Robotic driving system

Abstract

A robotic steering system (30) for rotating a vehicle steering wheel includes a frame (44) configured to be fixed relative to the vehicle (32), a rotatable mount (35) defining a steering axis (38) and configured to be mounted to the vehicle steering wheel (34) such that the rotatable mount and the vehicle steering wheel rotate concurrently about the steering axis, and a drive assembly including a steering motor (48) coupled to the rotatable mount and configured to generate a steering torque to rotate the rotatable mount about the steering axis to actuate the vehicle steering wheel. The robotic steering system also includes an auxiliary steering wheel (50) coupled to the rotatable mount such that the auxiliary steering wheel, rotatable mount, and vehicle steering wheel rotate concurrently about the steering axis. The auxiliary steering wheel arranged for user engagement by a driver of the vehicle to override the robotic steering system or manually actuate the vehicle steering wheel.

Description

ROBOTIC DRIVING SYSTEMCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and all the benefits of U.S. Provisional Application No. 63 / 597,806, filed November 10, 2023 and U.S. Provisional Application No. 63 / 507,580, filed June 12, 2023, which are hereby incorporated by reference in their entirety.TECHNICAL FIELD

[0002] The present disclosure generally pertains to the field of robotic steering systems for vehicles, specifically focusing on a robotic steering system configured for installation on an existing vehicle steering wheel.BACKGROUND

[0003] Generally, employing robotic driving systems for field-testing vehicles without human input is becoming increasingly prevalent. These robotic driving systems may include accelerator and / or brake actuators, as well as robotic steering systems that couple to the vehicle’s steering wheel to actuate the vehicle’s steering wheel. Existing robotic steering systems are cumbersome to install within a vehicle, do not easily work with steering wheels having irregular shape / size, and may not produce adequate or precisely controllable torque to rotate the vehicle’s steering wheel to a desired position. Accordingly, there is a need in the art for a robotic steering system that addresses the above challenges.SUMMARY

[0004] One general aspect of the present disclosure includes a robotic steering system for rotating a vehicle steering wheel of a vehicle. The robotic steering system includes a frame configured to be fixed relative to the vehicle. The robotic steering system also includes a rotatable mount defining a steering axis and configured to be mounted to the vehicle steering wheel such that the rotatable mount and the vehicle steering wheel rotate concurrently about the steering axis. The robotic steering system further includes a drive assembly supported by the frame and including a steering motor coupled to the rotatable mount and configured to generate a steering torque torotate the rotatable mount about the steering axis to actuate the vehicle steering wheel. The robotic steering system also further includes an auxiliary steering wheel coupled to the rotatable mount such that the auxiliary steering wheel and the rotatable mount rotate concurrently about the steering axis. The auxiliary steering wheel is arranged for user engagement by a driver of the vehicle.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Other advantages of the present disclosure will be readily appreciated, as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

[0006] Figure 1 is a front view of a robotic steering system according to the present disclosure mounted to a vehicle steering wheel.

[0007] Figure 2 is a rear perspective view of the robotic steering system.

[0008] Figure 3 is a rear perspective view of the robotic steering system mounted to a representative steering wheel.

[0009] Figure 4 is a front perspective view of the robotic steering system mounted to a representative steering wheel.

[0010] Figure 5 is a side view of the robotic steering system mounted to a representative steering wheel.

[0011] Figure 6 shows an exploded view one exemplary configuration of a rotatable mount of the robotic steering system where a mounting ring is coupled to a representative steering wheel and a frame supporting a turntable, an auxiliary steering wheel, and a steering motor are spaced from the mounting ring.

[0012] Figure 7A is a front view of the mounting ring coupled to a representative steering wheels having a relatively small diameter.

[0013] Figure 7B is a front view of the mounting ring coupled to a representative steering wheels having a relatively large diameter.

[0014] Figure 8 is a front view of the mounting ring coupled to a representative steering wheel having a non-circular shape.

[0015] Figure 9A is a cross-sectional partial rear perspective representation of the robotic steering system illustrating a brace assembly coupling the rotatable mount to a representative steering wheel.

[0016] Figure 9B is a cross-sectional partial front perspective representation of the robotic steering system illustrating the brace assembly coupling the rotatable mount to a representative steering wheel.

[0017] Figure 10 is an exploded view of one of the plurality of brace assemblies relative to the rotatable mount, with the brace assembly including a lever arm and a clamp assembly for coupling the mounting ring to a steering wheel.

[0018] Figure 11 is a partial front perspective representation of the robotic steering system illustrating a constraining feature of one of the one or more brace assemblies engaging a corresponding constraining feature of the rotatable mount to inhibit translation of the brace assembly relative to an adjustment slot defined by the rotatable mount.

[0019] Figure 12 is an exploded view of one exemplary clamp assembly of the one or more brace assemblies.

[0020] Figure 13 is a cross-sectional representation the clamp assembly of Figure 12 coupled to a representative steering wheel.

[0021] Figure 14 is a perspective view of another configuration of a clamp assembly.

[0022] Figure 15 is a partial cross-sectional representation of the clamp assembly of Figure 14.

[0023] Figure 16A is a perspective representation of the clamp assembly of Figure 14 a first jaw member pivoted relative to a second jaw member to recieve a representative portion of the vehicle steering wheel.

[0024] Figure 16B is a perspective representation of the clamp assembly of Figure 14 with a clasp engaging one of a plurality of detents to couple the clamp assembly to the representative portion of the vehicle steering wheel.

[0025] Figure 16C is a perspective representation of the clamp assembly of Figure 14 with a handle pivoted toward the first jaw member to couple the clamp assembly to the representative portion of the vehicle steering wheel.

[0026] Figure 17 is a front perspective view of an exploded representation of the frame, the rotatable mount, and the auxiliary steering wheel of the robotic steering system.

[0027] Figure 18 is a cross-sectional representation of the robotic steering system.

[0028] Figure 19 is a cross-sectional representation of one arrangement of coupling the auxiliary steering wheel to the rotatable mount.

[0029] Figure 20 is a cross-sectional representation of one example a belt tensioner.

[0030] Figure 21 is a front view of another configuration of the robotic steering system.

[0031] Figure 22 is a fragmented cross-sectional representation of the robotic steering system of Figure 21 showing another configuration of a belt tensioner.

[0032] Figure 23A is a fragmented front view of the robotic steering system with the frame partially hidden to reveal the belt tensioner.

[0033] Figure 23B is a fragmented front view of the robotic steering system with the belt tensioner of Figure 23A rotated to tension the belt of the robotic steering system.

[0034] Figure 24 is a partial front perspective view of the robotic steering system including a load cell assembly.

[0035] Figure 25 is a partial front view of the load cell assembly.

[0036] Figure 26 is an exploded perspective view of a load assembly of the robotic steering system including a mechanical clearance joint.

[0037] Figure 27 is a free body diagram of a load cell assembly according to the present disclosure including the mechanical clearance joint.

[0038] Figure 28 is a perspective view of a robotic driving system including a robot frame and the robotic steering system, with a constraining member extending between the robot frame and the robot steering system.

[0039] Figure 29 is perspective view of the robotic driving system of Figure 28 illustrating the robotic driving system installed in a vehicle.DETAILED DESCRIPTION

[0040] With reference to the Figures, wherein like numerals indicate like parts throughout the several views, Figures 1 through 29 generally show a robotic steering system 30 according to the present disclosure for field-testing a vehicle 32 without human input to the vehicle 32 (however, a human driver may or may not be present in the vehicle 32 to supervise the testing). Figure 1 shows the robotic steering system 30 coupled to a steering wheel 34 of the vehicle 32 such that the robotic steering system 30 is capable of rotating the steering wheel 34 of the vehicle 32 with the same functionality as a human. For instance, the robotic steering system 30 may be capable of actuating of the steering wheel 34 of the vehicle 32 to perform typical tasks associated with driving. Such tasks may include but are not limited to directing the vehicle 32 into a parking spot, navigating the vehicle 32 around a corner, change the lane of the vehicle 32, etc.

[0041] As shown in Figures 28 and 29, the robotic steering system 30 may be included in a robotic driving system 20 that also includes an accelerator actuator 22 configured to be coupled to and actuate an accelerator pedal 23 of the vehicle 32. The robotic driving system 20 may further include a brake actuator 24 configured to be coupled to and actuate a brake pedal 25 of the vehicle 32. The robotic driving system 20 may be capable of driving the vehicle 32 with the same functionality as a human. For instance, the robotic driving system 20 may include a controller configured operate the robotic steering system 30, the accelerator actuator 22, and the brake actuator 24 to coordinate actuation of the steering wheel 34, accelerator pedal 23, and brake pedal 25 of the vehicle 32 to perform typical tasks associated with driving. Such tasks include actuating the steering wheel 34 to direct the vehicle 32 into a parking spot, navigate the vehicle 32 around a corner, change the lane of the vehicle 32, etc.

[0042] Referring to Figures 1 through 5, the robotic steering system 30 includes a frame 44 (described in further detail below) configured to be fixed relative to the vehicle 32. For example, the robotic steering system 30 may include a constraining member 49 operatively attached to the frame 44 and configured to be fixed relative to the vehicle 32 for constraining frame 44 of the robotic steering system 30 relative to the vehicle 32. Other configurations of fixing the frame 44 relative to the vehicle 32 are contemplated.

[0043] The robotic steering system 30 also includes rotatable mount 35 defining a steering axis 38 and configured to be mounted to the vehicle steering wheel 34 such that the rotatable mount 35 and the vehicle steering wheel 34 rotate concurrently about the steering axis 38. As described in further detail below, the rotatable mount 35 may be mounted to the steering wheel 34 using one or more brace assemblies 40. It should be appreciate that the vehicle steering wheel 34 shown throughout the Figures is merely representative for the pupose of illustrating cooperation of the robotic steering system 30 with the vehicle 32. Stated differently, the robotic steering system 30 according to the present disclosure is generally configured to be mounted to vehicle steering wheels 34 having different shapes and sizes, and accordingly the illustrated vehicle steering wheel 34 is not intended to be limiting.

[0044] In the illustrated examples, the rotatable mount 35 includes a mounting ring 36 defining the steering axis 38 and configured to be mounted to the steering wheel 34 of the vehicle 32 such that the mounting ring 36 and the vehicle steering wheel 34 rotate concurrently about the steering axis 38. In the illustrated examples, the rotatable mount 35 further includes a turntable 42(described in further detail below) coupled to the mounting ring 36 for rotating the mounting ring 36 (and, thus, the steering wheel 34) about the steering axis 38. In these examples, the frame 44 rotatably supports the turntable 42 for rotation about the steering axis 38. As best shown in Figure 6, in configurations where the rotatable mount 35 includes the mounting ring 36 and the turntable 42, the mounting ring 36 may be mounted to the vehicle steering wheel 34, and the turntable 42 may be selectively coupled to the mounting ring 36 such that rest of the robotic steering system 30 may be selectively decoupled from the mounting ring 36 and the vehicle steering wheel 34. Other configurations for the rotatable mount 35 are contemplated.

[0045] The robotic steering system 30 further includes a drive assembly 37 supported by the frame 44 and including a steering motor 48 coupled to said rotatable mount 35 For example, the frame 44 may define a support projection 46 configured to support the steering motor 48. As described in further detail below, the steering motor 48 is coupled to the rotatable mount 35 (e.g., to the turntable 42) and configured to generate a steering torque to rotate the rotatable mount 35 (e.g., the turntable 42 and, thus, the mounting ring 36) about the steering axis 38 to actuate the steering wheel 34 of the vehicle 32 to perform typical tasks associated with driving.

[0046] As best shown in Figures 4 and 5, the robotic steering system 30 may include an auxiliary steering wheel 50 coupled to the rotatable mount 35 (e.g. to the mounting ring 36 and / or the turntable 42). One exemplary arrangement of coupling the auxiliary steering wheel 50 to the rotatable mount 35 is described in further detail below in the context of Figure 19. The auxiliary steering wheel 50 may be arranged on the opposite side of the rotatable mount 35 as the vehicle steering wheel 34 and arranged for user engagement such that a driver of the vehicle 32 may engage the auxiliary steering wheel 50 to override the robotic steering system 30 or to drive the vehicle 32 as normal (i.e., manually actuate the steering wheel 34 of the vehicle 32) when the robotic steering system 30 is not actively steering the vehicle 32.

[0047] Various configurations of the rotatable mount 35 and one or more brace assemblies 40 are contemplated. Referring first to Figures 6 through 8, the one or more brace assemblies 40 may be adjustable such that the one or more brace assemblies 40 are configured to mount the rotatable mount 35 to vehicle steering wheels 34 having different shapes and sizes. For example, in the illustrated configuration, the mounting ring 36 may be a standard size such that the mounting ring 36 cooperates with the turntable 42 regardless of the size of the steering wheel 34. Stated differently, the one or more brace assemblies 40 are each configured to couple the mounting ring36 to steering wheels 34 having varying size and geometry. For example, Figure 7A shows the mounting ring 36 coupled to a substantially circular steering wheel 34 having a relatively small diameter, while Figure 7B shows the mounting ring 36 coupled to a substantially circular steering wheel 34 having a relatively large diameter. Additionally, Figure 8 shows the mounting ring 36 coupled to a steering wheel 34 having a non-circular geometry (in this case, substantially ovular, but other shapes are contemplated).

[0048] The one or more brace assemblies 40 facilitate the coupling of the rotatable mount 35 to steering wheels 34 having varying size and geometry. In the illustrated examples, the one or more brace assemblies 40 include three brace assemblies 40, but additional or fewer brace assemblies 40 are contemplated. Each of the brace assemblies 40 may include a clamp assembly 52 (described in further detail below) configured to engage the steering wheel 34 of the vehicle 32. Each of the brace assemblies 40 may also include a lever arm 54 extending between a first end 54A operatively attached to the clamp assembly 52 and a second end 54B operatively attached to the rotatable mount 35 (e.g., to the mounting ring 36). Each of the brace assemblies 40 may further include a coupling fastener 56 for coupling the second end 54B of the lever arm 54 to the rotatable mount 35. Advantageously, as shown in Figures 6 through 8, each of the lever arms 54 may be configured to rotate relative to the rotatable mount 35 and / or its respective clamp assembly 52 such that each clamp assembly 52 may engage steering wheels 34 having varying size and geometry.

[0049] Figure 10 shows an exploded view of the the one or more brace assemblies 40 relative to the rotatable mount 35 (in this case, relative to the mounting ring 36). As shown in Figure 10, in some examples, the rotatable mount 35 (e.g., the mounting ring 36) defines one or more adjustment slots 58, with each adjustment slot 58 configured to receive one of the coupling fasteners 56 to couple the second end 54B of one of the lever arms 54 to the rotatable mount 35. Each adjustment slot 58 may be defined as an arcuate shape (e.g., an arc concentric with the steering axis 38), but other shapes are contemplated. As best shown in Figure 11, the coupling fastener 56 and the second end 54B of the lever arm 54 may be configured to translate along the adjustment slot 58 such that the location of each coupling fastener 56 and, thus, the second end 54B of each lever arm 54 can be varied along each adjustment slot 58 such that each brace assembly 40 is adjustable to allow each clamp assembly 52 to reach a desired mounting point on a steering wheel 34 of a vehicle 32. In other words, the coupling fastener 56 and the second end 54B of the lever arm 54 of each of the one or more brace assemblies 40 are configured to translate along a respective one of theone or more adjustment slots 58 such that each of the one or more brace assemblies 40 are adjustable relative to the mounting ring 36 to allow each clamp assembly 52 to reach a desired mounting point on the steering wheel 34 of the vehicle 32.

[0050] Advantageously, the adjustability of each lever arm 54 relative to the rotatable mount 35 and its respective clamp assembly 52 allows each lever arm 54 to be arranged between its respective clamp assembly 52 and the rotatable mount 35 in a position where the clamp assembly 52 can engage a desired mounting point of the steering wheel 34. For example, referring to Figures 7A through 8, the first ends 54A of each lever arm 54 are coupled to a clamp assembly 52 coupled to a desired mounting point on the steering wheel 34. The second ends 54B of each lever arm 54 extend to a respective position along one of the adjustment slots 58 defined by the mounting ring 36 to receive a respective coupling fastener 56, thereby coupling the mounting ring 36 to the steering wheel 34. Accordingly, the present configuration allows a standard sized mounting ring 36 to be coupled to steering wheels 34 having varying size and geometry.

[0051] As best shown in Figures 9A through 11, the coupling fasteners 56 may be “toolless” coupling fasteners 56. In other words, the coupling fasteners 56 may each include a threaded stud 60 configured to engage the second end 54B of the lever arm 54 and a handle 62 arranged for user engagement to tighten the coupling fastener 56 relative to the second end 54B of the lever arm 54 without the need for additional tools, improving the ease of installation of the mounting ring 36 to a steering wheel 34 of a vehicle 32. Other configurations for the coupling fasteners 56 are contemplated. As best shown in Figure 11, in some examples, the one or more brace assemblies 40 may include a constraining feature 57 and the rotatable mount 35 (e.g., the mounting ring 36) may define a corresponding constraining feature 59. As shown in Figure 11, the constraining feature 57 of the one or more brace assemblies 40 is configured to engage the corresponding constraining feature 59 of the rotatable mount 35 to inhibit translation of the one or more brace assemblies 40 relative to the adjustment slot 58 upon coupling of the one or more brace assemblies 40 to the rotatable mount 35. In the illustrated examples, the constraining feature 57 and the corresponding constraining feature 59 define ridges configured to interlock to to inhibit translation of the one or more brace assemblies 40 relative to the adjustment slot 58. Other configurations for the constraining feature 57 and the corresponding constraining feature 59 are contemplated.

[0052] Figure 12 shows an exploded perspective view of one exemplary configuration of the one or more brace assemblies 40. In this example, the lever arm 54 defines an arcuate shapebetween the first end 54 A and the second end 54B. The illustrated version shows a threaded void 64 defined by the second end 54B for receiving the threaded stud 60 of one of the coupling fasteners 56 to couple the second end 54B of the lever arm 54 to the rotatable mount 35. The first end 54A of each of the lever arms 54 may define a coupling void 66 for facilitating coupling of the first end 54A of each of the lever arms 54 to a respective clamp assembly 52. In this example, a bearing 68 (best shown in the exploded view of Figure 12) is disposed in each coupling void 66 to facilitate rotation of the lever arm 54 relative to the respective clamp assembly 52.

[0053] Figures 12 and 13 show one exemplary configuration of the one of the clamp assemblies 52. In the illustrated example, the clamp assembly 52 is generally a cam-type clamp, but it should be appreciated that other configurations of the clamp assembly 52 may be realized to couple the mounting ring 36 to the steering wheel 34. In the illustrated configuration, the clamp assembly 52 includes a first jaw member 70 and a second jaw member 72 rotatably coupled to the first jaw member 70. Here, the second jaw member 72 is rotatably coupled to the first end 54A of the lever arm 54. The first jaw member 70 may rotate relative to the second jaw member 72 to receive a portion of the steering wheel 34 of the vehicle 32 therebetween. The illustrated clamp assembly 52 further includes a cam handle 74 coupled to the second jaw member 72 for engagement with the first jaw member 70 such that the cam handle 74 may be tightened by a user to fix the clamp assembly 52 to the steering wheel 34. Particularly, referring to Figure 13, the cam handle 74 may be configured to abut the first jaw member 70 and urge the first jaw member 70 toward the second jaw member 72 to create a clamping force between the first jaw member 70 and the second jaw member 72 to couple the clamp assembly 52 to the steering wheel 34 of the vehicle 32. Advantageously, the illustrated clamp assembly 52 is also “toolless” and thus improves the ease of installing the robotic steering system 30 in the vehicle 32. It should be appreciated that other arrangements of the clamp assembly 52 may be realized to couple the mounting ring 36 to the steering wheel 34.

[0054] Figures 14 through 16C illustrate another exemplary configuration of one of the clamp assemblies 52. The illustrated clamp assembly 52 includes a first jaw member 170 and a second jaw member 172 pivotably coupled to the first jaw member 170. Here, the second jaw member 172 is operatively attached (e.g., rotatably coupled to the first end 54A of the lever arm 54. The first jaw member 170 is pivotably coupled to the second jaw member 172 such that the first jaw member 170 may pivot relative to the second jaw member 172 to receive a portion of the steeringwheel 34 of the vehicle 32 therebetween. The illustrated clamp assembly 52 further includes a handle 178 pivotably coupled to the first jaw member 170, and a clasp 174 pivotably coupled to the handle 178. In this example, the second jaw member 172 defines a plurality of engagement detents 176 for engagement with clasp 174. The plurality of detents 176 may be arranged adjacent to each other such that a user may select which detent 176 to engage based on the thickness of the steering wheel 34. For example, if the steering wheel 34 is thicker, the user can engage the clasp 174 with one of the detents that permits greater spacing of the first jaw member 170 from the second jaw member 172. Referring to the sequence between Figures 16A through 16C, the first jaw member 170 may be pivoted relative to the second jaw member 172 to receive a portion of the steering wheel 34 of the vehicle 32 therebetween (Figure 16A). Next, a user may arranged the clasp 174 in engagement with one of the detents 176 (Figure 16B). Finally, the handle 178 is arranged for user actuation toward the first jaw member 170 such that the user may pivot the handle 178 toward the first jaw member 170 to couple (i.e., tighten) the clamp assembly 52 to the steering wheel 34 (Figure 16C). Advantageously, the illustrated clamp assembly 52 is “toolless” and thus improves the ease of installing the robotic steering system 30 in the vehicle 32. Furthermore, the illustrated clamp assembly 52 also provides the advantage of accommodating a wide variety of steering wheel thicknesses due to the plurality of detents 176.

[0055] The frame 44 may includes a plurality of rollers 78 configured to support the rotatable mount 35 for rotation relative to the frame 44 about the steering axis 38. For example, referring first to Figure 17, the frame 44 of the robotic steering system 30 may include a first portion 44A and a second portion 44B spaced from the first portion 44A. The first portion 44A and the second portion 44B may be coupled to each other via spacers 76 that arrange the first portion 44A and the second portion 44B in a spaced relation from each other. In the illustrated example, the turntable 42 is supported between the first portion 44A and the second portion 44B of the frame 44 for rotation about the steering axis 38 relative to the frame 44. Particularly, the frame 44 supports the plurality of rollers 78 arranged between the first portion 44 A and the second portion 44B and configured to engage a lip 80 of the turntable 42 to support the turntable 42 for rotation about the steering axis 38. In some configurations, the plurality of roller 78 may be adjustable relative to the frame 44 to allow the the rotatable mount 35 (e.g. mounting ring 36 and / or the turntable 42) to be installed for relative to the frame 44 about the steering axis 38. Other configurations of rotatablysupporting the rotatable mount 35 (e.g. mounting ring 36 and / or the turntable 42) for rotation relative to the frame 44 about the steering axis 38 are contemplated.

[0056] As best shown in Figure 18, in configurations where the rotatable mount 35 is reaziled as two pieces, once the mounting ring 36 has been coupled to the steering wheel 34 of the vehicle 32, the turntable 42 is configured to be coupled to the mounting ring 36 for concurrent rotation with the mounting ring 36 about the steering axis 38 to rotate the steering wheel 34 of the vehicle 32 about the steering axis 38. For example, one of the mounting ring 36 and the turntable 42 may define a plurality of engagement voids 82 configured to receive corresponding engagement projections 84 defined by the other of the mounting ring 36 and the turntable 42 to couple the mounting ring 36 to the turntable 42 such that the mounting ring 36 and the turntable 42 rotate concurrently about the steering axis 38. It should be appreciated that the engagement projections 84 may be formed integrally with the other of the mounting ring 36 and the turntable 42, or may be coupled to the other of the mounting ring 36 and the turntable 42. Notably, because the turntable 42 can be separated from the mounting ring 36, it is contemplated that the robotic steering system 30 may include multiple mounting rings 36 coupled to the steering wheels 34 of multiple vehicles, such that the turntable 42 may be easily coupled to multiple vehicles in series without the need to uninstall the mounting ring 36 every time. In some examples, such as shown in Figures 17, the turntable 42 may include separate portions. For example, the turntable 42 may include a front portion 42A and a rear portion 42B. The front portion 42 A and the rear portion 42B may be assembled together using the fasteners to form the turntable 42.

[0057] With continued reference to Figure 18, the rotatable mount 35 (e.g., the turntable 42) may further include a toothed portion 88. The toothed portion 88 may be a sprocket configured to cooperate with a belt 90 that is operatively attached to the steering motor 48 such that the belt 90 transfers the steering torque from the steering motor 48 to the rotatable mount 35. Accordingly, the steering motor 48 may rotate rotatable mount 35 about the steering axis 38 via the belt 90 to actuate the steering wheel 34 of the vehicle 32 to perform typical tasks associated with driving. Referring to Figures 17, in examples where the turntable 42 is formed from a front portion 42A and a rear portion 42B, the toothed portion 88 may be supported by one of the front portion 42A and the rear portion 42B and disposed between the front portion 42A and the rear portion 42B upon assembly of the turntable 42. Other configurations of transferring the steering torque generated by the steering motor 48 to the rotatable mount 35, such as gears, are contemplated.

[0058] Referring to Figures 18 and 20, the steering motor 48 may be supported by the frame 44 and include an output shaft 104 coupled to a sprocket 106. The sprocket 106 may be coupled to the belt 90 for driving the belt 90 to rotate the rotatable mount 35 about the steering axis 38 to actuate the steering wheel 34 of the vehicle 32 to perform typical tasks associated with driving. As shown in Figures 18 and 20, in some configurations, the steering motor 48 may be coupled to a sliding plate 108 that is configured to slide relative to the frame 44. The frame 44 may further support a belt tensioner 110 coupled to the sliding plate 108 and configured to move the sliding plate 108 (and, thus, the steering motor 48 and sprocket 106) away from the turntable 42 to tension the belt 90 to ensure adequate transfer of the steering torque from the steering motor 48 to the turntable 42. Advantageously, the use of the belt 90 to transfer torque from the steering motor 48 to the turntable 42 provides higher torque, reduces noise, and affords improved serviceability and design flexibility when compared to prior configurations.

[0059] Another configuration of the belt tensioner 110 is illustrated in Figures 21 through 23B. Here, as opposed to employing the sliding plate 108 to tension the belt 90, the steering motor 48 is fixed relative to the frame 44. To tension the belt 90, the robotic steering system 30 illustrated in Figures 21 through 23B includes one or more eccentric belt tensioning assemblies 126. The eccentric belt tensioning assemblies 126 may each include an eccentric member 128 arranged to selectively abut the belt 90 to cause tension in the belt 90. More specifically, the eccentric member 128 may be coupled to the frame 44 and supported for rotation about a shaft 130 (e.g., via bearings). Notably, the eccentric member 128 is not concentric with the shaft 130. Accordingly, referring to the sequence between Figures 23 A and 23B, as the eccentric member 128 rotates about the shaft 130 (indicated by arrow 134) 130, the eccentric member 128 may extend toward and abut the belt 90 to induce tension in the belt 90 (indicated by arrow 136). Referring to Figures 21 and 23A-23B, the knobs 132 may be respectively coupled to one of the eccentric members 128, allowing a user to rotate the eccentric members 128 about the shaft 130 to tension the belt 90 without disassembling the robotic steering system 30. For example, as shown in the sequence between Figures 23 A and 23B, when a user turns the knob 132 toward the belt 90 (indicated by arrow 134), the eccentric member 128 rotates about the shaft 130 to abut the belt 90 and induce tension in the belt 90 (indicated by arrow 136). As best shown in Figures 23A and 23B, the one or more eccentric belt tensioning assemblies 126 may each include a locking member 138, such asa bolt, disposed through the knob 132 and configured to be tightened to inhibit rotation of the eccentric member 128 relative to the frame 44 once the belt 90 has been tensioned.

[0060] Referring to Figure 19, in some examples the auxiliary steering wheel 50 may be removably coupled to the rotatable mount 35 (e.g., to the mounting ring 36 and / or the turntable 42). For example, the auxiliary steering wheel 50 may include a latch mechanism 92. The latch mechanism 92 may extend from the auxiliary steering wheel 50 and be configured to releasably engage a catch 94 defined by the rotatable mount 35 to couple the auxiliary steering wheel 50 to the rotatable mount 35. In some examples, such as illustrated in Figure 19, the latch mechanism 92 and the catch 94 may be recognized as a ball and detent mechanism, but other configurations are contemplated. In the illustrated configuration, the latch mechanism 92 may generally include a shaft 96 coupled to and extending from the auxiliary steering wheel 50 and supporting one or more latches 98 (e.g., balls 98) that are biased outward and arranged to engage the catch 94 (e.g., a channel 100 defined by the mounting ring 36) to couple the auxiliary steering wheel 50 to the mounting ring 36 with the use of any tools. To release the auxiliary steering wheel 50 from the mounting ring 36, the illustrated latch mechanism 92 includes a release button 102 (shown schematically in Figures 19) operatively attached to the one or more balls 98 and configured to retract the one or ball 98 inwardly in response to user engagement to allow the auxiliary steering wheel 50 to be decoupled from the mounting ring 36. Other configurations of removably coupling the auxiliary steering wheel 50 to the rotatable mount 35 are contemplated.

[0061] In some examples, as best shown in Figure 17, additional fasteners 103 may be disposed through the auxiliary steering wheel 50 to couple the auxiliary steering wheel 50 to the rotatable mount 35. The additional fasteners 103 may be employed where the latch mechanism(s) 92 may not be able to withstand the torque experienced by the auxiliary steering wheel 50 and / or the rotatable mount 35 alone. In the illustrated examples, the additional fasteners are implemented as threaded knobs 103 that extend partially through the auxiliary steering wheel 50 to couple the auxiliary steering wheel 50 to the rotatable mount 35. Other configurations for the additional fasteners 103 are contemplated.

[0062] As briefly described above, the robotic steering system 30 may also further include a constraining member 49 operatively attached to the frame 44 and the vehicle 32 for constraining the robotic steering system 30 relative to the vehicle 32. For example, as best shown in Figure 1, the constraining member 49 may be operatively attached to the frame 44 of the robotic steeringsystem 30 and a rigid component of the vehicle 32 (e.g., the windshield of the vehicle 32, a rail of a driver’s seat of the vehicle 32, the center console of the vehicle 32, the floor of the vehicle 32, and the like) to inhibit the frame 44 from rotating about the steering axis 38. In some examples, the constraining member 49 may be adjustable in length in order to reach the desired rigid component of the vehicle 32. As another example, referring to Figures 28 and 29, the robotic driving system 20 may also include a robot frame 26 that is configured to be mounted to the vehicle 32. The robot frame 26 may include a base 28 configured to be mounted to a floor of the vehicle 32. Alternatively, the base 28 may be configured to be mounted elsewhere on the interior of the vehicle 32, such as the rail(s) supporting the driver’s seat of the vehicle 32. In these examples, as shown in Figures 28 and 29, the frame 44 of the robotic steering system 30 is fixed to the robot frame 26 (e.g., via the constraining member 49) to fix the frame 44 relative to the vehicle 32. Additionally, the accelerator actuator 22 and brake actuator 24 may be mounted to the robot frame 26.

[0063] As best shown in Figures 24 through 27, the frame 44 may also support a load cell assembly 112. The load cell assembly 112 may be disposed between the frame 44 and the constraining member 49 at a known distance D from the steering axis 38 and include a load sensor 114 for generating a load signal corresponding to a force F (shown in Figure 1) experienced between the frame 44 and the constraining member 49.

[0064] As shown schematically in Figure 1, the robotic steering system 30 may further include a controller 116 in communication with the steering motor 48 and the load sensor 114. The controller 116 may be configured to adjust the steering torque of the steering motor 48 based on the load signal corresponding to the force F and the known distance D from the steering axis 38. For example, the controller 116 may use the load signal as feedback to determine the necessary steering torque for the steering motor 48 to generate to effectuate a desired rotation of the steering wheel 34 of the vehicle 32, which may vary based on vehicle make, model, speed, terrain, etc. Additionally, the controller 116 may use the load signal to adjust the steering torque generated by the steering motor 48 to compensate for mechanical friction within the robotic steering system 30 as taught in U.S. Patent Application Publication No. 2021 / 0188239A1, entitled “System and method for force compensation in a robotic driving system” which is hereby incorporated by reference in its entirety.

[0065] As best shown in Figures 24 through 26, the load cell assembly 112 may include a coupling block 118 coupled to the frame 44. For example, the coupling block 118 may generally define an L-shaped member extending between a joint end 118A and a coupling end 118B. The load cell assembly 112 may also include a joint arm 120 extending between a swivel end 120A rotatably coupled to the joint end 118A of the coupling block 118 and a swinging end 120B arranged for rotation relative to the joint end 118A of the coupling block 118. The constraining member 49 may be coupled to the swinging end 120B of the joint arm 120 such that the swinging end 120B of the joint arm 120 experiences the force F experienced between the frame 44 and the constraining member 49. The load sensor 114 may be disposed between the swinging end 120B of the joint arm 120 and the coupling end 118B of the coupling block 118 to measure the force F therebetween.

[0066] As shown in Figures 24-26, in some examples, the constraining member 49 may be coupled to the swinging end 120B of the joint arm 120 via a universal joint 122, such as a heim joint, such that the constraining member 49 is not necessarily parallel to the load sensor 114. As a result, the constraining member 49 may subject the load sensor 114 to a force F that is not necessarily parallel to the load sensor 114, which can lead the load sensor 114 to generate a load signal that is not necessarily ideal feedback for determining the steering torque to be generated by the steering motor 48. In other words, in configurations where the constraining member 49 is not arranged parallel to the load sensor 114, the constraining member 49 may subject the load sensor 114 to a force F that includes force components in a direction that is not relevant to determining the necessary steering torque to generate via the steering motor 48. Accordingly, in some configurations, as best shown in Figure 26, the load cell assembly 112 may further include a mechanical clearance joint 124 disposed between the swinging end 120B of the joint arm 120 and the load sensor 114 such that only the component of force F that is parallel to the load sensor 114 is transmitted to the load sensor 114.

[0067] Figure 27 shows a free body diagram illustrating the effect of the load cell assembly 112 configuration including the mechanical clearance joint 124. As shown in Figure 27, where the constraining member 49 is not parallel to the load sensor 114, the constraining member may subject the swinging end 120B of the joint arm 120 to the force F which includes three directional components: Fx, Fy, and Fz. In this case, the Fx component of force F is parallel to the load sensor 114 and the only relevant component of force F that should be transmitted to the load sensor 114for determining the steering torque to be generated by the steering motor 48. Accordingly, as shown schematically in Figure 27, the mechanical clearance joint 124 facilitates transmission of the Fx component of force F to the load sensor but disperses the Fy and Fz components through the joint arm 120 to the coupling block 118. As a result, the illustrated configuration enables more flexibility of locations of mounting the constraining member 49 to an interior component of the vehicle 32. For example, where previous configurations would ideally require the constraining member 49 to be parallel to the load sensor 114, the present configuration allows the constraining member 49 to extend in additional directions, increasing the mounting options within the vehicle 32 while maintaining the usefulness of the load signal in determining the steering torque necessary to rotate the steering wheel 34 of the vehicle 32 to a desired position.

[0068] Several embodiments have been discussed in the foregoing description. However, the embodiments discussed herein are not intended to be exhaustive or limit the present disclosure to any particular form. The terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations are possible in light of the above teachings and the present disclosure may be practiced otherwise than as specifically described.

Claims

CLAIMSWhat is claimed is:

1. A robotic steering system for rotating a vehicle steering wheel of a vehicle, said robotic steering system comprising: a frame configured to be fixed relative to the vehicle; a rotatable mount defining a steering axis and configured to be mounted to the vehicle steering wheel such that said rotatable mount and the vehicle steering wheel rotate concurrently about said steering axis; a drive assembly supported by said frame and including a steering motor coupled to said rotatable mount and configured to generate a steering torque to rotate said rotatable mount about said steering axis to actuate the vehicle steering wheel; and an auxiliary steering wheel coupled to said rotatable mount such that said auxiliary steering wheel and said rotatable mount rotate concurrently about said steering axis, said auxiliary steering wheel arranged for user engagement by a driver of the vehicle.

2. The robotic steering system of claim 1 , wherein said auxiliary steering wheel includes a latch mechanism extending from said auxiliary steering wheel with said latch mechanism releasably engagingsaid rotatable mount to couple said auxiliary steering wheel to said rotatable mount.

3. The robotic steering system of any one of claims 1 or 2, further comprising one or more brace assemblies for mounting said rotatable mount to the vehicle steering wheel, wherein said one or more brace assemblies are adjustable such that said one or more brace assemblies are configured to mount said rotatable mount to vehicle steering wheels having different shapes and sizes.

4. The robotic steering system of any one of claims 1 to 3, wherein said frame includes a plurality of rollers configured to support said rotatable mount for rotation relative to said frame about said steering axis.

5. The robotic steering system of any one of claims 1 to 4, wherein said drive assembly further comprises a belt coupling said steering motor to said rotatable mount to transfer the steering torque from said steering motor to said rotatable mount.

6. The robotic steering system of claim 5, wherein said drive assembly further comprises: a sliding plate coupled to said frame and configured to translate relative to said frame, wherein said steering motor is coupled to said sliding plate; and a belt tensioner coupled to said sliding plate and configured to move said sliding plate away from said rotatable mount to tension said belt.

7. The robotic steering system of claim 5, wherein said drive assembly further comprises one or more eccentric belt tensioning assemblies including an eccentric member supported for pivoting movement relative to said frame and arranged to selectively abut said belt to tension said belt.

8. The robotic steering system of any one of claims 1 to 7, wherein said rotatable mount comprises: a mounting ring configured to be mounted to the vehicle steering wheel such that said mounting ring and the vehicle steering wheel rotate concurrently about said steering axis; and a turntable supported by said frame for rotation about said steering axis and coupled to the mounting ring, wherein said steering motor is coupled to said turntable for rotating said mounting ring and the vehicle steering wheel about said steering axis.

9. The robotic steering system of claim 8, wherein one of said mounting ring and said turntable define a plurality of engagement voids configured to receive corresponding engagement projections defined by the other of said mounting ring and said turntable to couple said mounting ring to said turntable such that said mounting ring and said turntable rotate concurrently about said steering axis.

10. The robotic steering system of any one of claims 1 to 9, further comprising one or more brace assemblies for mounting said rotatable mount to the vehicle steering wheel, wherein each of said one or more brace assemblies includes: a clamp assembly configured to engage the vehicle steering wheel, anda lever arm extending between a first end coupled to said clamp assembly and a second end coupled to said rotatable mount.

11. The robotic steering system of claim 10, wherein said clamp assembly includes: a second jaw member coupled to said first end of said lever arm; and a first jaw member pivotably coupled to said second jaw member such that said first jaw member is configured to pivot relative to said second jaw member to receive a portion of the vehicle steering wheel therebetween.

12. The robotic steering system of claim 11, wherein said clamp assembly further includes a cam handle coupled to said second jaw member for engagement with said first jaw member, wherein said cam handle is configured to abut said first jaw member and urge said first jaw member toward said second jaw member to couple said clamp assembly to the vehicle steering wheel.

13. The robotic steering system of claim 11, wherein said clamp assembly further includes: a handle pivotably coupled to said first jaw member; and a clasp pivotably coupled to said handle; wherein the second jaw member defines a plurality of engagement detents configured for engagement with said clasp; and wherein, upon engagement of said clasp with one of said plurality of engagement detents, said handle is arranged for user actuation toward said first jaw member to couple said clamp assembly to the vehicle steering wheel.

14. The robotic steering system of any one of claims 10 to 13 , wherein said rotatable mount defines one or more adjustment slots, and wherein said second end of said lever arm is configured to translate along a respective one of said one or more adjustment slots such that each of said one or more brace assemblies are adjustable relative to said rotatable mount to allow each clamp assembly to reach a desired mounting point on vehicle steering wheels having different shapes and sizes.

15. The robotic steering system of claim 14, wherein said one or more brace assemblies include a constraining feature and said rotatable mount defines a corresponding constraining feature, wherein said constraining feature of said one or more brace assemblies is configured to engage the corresponding constraining feature of the rotatable mount to inhibit translation of said one or more brace assemblies relative to said adjustment slot upon coupling of said one or more brace assemblies to said rotatable mount.

16. The robotic steering system of any one of claims 1 to 15, further comprising a constraining member coupled to said frame and configured to be fixed relative to the vehicle to fix said frame relative to the vehicle.

17. The robotic steering system of claim 16, further comprising a load cell assembly disposed between said frame and said constraining member at a known distance from said steering axis, said load cell assembly including a load sensor for generating a load signal corresponding to a force experienced between said frame and said constraining member.

18. The robotic steering system of claim 17, further comprising a controller in communication with said steering motor and said load sensor, said controller configured to adjust the steering torque of said steering motor based on said load signal.

19. The robotic steering system of claims 17 or 18, wherein said load cell assembly includes: a coupling block extending between a joint end coupled to said frame and a coupling end; and a joint arm extending between: a swivel end rotatably coupled to said joint end of said coupling block, and a swinging end arranged for rotation relative to said joint end of said coupling block, wherein said constraining member is coupled to said swinging end of said joint arm such that said swinging end of said joint arm experiences the force experienced between said frame and said constraining member; andwherein said load sensor disposed between said swinging end of said joint arm and said coupling end of said coupling block to generate said load signal corresponding to the force experienced therebetween.

20. The robotic steering system of claim 19, wherein said load cell assembly further includes a mechanical clearance joint disposed between said swinging end of said joint arm and said load sensor such that only a component of the force experienced between said frame and said constraining member that is parallel to said load sensor is transmitted to said load sensor.

21. A robotic driving system for controlling a vehicle, the robotic driving system comprising: the robotic steering system of any one of claims 1 to 20; an accelerator actuator configured to be coupled to and actuate an accelerator pedal of the vehicle; a brake actuator configured to be coupled to and actuate a brake pedal of the vehicle; and a controller in communication with said steering motor, said accelerator actuator, and said brake actuator, said controller configured operate said robotic steering system, said accelerator actuator, and said brake actuator to coordinate actuation of the vehicle steering wheel, the accelerator pedal, and the brake pedal of the vehicle by said robotic driving system.

22. The robotic driving system of claim 21, further comprising a robot frame configured to be mounted to a floor of the vehicle; wherein said accelerator actuator and said brake actuator are mounted to said robot frame; and wherein said frame of said robotic steering system is fixed to said robot frame to fix said frame relative to the vehicle.

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