when needed, and due to the design, the operation flexibility and the response speed are improved; seamless switching between an automatic driving mode and a manual driving mode is achieved, adaptability and reliability of the paver are enhanced, operation safety is ensured through double guarantee of face recognition and a holding sensor, misoperation of unauthorized personnel is avoided, and meanwhile, the angle sensor and the controller are used in cooperation, so that the paver is more convenient to use. And the accuracy of steering operation is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of pavers, and specifically to a steering wheel control device for a paver based on autonomous driving. Background Art

[0002] A paver is a construction equipment used for paving and leveling cement pavements on highways, urban roads, airports, docks, etc. It can quickly and efficiently carry out the paving of mixtures, ensure the quality and compaction degree of the paving layer, and reduce costs. An autonomous driving paver, also known as an "unmanned" paver, is an advanced device that realizes automated construction using modern technology. The system of an unmanned paver usually consists of a perception module, a path planning and decision-making module, a local area network communication module, a control execution module, and a background monitoring module. They can automatically perform tasks such as driving, steering, and operating the working device, achieving precise control and avoiding problems that may occur in manual operation, such as missed compaction and over-compaction.

[0003] For example, the intelligent paver with dual trajectory acquisition function disclosed in Chinese Patent Publication No. (CN 213681605 U) includes a paver and a control system. It is characterized in that: GPS+BDS+GNS satellite receivers are respectively arranged at both ends of the screed of the paver, and a radio signal receiving antenna, a microwave communication host, and a microwave communication antenna are arranged on the top cover of the paver. The remote control system is composed of the satellite receiver, the radio signal receiving antenna, the microwave communication host, and the microwave communication antenna. The satellite receiver and the radio signal receiving antenna are respectively connected to the industrial control computer on the paver through various special lines; components such as a hard disk, a processor, and a chip are arranged in the computer. By setting two satellite receivers, a radio signal receiving antenna, and a microwave communication host for dual trajectory acquisition on the paver, the construction area acquisition function of the paver is satisfied, providing navigation for the intelligent compaction of unmanned rollers, and realizing the advantages of the unmanned roller carrying out compaction construction on the high-grade highway pavement.

[0004] However, in the prior art such as the above-mentioned disclosed patent, there is still a problem that the manual operation effect of the steering wheel of an autonomous driving paver is not good. With the continuous development of autonomous driving technology, its application in the field of construction machinery is becoming more and more extensive. As an important device for road construction, the automation and intelligence level of the paver directly affect the construction efficiency and quality. Existing autonomous driving pavers usually use electronic sensors and control systems to sense the environment and adjust the driving direction, while the steering wheel is used as a backup operation means and is manually intervened and controlled when necessary. However, in this way, the switching between the steering wheel and the autonomous driving system is not smooth enough and is easily interfered by human factors. Summary of the Utility Model

[0005] In view of the deficiencies of the prior art, the present application provides a steering wheel control device for a paver based on autonomous driving, which has advantages such as good steering wheel control effect, and solves the problem of poor manual operation effect of the steering wheel of the paver for autonomous driving.

[0006] To achieve the above object, the present application provides the following technical solution: A steering wheel control device for a paver based on autonomous driving, including a paver body, an operating mechanism is provided on the inner wall of the paver body, and a locking mechanism is provided on the upper surface of the operating mechanism;

[0007] The operating mechanism includes a control box, a rotating base, a steering rod, a steering wheel, a controller, an angle sensor, and a steering assembly. The control box is fixed to the inner wall of the paver body, the rotating base is fixed to the inner bottom wall of the control box, the steering rod is rotatably connected to the inner wall of the rotating base through a bearing, the steering wheel is fixed to the top end of the steering rod, the controller is fixed to the inner bottom wall of the control box, the angle sensor is sleeved on the outer side of the steering rod, and the angle sensor is electrically connected to the controller through a wire. The steering assembly is arranged inside the paver body to control the wheels of the paver body to turn;

[0008] The steering assembly includes a steering sleeve, a steering link, a toothed plate, a steering motor, a rotating shaft, and a steering gear. The steering sleeve is fixed to the inside of the paver body by bolts, the steering link is slidably connected to the inside of the steering sleeve, the toothed plate is fixed to the middle of the upper surface of the steering link, the steering motor is fixed to the lower surface of the paver body and is located outside the steering sleeve, one end of the rotating shaft is fixed to the outer side of the output shaft of the steering motor, and the other end of the rotating shaft penetrates and extends into the inside of the steering sleeve and is fixed to the steering gear. The steering gear is meshed with the toothed plate.

[0009] By adopting this technical solution, a steering wheel control device for a paver integrating an electric control steering system is provided. Through the cooperation of the angle sensor and the controller, precise control of the wheel steering of the paver is realized, and the flexibility and accuracy of the paver operation are improved.

[0010] Further, a bracket is fixed to the right inner wall of the paver body, and a portrait recognition probe is fixed to the left end of the bracket.

[0011] By adopting this technical solution, through the setting of the portrait recognition probe, the safety of the paver during autonomous driving is enhanced, ensuring that the paver can only perform autonomous driving or manual operation when an authorized driver is in the driver's seat.

[0012] Further, a grip sensor is fixed to the upper surface of the steering wheel, and a support frame fixed to the left and right inner walls of the control box is provided on the outer side of the angle sensor.

[0013] By adopting this technical solution, the setting of the grip sensor allows the system to detect whether the driver is actually controlling the steering wheel, enhancing the safety of operation; the design of the support frame provides a stable installation position for the angle sensor, ensuring the accuracy of the sensor data.

[0014] Furthermore, the steering motor is electrically connected to a transcoder through a wire, and the transcoder is electrically connected to the controller through a wire.

[0015] By adopting this technical solution, the use of the transcoder improves the stability and accuracy of signal transmission, ensuring that the signal received by the steering motor matches the actual rotation angle of the steering rod, thereby enhancing the response speed and accuracy of the steering operation.

[0016] Furthermore, both ends of the steering linkage are respectively fixed to the front and rear wheels of the paver body.

[0017] By adopting this technical solution, fixing both ends of the steering linkage to the front and rear wheels of the paver body ensures that the steering operation can directly affect the steering of the wheels, improving the controllability and driving stability of the paver.

[0018] Furthermore, the locking mechanism includes an adjusting sleeve, a connecting gear, a locking gear sleeve, and two shift rods. The adjusting sleeve is fixed to the upper surface of the control box and is located outside the steering rod. The connecting gear is fixed to the outside of the steering rod and is located inside the adjusting sleeve. The locking gear sleeve is slidably connected to the inner wall of the adjusting sleeve, and the two shift rods are respectively fixed to the left and right sides of the locking gear sleeve.

[0019] By adopting this technical solution, the design of the locking mechanism allows the position of the steering wheel to be stabilized in the automatic driving mode, preventing misoperations caused by uneven road surfaces or other factors, and ensuring the stability of the paver's automatic driving and the construction quality.

[0020] Furthermore, sliding openings are provided on both the left and right sides of the adjusting sleeve, and the two shift rods are respectively slidably connected between the front and rear inner walls of the two sliding openings.

[0021] By adopting this technical solution, the provision of the sliding openings provides a flexible adjustment mechanism for the shift rods, enabling the locking mechanism to quickly adjust the locking position as needed, and improving the operational convenience and adaptability of the locking mechanism.

[0022] Furthermore, clamping grooves are provided on the front and rear inner walls of the two sliding openings, and the distance between the upper and lower inner walls of the clamping grooves is equal to the diameter of the shift rods.

[0023] By adopting this technical solution, the design of the card slot ensures the stability of the lever in the locked position, prevents accidental unlocking caused by vibration or other external forces, and enhances the reliability and safety of the locking mechanism.

[0024] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0025] 1. The steering wheel control device for a paver based on autonomous driving can realize the electronic control of precise steering operations, allowing the driver to directly control the steering of the paver by manually operating the steering wheel when needed. This design not only improves the flexibility and response speed of the operation but also realizes seamless switching between the autonomous driving mode and the manual mode, enhancing the adaptability and reliability of the paver. Through the dual guarantees of portrait recognition and the grip sensor, the safety of the operation is ensured, and misoperations by unauthorized personnel are avoided. At the same time, the cooperation of the angle sensor and the controller ensures the accuracy of the steering operation.

[0026] 2. The steering wheel control device for a paver based on autonomous driving provides a stable autonomous driving locking mechanism for the paver. Through the cooperation of the lever and the locking gear sleeve, it can firmly lock the position of the steering wheel during autonomous driving, preventing unnecessary steering caused by road bumps or other external factors, thereby ensuring the stability of the paver's driving and the construction quality. When manual operation is required, it can be quickly unlocked through a simple lever operation to enable the free rotation of the steering lever, allowing the driver to quickly take over control and make necessary manual adjustments, improving the operation convenience and flexibility of the paver. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of the present application;

[0028] Figure 2 It is a schematic diagram of the operating mechanism of the present application;

[0029] Figure 3 It is a schematic diagram of the steering component of the present application;

[0030] Figure 4 It is a schematic diagram of the locking mechanism of the present application;

[0031] Figure 5 It is a partial schematic diagram of the locking mechanism of the present application.

[0032] In the figure: 1, the paving machine body; 2, the operating mechanism; 21, the control box; 22, the rotating base; 23, the steering rod; 24, the steering wheel; 25, the controller; 26, the angle sensor; 27, the steering assembly; 271, the steering sleeve; 272, the steering connecting rod; 273, the toothed plate; 274, the steering motor; 275, the rotating shaft; 276, the steering gear; 28, the face recognition probe; 3, the locking mechanism; 31, the adjusting sleeve; 32, the connecting gear; 33, the locking gear sleeve; 34, the shifting rod; 35, the sliding port; 36, the card slot. Specific implementation mode

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0034] Please refer to Figure 1 , a steering wheel control device for a paving machine based on automatic driving in this embodiment includes a paving machine body 1. An operating mechanism 2 is provided on the inner wall of the paving machine body 1, and a locking mechanism 3 is provided on the upper surface of the operating mechanism 2.

[0035] Please refer to Figures 2 to 3 , for the convenience of manually operating the steering, the operating mechanism 2 in this embodiment includes a control box 21, a rotating base 22, a steering rod 23, a steering wheel 24, a controller 25, an angle sensor 26, and a steering assembly 27. The control box 21 is fixed to the inner wall of the paving machine body 1, the rotating base 22 is fixed to the inner bottom wall of the control box 21, the steering rod 23 is rotatably connected to the inner wall of the rotating base 22 through a bearing, the steering wheel 24 is fixed to the top end of the steering rod 23, the controller 25 is fixed to the inner bottom wall of the control box 21, the angle sensor 26 is sleeved outside the steering rod 23, and the angle sensor 26 is electrically connected to the controller 25 through a wire. The driver controls the steering wheel 24 to drive the steering rod 23 to rotate. The angle sensor 26 senses the rotation angle of the steering rod 23. The steering assembly 27 is arranged inside the paving machine body 1 to control the wheels of the paving machine body 1 to turn.

[0036] The steering assembly 27 includes a steering sleeve 271, a steering link 272, a toothed plate 273, a steering motor 274, a rotating shaft 275, and a steering gear 276. The steering sleeve 271 is fixed to the inside of the paver body 1 by bolts. The steering link 272 is slidably connected to the inside of the steering sleeve 271. The toothed plate 273 is fixed to the middle of the upper surface of the steering link 272. The steering motor 274 is fixed to the lower surface of the paver body 1 and is located outside the steering sleeve 271. One end of the rotating shaft 275 is fixed to the outside of the output shaft of the steering motor 274, and the other end of the rotating shaft 275 passes through and extends into the inside of the steering sleeve 271 and is fixed to the steering gear 276. The steering gear 276 is meshed with the toothed plate 273. When the steering motor 274 is started, it drives the steering gear 276 to rotate, and the wheels are steered through the toothed plate 273 and the steering link 272. In an electric control mode, the driver directly controls the steering of the paver to achieve precise operation and seamless switching between autonomous driving and manual operation.

[0037] In this embodiment, a bracket is fixed to the right inner wall of the paver body 1, and a portrait recognition probe 28 is fixed to the left end of the bracket. When manual steering control is required, first unlock the locking mechanism 3 to ensure that the steering rod 23 can rotate freely. The portrait recognition probe 28 monitors to ensure that there is a driver in the driver's seat. A grip sensor is fixed to the upper surface of the steering wheel 24. When the grip sensor detects that the driver holds the steering wheel 24, a support frame fixed to the left and right inner walls of the control box 21 is provided outside the angle sensor 26. The steering motor 274 is electrically connected to a transcoder through a wire, and the transcoder is electrically connected to the controller 25 through a wire. The driver manipulates the steering wheel 24 to drive the steering rod 23 to rotate. The angle sensor 26 senses the rotation angle of the steering rod 23 and transmits the data to the controller 25. The controller 25 processes the data of the angle sensor 26 and transmits it to the steering motor 274 through the transcoder. The steering motor 274 is started, and both ends of the steering link 272 are fixed to the front and rear wheels of the paver body 1 respectively.

[0038] Please refer to Figures 4 to 5In order to reduce the impact on automatic driving, the locking mechanism 3 in this embodiment includes an adjusting sleeve 31, a connecting gear 32, a locking gear sleeve 33 and two levers 34. The adjusting sleeve 31 is fixed to the upper surface of the control box 21 and is located on the outside of the steering rod 23. The connecting gear 32 is fixed to the outside of the steering rod 23 and is located inside the adjusting sleeve 31. The locking gear sleeve 33 is slidably connected to the inner wall of the adjusting sleeve 31. During the automatic driving process of the paving machine, ensure that the steering wheel 24 is in the right position, and drive the locking gear sleeve 33 to slide through the lever 34 and mesh with the connecting gear 32 to lock the steering rod 23. The two levers 34 are respectively fixed to the left and right sides of the locking gear sleeve 33. In the locked state, the steering rod 23 cannot rotate, so as to maintain the stability of automatic driving and avoid the impact of road bumps.

[0039] In this embodiment, sliding openings 35 are provided on the left and right sides of the adjustment sleeve 31, and two levers 34 are respectively slidably connected between the front and rear inner walls of the two sliding openings 35. The front and rear inner walls of the two sliding openings 35 are provided with card slots 36, and the distance between the upper and lower inner walls of the card slots 36 is equal to the diameter of the lever 34. When manual steering driving is required, the lever 34 moves upward, driving the locking gear sleeve 33 to separate from the connecting gear 32, and the lever 34 moves to the position of the card slot 36, and the lever 34 is moved from the sliding opening 35 into the card slot 36 by rotating the lever 34. The card slot 36 limits the movement of the lever 34, unlocks the steering rod 23, and allows the steering rod 23 to rotate with the steering wheel.

[0040] It should be noted that the standard parts used in this application document can be purchased from the market, and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatically controlled by the controller 25. The control circuit of the controller 25 can be realized by simple programming by technicians in this field, which is common knowledge in this field. Therefore, this application document will no longer explain the control method and circuit connection in detail.

[0041] The working principle of the above embodiment is:

[0042] (1)When manual steering operation is required, first unlock the locking mechanism 3 to ensure that the steering rod 23 can rotate freely. Monitor through the face recognition probe 28 to ensure that there is a driver in the driver's seat. The grip sensor detects that the driver holds the steering wheel 24. The driver manipulates the steering wheel 24 to drive the rotation of the steering rod 23. The angle sensor 26 senses the rotation angle of the steering rod 23 and transmits the data to the controller 25. The controller 25 processes the data of the angle sensor 26 and transmits it to the steering motor 274 through the transcoder. The steering motor 274 starts to drive the rotation of the steering gear 276, and realizes the steering of the wheels through the toothed plate 273 and the steering link 272. Through the electric control method, the driver directly controls the steering of the paver, realizes precise operation, and realizes seamless switching between automatic driving and manual operation.

[0043] (2)During the automatic driving process of the paver, ensure that the position of the steering wheel 24 is straightened. Drive the locking gear sleeve 33 to slide through the lever 34 and engage with the connecting gear 32 to lock the steering rod 23. In the locked state, the steering rod 23 cannot rotate, maintaining the stability of automatic driving and avoiding the influence of road surface bumps. When manual steering driving is required, the lever 34 moves upward to drive the locking gear sleeve 33 to separate from the connecting gear 32. The lever 34 moves to the position of the card slot 36 and is moved from the sliding port 35 into the card slot 36 by rotating the lever 34. The card slot 36 restricts the movement of the lever 34 to unlock the steering rod 23 and allows the steering rod 23 to rotate with the steering wheel.

Claims

1. An automatic driving-based steering wheel control device for a paver, comprising a paver body (1), characterized in that: The inner wall of the paver body (1) is provided with a control mechanism (2), and a locking mechanism (3) is arranged on the upper surface of the control mechanism (2); The control mechanism (2) includes a control box (21), a rotating base (22), a steering rod (23), a steering wheel (24), a controller (25), an angle sensor (26) and a steering assembly (27). The control box (21) is fixed to the inner wall of the paver body (1). The rotating base (22) is fixed to the inner bottom wall of the control box (21). The steering rod (23) is rotatably connected to the inner wall of the rotating base (22) through a bearing. The steering wheel (24) is fixed to the top end of the steering rod (23). The controller (25) is fixed to the inner bottom wall of the control box (21). The angle sensor (26) is sleeved outside the steering rod (23), and the angle sensor (26) is electrically connected to the controller (25) through a wire. The steering assembly (27) is arranged inside the paver body (1) to control the steering of the wheels of the paver body (1); The steering assembly (27) includes a steering sleeve (271), a steering link (272), a toothed plate (273), a steering motor (274), a rotating shaft (275) and a steering gear (276). The steering sleeve (271) is fixed to the inside of the paver body (1) by bolts. The steering link (272) is slidably connected to the inside of the steering sleeve (271). The toothed plate (273) is fixed to the middle of the upper surface of the steering link (272). The steering motor (274) is fixed to the lower surface of the paver body (1) and is located outside the steering sleeve (271). One end of the rotating shaft (275) is fixed to the outside of the output shaft of the steering motor (274), and the other end of the rotating shaft (275) passes through and extends into the inside of the steering sleeve (271) and is fixed to the steering gear (276). The steering gear (276) is meshed with the toothed plate (273).

2. The steering wheel control device for a paver based on autonomous driving according to claim 1, characterized in that: A bracket is fixed to the right inner wall of the paver body (1), and a face recognition probe (28) is fixed to the left end of the bracket.

3. The steering wheel control device for a paver based on autonomous driving according to claim 1, characterized in that: A grip sensor is fixed to the upper surface of the steering wheel (24), and a support frame fixed to the left and right inner walls of the control box (21) is arranged outside the angle sensor (26).

4. The steering wheel control device for a paver based on autonomous driving according to claim 1, characterized in that: The steering motor (274) is electrically connected to a transcoder through a wire, and the transcoder is electrically connected to the controller (25) through a wire.

5. The steering wheel control device of a paver based on autonomous driving according to claim 1, characterized in that: Both ends of the steering link (272) are respectively fixed to the front and rear wheels of the paver body (1).

6. The steering wheel control device for a paver based on autonomous driving according to claim 1, wherein: The locking mechanism (3) includes an adjusting sleeve (31), a connecting gear (32), a locking gear sleeve (33) and two shift rods (34). The adjusting sleeve (31) is fixed to the upper surface of the control box (21) and is located outside the steering rod (23). The connecting gear (32) is fixed to the outside of the steering rod (23), and the connecting gear (32) is located inside the adjusting sleeve (31). The locking gear sleeve (33) is slidably connected to the inner wall of the adjusting sleeve (31), and the two shift rods (34) are respectively fixed to the left and right sides of the locking gear sleeve (33).

7. The steering wheel control device for a paver based on autonomous driving according to claim 6, characterized in that: Sliding openings (35) are formed on both the left and right sides of the adjusting sleeve (31), and the two shift rods (34) are respectively slidably connected between the front and rear inner walls of the two sliding openings (35).

8. The steering wheel control device of a paver based on autonomous driving according to claim 7, characterized in that: Card slots (36) are formed on the front and rear inner walls of the two sliding openings (35), and the distance between the upper and lower inner walls of the card slot (36) is equal to the diameter of the shift rod (34).

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