Hangar charging system

Abstract

The utility model discloses a hangar charging system, and relates to the field of unmanned aerial vehicle charging. The hangar charging system comprises a hangar body, a first light energy charging panel, a second transmitting module, a laser rotating table, a first transmitting module and a storage battery. On one hand, laser can be emitted to the first light energy charging panel on the hangar body by the first emitting module at a base station fixed point such as the ground side, so that the unmanned aerial vehicle hangar is charged; on the other hand, the second transmitting module transmits laser to the second light energy charging panel of the unmanned aerial vehicle to charge the power battery of the unmanned aerial vehicle, and the laser charging mode is adopted, so that physical contact is not needed in the electric power supplementing stage, and limitation of the unmanned aerial vehicle and the parking position of the unmanned aerial vehicle garage is avoided; the charging mode of the unmanned aerial vehicle and the charging mode of the unmanned aerial vehicle garage are more flexible; and the charging speed is high, a large amount of electric energy can be supplemented for the unmanned aerial vehicle and the unmanned aerial vehicle garage in a short time, the endurance anxiety of the unmanned aerial vehicle is effectively solved, and the working efficiency of the unmanned aerial vehicle is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane charging field, concretely relates to a hangar charging system. BACKGROUND

[0002] With the rapid development of the field of aircraft, unmanned plane and load its unmanned plane hangar popular rapidly, have extensive use in different industries, and unmanned plane often need to attend to execute various tasks, including ground information collection, target identification and tracking etc. Since unmanned plane usually relies on power supply driving force, when its endurance is insufficient, need to charge the battery in unmanned plane.

[0003] At present, can return to unmanned plane in unmanned plane hangar through control, carry out charging to unmanned plane through the storage battery in unmanned plane hangar, but the storage battery in unmanned plane hangar needs to be charged again after discharging, this scheme, endurance anxiety exists in actual use stage, for example, under the condition of outdoor, field etc., unmanned plane hangar movement exists the situation of being unable to displace to the preset positioning charging position, therefore, need to further optimize the charging scheme of unmanned plane hangar and unmanned plane. UTILITY MODEL CONTENT

[0004] To solve the technical problem of the above background art, the utility model provides a hangar charging system, comprising:

[0005] Hangar body, the power supply compartment is arranged in the hangar body;

[0006] The first light energy charging plate is fixedly arranged on the hangar body;

[0007] The second emission module is used for emitting laser towards the second light energy charging plate of unmanned plane;

[0008] The laser rotating table has a mounting end and a rotating end, the mounting end is fixedly connected with the hangar body, the second emission module is installed on the rotating end, and the rotating path of the second emission module is arranged to avoid the first light energy charging plate;

[0009] The first emission module is adapted to be connected with the ground side, and the first emission module is used for emitting laser towards the first light energy charging plate;

[0010] And the storage battery is installed in the power supply compartment, the storage battery and the first light energy charging plate are electrically connected, and the second emission module and the laser rotating table are electrically connected with the storage battery respectively.

[0011] As a preferred technical scheme, the hangar charging system further comprises a communication positioning module fixedly arranged on the hangar body, the communication positioning module and the first light energy charging plate are arranged in a spaced manner, and the communication positioning module is used at least for acquiring three-dimensional coordinate information of the first light energy charging plate and three-dimensional coordinate information of the second light energy charging plate of the unmanned aerial vehicle.

[0012] As a preferred technical scheme, the hangar charging system further comprises a first control module connected with the communication positioning module, and the first control module is used for controlling the first emitting module to emit laser light towards a region where the three-dimensional coordinate information is located according to the three-dimensional coordinate information of the first light energy charging plate.

[0013] The hangar charging system further comprises a second control module connected with the communication positioning module, and the first control module is used for controlling the rotating end of the laser rotating table to drive the second emitting module to move to emit laser light towards a region where the three-dimensional coordinate information is located according to the three-dimensional coordinate information of the second light energy charging plate.

[0014] As a preferred technical scheme, the first light energy charging plate comprises, in sequence, a light-transmitting protective layer, a photoelectric conversion layer, a thermoelectric conversion layer, a heat-dissipating support layer, a connecting conductive layer and a back-sealing protective layer.

[0015] As a preferred technical scheme, a light-irradiation receiving area of the first light energy charging plate is arranged as 90% of an area of a side receiving laser light.

[0016] As a preferred technical scheme, the hangar body is arranged in a cuboid structure, and the first light energy charging plate, the laser rotating table and the first emitting module are arranged on an upper end surface of the cuboid structure.

[0017] As a preferred technical scheme, at least one storage compartment is arranged in the hangar body, the storage compartment and the power supply compartment are arranged in a spaced manner, the storage compartment is arranged on an upper end of the power supply compartment, and a parking platform is arranged on the storage compartment.

[0018] As a preferred technical scheme, an energy supply unit is arranged on the hangar body, the energy supply unit is electrically connected with the battery, the energy supply unit is electrically connected with the first emitting module, and the energy supply unit is electrically connected with the laser rotating table.

[0019] As a preferred technical scheme, an alternating current input device is further arranged on the hangar body, and the alternating current input device is electrically connected with the energy supply unit.

[0020] As a preferred technical scheme, a plurality of driving modules are arranged on a bottom of the hangar body, and the driving modules are configured to drive steering engine wheels.

[0021] The technical scheme provided by the utility model has the following advantages:

[0022] The hangar charging system provided by the utility model comprises a hangar body, a first light energy charging plate, a second emission module, a laser rotating table, a first emission module and a storage battery, the hangar body is internally provided with a power supply compartment, the first light energy charging plate is fixedly arranged on the hangar body, the second emission module is used for emitting laser light towards the second light energy charging plate of the unmanned aerial vehicle; the laser rotating table has a mounting end and a rotating end, the mounting end is fixedly connected with the hangar body, the second emission module is mounted on the rotating end, and the rotating path of the second emission module is arranged in avoidance of the first light energy charging plate; the first emission module is adapted to be connected with the ground side, and the first emission module is used for emitting laser light towards the first light energy charging plate; the storage battery is mounted in the power supply compartment, the storage battery and the first light energy charging plate are electrically connected, and the second emission module and the laser rotating table are electrically connected with the storage battery.

[0023] The hangar charging system has the following advantages: on the one hand, the first emission module at the base station fixed point on the ground side can emit laser light towards the first light energy charging plate on the hangar body, and the power supply of the unmanned aerial vehicle hangar can be supplemented by photoelectric conversion; on the other hand, the second emission module can emit laser light towards the second light energy charging plate of the unmanned aerial vehicle, and the power battery of the unmanned aerial vehicle can be charged by photoelectric conversion; in this way, the laser charging mode does not need physical contact in the power supply stage, the laser charging device can directly realize long-distance and high-precision energy transmission, is not limited by the parking position of the unmanned aerial vehicle and the unmanned aerial vehicle hangar, makes the charging of the unmanned aerial vehicle and the power supply of the unmanned aerial vehicle hangar more flexible, the charging speed is fast, a large amount of electric energy can be supplied to the unmanned aerial vehicle and the unmanned aerial vehicle hangar in a short time, the endurance anxiety of the unmanned aerial vehicle is effectively solved, and the working efficiency of the unmanned aerial vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the specific embodiment of the utility model or the prior art, the drawings needed to be used in the specific embodiment or the prior art description will be briefly introduced as follows, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0025] Figure 1 It is a structural schematic diagram of the hangar charging system provided by the utility model;

[0026] Figure 2 It is a schematic diagram of the hangar charging system provided by the utility model;

[0027] Figure 3 It is an assembly schematic diagram of the first light energy charging plate in the hangar charging system provided by the utility model;

[0028] Figure 4 The structure diagram of the first light energy charging plate in the hangar charging system is provided;

[0029] Mark for explaining:

[0030] 101-hangar body; 102-first light energy charging plate; 1021-light protection layer; 1022-photoelectric conversion layer; 1023-thermoelectric conversion layer; 1024-heat dissipation support layer; 1025-conductive connection layer; 1026-back sealing protection layer; 103-second emission module; 104-laser rotating table; 105-communication positioning module; 106-second control module; 107-power supply compartment; 108-battery; 109-AC output device; 110-energy supply unit; 111-driving module;

[0031] 201-first emission module; 202-first control module;

[0032] 301-second light energy charging plate; 302-air power battery. Specific implementation

[0033] The technical solutions of the utility model will be described clearly and completely in combination with the drawings, obviously, the described embodiments are a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without making creative labor belong to the scope of protection of the utility model.

[0034] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, construct and operate in a particular orientation, therefore, it cannot be understood as the limitation of the utility model. In addition, the term "first", "second" is only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one feature. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not in the protection scope required by the utility model.

[0035] In the description of the utility model, it needs to explain, unless otherwise explicitly specified and limited, the term "installation", "connection", "connection" should be broad sense, for example, it can be fixed connection, also can be detachable connection, or integrally connected;It can be mechanical connection, also can be electrical connection;It can be directly connected, also can be indirectly connected through the intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to specific circumstances.

[0036] Embodiment

[0037] The embodiment provides a hangar charging system, as shown in Figure 1 and Figure 2 It is shown that it includes hangar body 101, first light energy charging plate 102, second emission module 103, laser rotating table 104, first emission module 201 and battery 108, the installation basis of hangar body 101 as first light energy charging plate 102, laser rotating table 104, first emission module 201 and battery 108;Power supply compartment 107 is arranged in hangar body 101, and battery 108 is installed in power supply compartment 107. Battery 108 and first light energy charging plate 102 are electrically connected, and second emission module 103 and laser rotating table 104 are electrically connected with battery 108 respectively.

[0038] In the embodiment, the first emission module 201 is adapted to be connected with the ground side, and the first emission module 201 is used for emitting laser to the first light energy charging plate 102; and the first light energy charging plate 102 is fixedly arranged on the hangar body 101.

[0039] In the embodiment, the second emission module 103 is used for emitting laser to the second light energy charging plate 301 of the unmanned aerial vehicle, and the laser rotating table 104 has a mounting end and a rotating end; the mounting end is fixedly connected with the hangar body 101, and the second emission module is arranged on the rotating end; and the rotating path of the second emission module is arranged to avoid the first light energy charging plate 102. The power battery is arranged on the unmanned aerial vehicle, and the power battery is arranged in electrical connection with the second light energy charging plate 301.

[0040] The hangar charging system provided by the embodiment can realize the following effects. On the one hand, the first emission module 201 at the base station fixed point on the ground side can emit laser to the first light energy charging plate 102 on the hangar body 101, and the laser is converted into electricity to charge the unmanned aerial vehicle hangar; on the other hand, the second emission module 103 emits laser to the second light energy charging plate 301 of the unmanned aerial vehicle, and the laser is converted into electricity to charge the power battery of the unmanned aerial vehicle. The laser charging method can realize long-distance and high-precision energy transmission without physical contact in the power supply stage, and is not limited by the parking position of the unmanned aerial vehicle and the unmanned aerial vehicle hangar, so that the charging of the unmanned aerial vehicle and the power supply of the unmanned aerial vehicle hangar are more flexible. The charging speed is fast, and a large amount of electric energy can be supplied to the unmanned aerial vehicle and the unmanned aerial vehicle hangar in a short time, which effectively solves the endurance anxiety of the unmanned aerial vehicle and improves the working efficiency of the unmanned aerial vehicle.

[0041] The positioning of the first emission module 201 of the base station side emitting laser to the first light energy charging plate 102 and the second emission module 103 of the hangar body 101 emitting laser to the second light energy charging plate 301 of the unmanned aerial vehicle includes the following steps:

[0042] For example, in some embodiments, as shown in Figure 1 and Figure 2 The hangar charging system further includes a communication positioning module 105, which is fixedly arranged on the hangar body 101, and the communication positioning module 105 and the first light energy charging plate 102 are arranged at intervals. The communication positioning module 105 is used for acquiring at least the three-dimensional coordinate information of the first light energy charging plate 102 and the three-dimensional coordinate information of the second light energy charging plate 301 of the unmanned aerial vehicle.

[0043] Specifically, the communication positioning module 105 establishes communication with the base station side to feed back the three-dimensional coordinate information of the first light energy charging panel 102 to the base station side; and the communication positioning module 105 establishes communication with the communication unit on the unmanned aerial vehicle to obtain the three-dimensional coordinate information of the second light energy charging panel 301. In a specific embodiment, the communication mode can be implemented by configuring a radio, a GSM, a 4G or a 5G module.

[0044] For example, in some embodiments, as shown in FIG. 2, the hangar charging system further comprises a first control module 202 connected with the communication positioning module 105, and the first control module 202 is configured to control the first emitting module 201 to emit laser light towards the area of the three-dimensional coordinate information according to the three-dimensional coordinate information of the first light energy charging panel 102. Figure 2 Specifically, the distance of the required laser output and the emitting angle of the first emitting module 201 are calculated according to the three-dimensional coordinate information of the emitting port and the three-dimensional coordinate information of the first light energy charging panel 102, and then the emitting angle and output power of the first emitting module 201 are adjusted to irradiate the coordinate area where the first light energy charging panel 102 is located, so as to realize the power compensation of the battery 108.

[0045] In some specific embodiments, the first emitting module 201 can be configured with a lifting and rotating gimbal module to adjust the route of the output laser light of the first emitting module 201, so as to correspond to the coordinate area where the first light energy charging panel 102 is located.

[0046] For example, in some embodiments, as shown in FIG. 3, the hangar charging system further comprises a second control module 106 connected with the communication positioning module 105, and the first control module 202 is configured to control the rotating end of the laser rotating table 104 to drive the second emitting module 103 to move to emit laser light towards the area of the three-dimensional coordinate information according to the three-dimensional coordinate information of the second light energy charging panel 301. Figure 2 Specifically, the distance of the required laser output and the emitting angle of the second emitting module 103 are calculated according to the three-dimensional coordinate information of the emitting port on the second emitting module 103 and the three-dimensional coordinate information of the second light energy charging panel 301, and then the emitting angle and output power of the second emitting module 103 are adjusted to irradiate the coordinate area where the second light energy charging panel 301 is located, so as to realize the charging of the flight power battery 302.

[0047] In a specific embodiment, the second emitting module 103 is driven to rotate by the rotating end of the laser rotating table 104, wherein, in an ideal state, the second emitting module 103 can have a determined emitting angle with the horizontal plane, and the second emitting module 103 is adjusted to rotate circumferentially by the laser rotating table 104 to irradiate the coordinate area where the second light energy charging panel 301 is located.

[0048] In a specific embodiment, the hangar charging system is further configured with an alternating current output device 109, and the physical contact charging interface can be connected through the alternating current output device 109 to charge the battery 108, thereby supplementing the power of the UAV when the UAV returns to the hangar.

[0049] In other embodiments, the hangar charging system can configure a height adjustment module for the second launching module 103 to adjust the height of the launching port of the second launching module 103.

[0050] The hangar charging system provided in the embodiment uses a laser charging method to convert light energy into electrical energy and then store the electrical energy.

[0051] For example, in some embodiments, as shown in Figure 3 The first light energy charging plate 102 can be provided with a rotating base to adjust the end face of the laser receiving side of the first light energy charging plate 102.

[0052] For example, in some embodiments, the first light energy charging plate 102 includes, in order from top to bottom: a light-transmitting protective layer 1021, a photoelectric conversion layer 1022, a thermoelectric conversion layer 1023, a heat dissipation support layer 1024, a connecting conductive layer 1025, and a back sealing protective layer 1026. As shown in Figure 4 from top to bottom: the light-transmitting protective layer 1021 is on the top to ensure that light can first enter; the photoelectric conversion layer 1022 is closely attached below to enable the light to be used for photoelectric conversion as soon as it enters; then the thermoelectric conversion layer 1023, which can utilize the temperature difference generated during the photoelectric conversion process and with the external environment to realize thermoelectric conversion, and cooperates with the heat dissipation support layer 1024 below, because the heat dissipation support layer 1024 helps to maintain the temperature gradient environment required for thermoelectric conversion; the connecting conductive layer 1025 is distributed in and between the thermoelectric conversion layer 1023 and the photoelectric conversion layer 1022, and plays a role in electrical connection and current collection and transmission; and the back sealing protective layer 1026 is at the bottom to seal and protect the back of the entire charging plate.

[0053] For example, in some embodiments, the light receiving area on the first light energy charging plate 102 is set to 90% of the area of the laser receiving side thereof.

[0054] As a preferred embodiment, the hangar body 101 is provided with an energy supply unit 110, the energy supply unit 110 is electrically connected with the battery 108, the energy supply unit 110 is electrically connected with the first launching module 201, and the energy supply unit 110 is electrically connected with the laser rotating table 104. The energy supply unit 110 is used to receive the power supply of the battery 108, and then distribute the power to the second launching module 103 and the laser rotating table 104 according to the control parameters.

[0055] In some embodiments, the energy supply unit 110 is arranged on the circuit as a direct current and alternating current switcher, for example, the energy supply unit 110 can supply energy for the second emission module 103 to emit laser.

[0056] As a further embodiment, the hangar body 101 is also provided with an alternating current input device, which is electrically connected with the energy supply unit 110. The alternating current input device is used for physical contact insertion, thereby charging the hangar, and specifically distributing power to the storage battery 108 through the energy supply unit 110.

[0057] In some embodiments, the storage battery 108 can adopt lithium batteries, lead-acid batteries, nickel-cadmium batteries, nickel-hydrogen batteries, nickel-zinc batteries, etc.

[0058] As a preferred embodiment, the hangar body 101 is arranged as a cuboid structure, and the first light energy charging plate 102, the laser rotating table 104 and the first emission module 201 are arranged on the upper end face of the cuboid structure.

[0059] Among them, the hangar body is a closed space for protecting the internal equipment and the unmanned aerial vehicle from the influence of the external environment.

[0060] As a further embodiment, the hangar body 101 is provided with one or more storage compartments (not shown in the figure), which are isolated from the power supply compartment 107 and arranged on the upper end of the power supply compartment 107. The storage compartment is provided with a parking platform. The storage compartment can be arranged as a drawer type structure, and the parking platform of one storage compartment can provide one unmanned aerial vehicle for landing / taking off.

[0061] As a preferred embodiment, the bottom of the hangar body 101 is provided with a plurality of drive modules 111, wherein the drive modules 111 are configured as drive steering wheels, such as AGV drive wheels. The drive modules 111 can be arranged as four, which are arranged at the bottom of the four corners of the hangar body 101.

[0062] The hangar charging system provided by the embodiment can realize charging by arranging a light energy charging plate on the unmanned aerial vehicle hangar and irradiating laser to the light energy charging plate, thereby improving the endurance time of the unmanned aerial vehicle. The unmanned aerial vehicle hangar can also charge the unmanned aerial vehicle by controlling the output of the laser. Laser charging can realize remote and rapid charging of the unmanned aerial vehicle hangar, and the unmanned aerial vehicle can also be charged by the laser on the top of the unmanned aerial vehicle hangar. The endurance anxiety of the unmanned aerial vehicle hangar and the unmanned aerial vehicle is solved, and the working execution ability of the unmanned aerial vehicle hangar and the unmanned aerial vehicle is improved.

[0063] The hangar charging system provided by the embodiment adopts a laser charging mode, has a fast charging speed, can supplement a large amount of electric energy for the unmanned aerial vehicle and the unmanned aerial vehicle hangar in a short time, and significantly improves the working efficiency of the unmanned aerial vehicle. The charging process does not need physical contact, avoids wear and failure of the charging interface, and prolongs the service life of the unmanned aerial vehicle and the unmanned aerial vehicle hangar. The laser charging device can realize long-distance and high-precision energy transmission, is not limited by the parking position of the unmanned aerial vehicle and the unmanned aerial vehicle hangar, and improves the space utilization rate of the unmanned aerial vehicle hangar.

[0064] Obviously, the above embodiments are only examples for clearly illustrating, but not limit the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A hangar charging system, characterized by, The application relates to a hangar charging system. The hangar charging system comprises a hangar body (101) provided with a power storage bin (107); a first light energy charging plate (102) fixedly arranged on the hangar body (101); a second emitting module (103) for emitting laser light towards a second light energy charging plate (301) of a drone; a laser rotating table (104) having a mounting end and a rotating end, the mounting end is fixedly connected with the hangar body (101), and the second emitting module is arranged on the rotating end, and the rotating path of the second emitting module is arranged to avoid the first light energy charging plate (102); a first emitting module (201) adapted to be connected with the ground, and the first emitting module (201) is used for emitting laser light towards the first light energy charging plate (102); and a storage battery (108) arranged in the power storage bin (107), the storage battery (108) is electrically connected with the first light energy charging plate (102), and the second emitting module (103) and the laser rotating table (104) are respectively electrically connected with the storage battery (108). The hangar charging system further comprises a communication positioning module (105) fixedly arranged on the hangar body (101), the communication positioning module (105) is arranged to be spaced apart from the first light energy charging plate (102), and the communication positioning module (105) is used for at least acquiring three-dimensional coordinate information of the first light energy charging plate (102) and three-dimensional coordinate information of the second light energy charging plate (301) of the drone. The hangar charging system further comprises a first control module (202) connected with the communication positioning module (105), and the first control module (202) is used for controlling the first emitting module (201) to emit laser light towards a region of the three-dimensional coordinate information according to the three-dimensional coordinate information of the first light energy charging plate (102). The hangar charging system further comprises a second control module (106) connected with the communication positioning module (105), and the first control module (202) is used for controlling the rotating end of the laser rotating table (104) to drive the second emitting module (103) to move so as to emit laser light towards a region of the three-dimensional coordinate information according to the three-dimensional coordinate information of the second light energy charging plate (301). The first light energy charging plate (102) comprises, in sequence, a light-transmitting protective layer (1021), a photoelectric conversion layer (1022), a thermoelectric conversion layer (1023), a heat-dissipating support layer (1024), a connecting conductive layer (1025) and a back-sealing protective layer (1026). The light-receiving area of the first light energy charging plate (102) is arranged to be 90% of the area of a side receiving laser light.

2. The hangar charging system of claim 1, wherein, The hangar body (101) is arranged in a cuboid structure, and the first light energy charging plate (102), the laser rotating table (104) and the first emitting module (201) are arranged on the upper end face of the cuboid structure.

3. The hangar charging system of claim 2, wherein, ​ ​ 4. The hangar charging system of claim 1, wherein, ​ 5. The hangar charging system of claim 4, wherein, ​ 6. The hangar charging system of claim 1, wherein, ​ 7. The hangar charging system of claim 6, wherein, The hangar body (101) is provided with at least one storage bin, the storage bin and the power bin (107) are isolated, the storage bin is arranged on the upper end of the power bin (107), and a parking platform is arranged on the storage bin.

8. The hangar charging system of claim 1, wherein, The hangar body (101) is provided with an energy supply unit (110), the energy supply unit (110) is electrically connected with the battery (108), the energy supply unit (110) is electrically connected with the first emission module (201), and the energy supply unit (110) is electrically connected with the laser rotating table (104).

9. The hangar charging system of claim 8, wherein, The hangar body (101) is also provided with an alternating current input device, and the alternating current input device is electrically connected with the energy supply unit (110).

10. The hangar charging system of claim 1, wherein, The bottom of the hangar body (101) is provided with a plurality of drive modules (111), and the drive modules (111) are configured to drive the steering wheel.

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