CN102514616A - Safety control method and safety control device of engineering vehicle and electronic control steering system thereof - Google Patents
Safety control method and safety control device of engineering vehicle and electronic control steering system thereof Download PDFInfo
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- CN102514616A CN102514616A CN201110433781XA CN201110433781A CN102514616A CN 102514616 A CN102514616 A CN 102514616A CN 201110433781X A CN201110433781X A CN 201110433781XA CN 201110433781 A CN201110433781 A CN 201110433781A CN 102514616 A CN102514616 A CN 102514616A
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- master mode
- turns
- engineering truck
- mode
- setting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
Abstract
The invention provides a safety control method and a safety control device of an engineering vehicle and an electronic control steering system thereof, which are used for solving the problem that unreasonable operation on a steering mode switch is apt to affect running of the engineering vehicle in the prior art. The safety control method includes: recording the current steering control mode of the engineering vehicle; and comparing the current steering control mode of the engineering vehicle with the recorded steering control mode of the engineering vehicle when working conditions of the engineering vehicle change, and determining the steering control mode to be adopted currently according to a comparison result and the changed working conditions. By adopting the technical scheme of the safety control method and the safety control device, good running safety of the engineering vehicle can be benefited under the condition of unreasonable operation on the steering mode switch.
Description
Technical field
The present invention relates to the engineering machinery control technology field, relate to the method for controlling security and the device of a kind of engineering truck and automatically controlled steering swivel system thereof especially.
Background technology
Used the automatically controlled technology that turns in present many engineering trucks.The automatically controlled technology that turns to of engineering truck has been cancelled traditional mechanical connection, can satisfy the different working conditions requirement, realizes the multiple master mode that turns to.As the key component that vehicle ' is handled, steering swivel system has directly determined vehicle handling quality, stability and safety in the course of the work.
Turn in the technology automatically controlled; The guidance panel of chaufeur is provided with a plurality of mode switchs that turn to; The corresponding a kind of master mode that turns to of each switch, thus by chaufeur press turn to mode switch with engineering truck current turn to master mode to switch to press turn to the cooresponding master mode that turns to of mode switch.
In realizing process of the present invention, unreasonable if the contriver finds for the operation that turns to mode switch, then be prone to and turn to the pattern mistake, thereby influence going of engineering truck, for example heavyduty tire and ground-surface friction, the heavy then accident of generation overturning.Effective solution in correlation technique this is not proposed as yet.
Summary of the invention
Main purpose of the present invention provides the method for controlling security and the device of a kind of engineering truck and automatically controlled steering swivel system thereof, then influences the problem that engineering truck goes easily to solve in the prior art for the operation that turns to mode switch is unreasonable.
To achieve these goals, according to an aspect of the present invention, the method for controlling security of the automatically controlled steering swivel system of a kind of engineering truck is provided.
The method of controlling security of the automatically controlled steering swivel system of engineering truck of the present invention comprises: what the record engineering truck was current turns to master mode; When the operating mode of engineering truck changes, engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record.
Further, the operating mode of said engineering truck changes and comprises: said engineering truck is flame-out to be started then; Said engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record; Comprise: judge turn to after said engineering truck starts master mode whether with record turn to master mode identical; If it is identical; Then control by the master mode that turns to of this record; Otherwise the gear-change operation that suppresses said engineering truck, and the output information switches to the master mode that turns to of said record with the chaufeur of pointing out said engineering truck.
Further, the current master mode that turns to of said record engineering truck comprises: in said engineering truck driving process, real time recording is set turns to master mode; The operating mode of said engineering truck changes and comprises: the setting operation that turns to master mode; Said with engineering truck this moment turn to turning to master mode to compare and confirming the master mode that turns to that adopts this moment of master mode and record according to the operating mode of comparative result and change, comprising: whether that judges said setting operation setting turns to master mode unique; If unique, then control by the master mode that turns to of current setting; If it is not unique; That then judges current setting a plurality ofly turns to whether comprise the master mode of carrying out before the said setting operation that turns in the master mode; If; Then control, with the chaufeur of pointing out said engineering truck this master mode of setting at first that turns to is set at the current master mode that turns to otherwise export the information of setting at first that turns to master mode in the master mode that turns to that said priority sets by the master mode of carrying out before the said setting operation that turns to.
Further; Turn to turning to after the master mode of carrying out before whether comprising said setting operation in the master mode said judge current setting a plurality of; Also comprise: if then export information with the current master mode that turns to that turns to master mode to be replaced by to carry out before the said setting operation of the chaufeur of pointing out said engineering truck.
The safety control of the automatically controlled steering swivel system of a kind of engineering truck is provided according to a further aspect in the invention.
The safety control of the automatically controlled steering swivel system of engineering truck of the present invention comprises: recording unit, be used to write down engineering truck current turn to master mode; Treatment facility is used for when the operating mode of engineering truck changes, and engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record.
Further, said recording unit also is used for: after engineering truck is flame-out, write down the master mode that turns to when stopping working; Said treatment facility also is used for: after the flame-out startup then of said engineering truck; Judge turn to after said engineering truck starts master mode whether with record turn to master mode identical; If it is identical; Then control, otherwise suppress the gear-change operation of said engineering truck, and the output information switches to the master mode that turns to of said record with the chaufeur of pointing out said engineering truck by the master mode that turns to of this record.
Further, said recording unit also is used for: at said engineering truck driving process, real time recording is set turns to master mode; Said treatment facility also is used for: after turning to the setting operation of master mode, whether that judges said setting operation setting turns to master mode unique; If unique, then control by the master mode that turns to of current setting; If it is not unique; That then judges current setting a plurality ofly turns to whether comprise the master mode of carrying out before the said setting operation that turns in the master mode; If; Then control, with the chaufeur of pointing out said engineering truck this master mode of setting at first that turns to is set at the current master mode that turns to otherwise export the information of setting at first that turns to master mode in the master mode that turns to that said priority sets by the master mode of carrying out before the said setting operation that turns to.
Further; Said treatment facility also is used for a plurality of turning to after the master mode of carrying out before turning to master mode whether to comprise said setting operation of judging current setting; If judged result, is then exported information for being with the current master mode that turns to that turns to master mode to be replaced by to carry out before the said setting operation of the chaufeur of pointing out said engineering truck.
According to another aspect of the invention, a kind of engineering truck is provided.This project vehicle has and is used for the automatically controlled vehicle control device that turns to of engineering truck, is provided with safety control of the present invention in this vehicle control device.
According to technical scheme of the present invention, what the record engineering truck was current turns to master mode; When the operating mode of engineering truck changes; Engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record; Thereby can realize analyzing and making necessary adjustment to the master mode that turns to of engineering truck; Help to guarantee to turn to the operation rationalization of master mode, thereby improve vehicle safety.
Description of drawings
Figure of description is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the scheme drawing according to the basic step of the method for controlling security of the automatically controlled steering swivel system of engineering truck of the embodiment of the invention;
Fig. 2 is according to the engineering truck of the embodiment of the invention scheme drawing of the step of the method for controlling security of automatically controlled steering swivel system in the process of moving;
Fig. 3 is the scheme drawing according to the element of the safety control of the automatically controlled steering swivel system of engineering truck of the embodiment of the invention;
Fig. 4 is the scheme drawing according to the element of relevant steering safety control system in the engineering truck of the embodiment of the invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
In embodiments of the present invention, change to the operating mode of engineering truck and handle the setting that turns to master mode.For example vehicle is flame-out starts then in the change of engineering truck operating mode, and and for example, chaufeur has changed and turns to master mode.The master mode that turns to engineering truck is current is carried out record; When the operating mode of engineering truck changes; Because possibly need or need not turn to the adjustment of master mode, so in the present embodiment engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record.Be described further below in conjunction with embodiment.
Fig. 1 is the scheme drawing according to the basic step of the method for controlling security of the automatically controlled steering swivel system of engineering truck of the embodiment of the invention.As shown in Figure 1, this method mainly comprises the steps:
Step S11: after engineering truck is flame-out, write down the master mode that turns to when stopping working.Specifically can know and turn to master mode through reading the state that turns to mode switch.
Step S13: after engineering truck starts, judge current turn to master mode whether with write down turn to master mode identical.If identical, get into step S15, otherwise get into step S17 and step S19.
Step S15: the master mode that turns to that writes down among the S11 is set by step controlled.
Step S17: the gear-change operation that suppresses engineering truck.This step mainly is to make the engineering truck can't gear shift, specifically can be when chaufeur carries out gear shift, makes the chaufeur can't gear shift thereby the relevant mechanism of control gear shift is failure to actuate it, particularly can't get into to start for example 1 grade of shelves.
Step S19: the output information switches to the master mode that turns to of record with the chaufeur of prompting engineering truck.Just switched to and to have turned to master mode when flame-out last time.
Can find out from above step; After engineering truck stops working and starts once more; The master mode that turns to of guaranteeing engineering truck this moment turns to master mode consistent when flame-out; Because when flame-out, turn to master mode, thereby after starting once more, still taking this to turn to master mode to help to improve vehicle safety at this moment owing to obtain safety verification through vehicle '.
Also make improvement for the switching that turns to master mode in the vehicle ' process in the present embodiment, specifically as shown in Figure 2, Fig. 2 is according to the engineering truck of the embodiment of the invention scheme drawing of the step of the method for controlling security of automatically controlled steering swivel system in the process of moving.In the engineering truck driving process, carry out following steps:
Step S21: real time recording is successively set turns to master mode
Step S22: after turning to the setting operation of master mode, whether that judges this setting operation setting turns to master mode unique.If unique, then get into step S23, otherwise get into step S24.
Step S23: the master mode that turns to by current setting is controlled.
Step S24: that judges current setting a plurality ofly turns to whether comprise the master mode of carrying out before the above-mentioned setting operation that turns in the master mode.If then get into step S25, otherwise get into step S26 and step S27.In this step, for example when going for turning to master mode with master mode M3, above-mentioned setting operation has taken place, then above-mentioned " carrying out turn to master mode " is pattern M3.
Step S25: the master mode that turns to by carrying out before the above-mentioned setting operation is controlled.
Step S26: the master mode of setting at first that turns in the master mode that turns to according to successively setting is controlled.
Step S27: output alarm information.The alarm message particular content here can be set flexibly, be mainly used in current not the deciding of prompting chaufeur and turn to master mode by his setting operation, and current be that the master mode that turns among the S26 is controlled set by step.
From step shown in Figure 2, can find out; If chaufeur only turns to mode switch (promptly having provided the master mode that turns to that setting operation among the step S22 sets) by the next one; Then obey the operation of chaufeur, turn to the cooresponding master mode that turns to of mode switch to control by this; If press a plurality of mode switchs (making the judged result among the step S22 be " not unique ") that turn to owing to driver's operation is improper; Then judge (being step S24) according to the pattern that turns to before the driver's operation; Turn to pattern (step S26) what carry out before the preferential selection operation; Perhaps directly adopt the master mode that turns to that adopts at first after beginning to go, and chaufeur is made prompting.Aforesaid way helps to improve reasonableness that turns to the master mode switching manipulation and the safety that improves vehicle ' thus equally.In step S25, can also export information, turn to master mode when turning to master mode to be replaced by before the setting operation among the step S22 so that the prompting chaufeur is current, can also point out chaufeur to switch in this information and turn to master mode.
Fig. 3 is the scheme drawing according to the element of the safety control of the automatically controlled steering swivel system of engineering truck of the embodiment of the invention.As shown in Figure 3, the safety control 30 of the automatically controlled steering swivel system of engineering truck mainly comprises recording unit 31 and treatment facility 32.
Fig. 4 is the scheme drawing according to the element of relevant steering safety control system in the engineering truck of the embodiment of the invention.As shown in Figure 4; Engineering truck 4 in the present embodiment mainly comprises power supply 41, bus communication system 42, steering safety control system 43, turns to servovalve 44 and turns to oil cylinder 45, includes in the steering safety control system 43 to turn to mode switch 431, vehicle control device 432 and turn to control desk 433.Present embodiment is mainly made improvement for vehicle control device 432, wherein is provided with the safety control 30 in the present embodiment.
According to the technical scheme of the embodiment of the invention, what the record engineering truck was current turns to master mode; When the operating mode of engineering truck changes; With engineering truck this moment turn to turning to master mode to compare and confirming the master mode that turns to that adopts this moment of master mode and record according to the operating mode of comparative result and change, thereby can realize the adjustment of analyzing and making necessity to the turning to master mode of engineering truck.At engineering truck flame-out and start once more after, guarantee that the master mode that turns to of engineering truck this moment turns to master mode consistent when flame-out, help to improve vehicle safety at this moment.In the driving process of engineering truck, also make improvement in addition, help to eliminate the influence that the improper operation that turns to mode switch brings for vehicle driving safety for the switching that turns to master mode.Therefore use the technical scheme of the embodiment of the invention, help under the irrational situation of the operation that turns to mode switch, still make the safety preferably of having gone of engineering truck.
Obviously, it is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with the general calculation device; They can concentrate on the single computer device; Perhaps be distributed on the network that a plurality of computer device forms, alternatively, they can be realized with the executable program code of computer device; Thereby; Can they be stored in the memory storage and carry out, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize by computer device.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the method for controlling security of the automatically controlled steering swivel system of engineering truck is characterized in that, comprising:
What the record engineering truck was current turns to master mode;
When the operating mode of engineering truck changes, engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record.
2. method according to claim 1 is characterized in that,
The operating mode of said engineering truck changes and comprises: said engineering truck is flame-out to be started then;
The current master mode that turns to of record engineering truck comprises: after engineering truck is flame-out, write down the master mode that turns to when stopping working;
Said engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record; Comprise: judge turn to after said engineering truck starts master mode whether with record turn to master mode identical; If it is identical; Then control by the master mode that turns to of this record; Otherwise the gear-change operation that suppresses said engineering truck, and the output information switches to the master mode that turns to of said record with the chaufeur of pointing out said engineering truck.
3. method according to claim 1 and 2 is characterized in that,
The current master mode that turns to of said record engineering truck comprises: in said engineering truck driving process, real time recording is set turns to master mode;
The operating mode of said engineering truck changes and comprises: the setting operation that turns to master mode;
Said engineering truck this moment turned to turning to master mode to compare and confirming to comprise the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record:
Whether that judges said setting operation setting turns to master mode unique;
If unique, then control by the master mode that turns to of current setting;
If it is not unique; That then judges current setting a plurality ofly turns to whether comprise the master mode of carrying out before the said setting operation that turns in the master mode; If; Then control, with the chaufeur of pointing out said engineering truck this master mode of setting at first that turns to is set at the current master mode that turns to otherwise export the information of setting at first that turns to master mode in the master mode that turns to that said priority sets by the master mode of carrying out before the said setting operation that turns to.
4. method according to claim 3; It is characterized in that; Turn to turning to after the master mode of carrying out before whether comprising said setting operation in the master mode said judge current setting a plurality of; Also comprise: if then export information with the current master mode that turns to that turns to master mode to be replaced by to carry out before the said setting operation of the chaufeur of pointing out said engineering truck.
5. the safety control of the automatically controlled steering swivel system of engineering truck is characterized in that, comprising:
Recording unit, be used to write down engineering truck current turn to master mode;
Treatment facility is used for when the operating mode of engineering truck changes, and engineering truck this moment turned to turning to master mode to compare and confirming the master mode that turns to of employing this moment according to the operating mode of comparative result and change of master mode and record.
6. safety control according to claim 5 is characterized in that,
Said recording unit also is used for: after engineering truck is flame-out, write down the master mode that turns to when stopping working; Said treatment facility also is used for:
After the flame-out startup then of said engineering truck; Judge turn to after said engineering truck starts master mode whether with record turn to master mode identical; If it is identical; Then control, otherwise suppress the gear-change operation of said engineering truck, and the output information switches to the master mode that turns to of said record with the chaufeur of pointing out said engineering truck by the master mode that turns to of this record.
7. according to claim 5 or 6 described safety controls, it is characterized in that,
Said recording unit also is used for: at said engineering truck driving process, real time recording is set turns to master mode;
Said treatment facility also is used for: after turning to the setting operation of master mode, whether that judges said setting operation setting turns to master mode unique; If unique, then control by the master mode that turns to of current setting; If it is not unique; That then judges current setting a plurality ofly turns to whether comprise the master mode of carrying out before the said setting operation that turns in the master mode; If; Then control, with the chaufeur of pointing out said engineering truck this master mode of setting at first that turns to is set at the current master mode that turns to otherwise export the information of setting at first that turns to master mode in the master mode that turns to that said priority sets by the master mode of carrying out before the said setting operation that turns to.
8. want 7 described safety controls according to right; It is characterized in that; Said treatment facility also is used for a plurality of turning to after the master mode of carrying out before turning to master mode whether to comprise said setting operation of judging current setting; If judged result, is then exported information for being with the current master mode that turns to that turns to master mode to be replaced by to carry out before the said setting operation of the chaufeur of pointing out said engineering truck.
9. engineering truck has and is used for the automatically controlled vehicle control device that turns to of engineering truck, it is characterized in that, is provided with each described safety control in the claim 5 to 8 in the said vehicle control device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110433781 CN102514616B (en) | 2011-12-21 | 2011-12-21 | Safety control method and safety control device of engineering vehicle and electronic control steering system thereof |
| PCT/CN2012/082027 WO2013091418A1 (en) | 2011-12-21 | 2012-09-26 | Engineering vehicle and safety control method and device for electronic control steering system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110433781 CN102514616B (en) | 2011-12-21 | 2011-12-21 | Safety control method and safety control device of engineering vehicle and electronic control steering system thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN102514616A true CN102514616A (en) | 2012-06-27 |
| CN102514616B CN102514616B (en) | 2013-12-25 |
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| CN 201110433781 Active CN102514616B (en) | 2011-12-21 | 2011-12-21 | Safety control method and safety control device of engineering vehicle and electronic control steering system thereof |
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| Country | Link |
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| CN (1) | CN102514616B (en) |
| WO (1) | WO2013091418A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013091418A1 (en) * | 2011-12-21 | 2013-06-27 | 中联重科股份有限公司 | Engineering vehicle and safety control method and device for electronic control steering system thereof |
| CN107010108A (en) * | 2017-05-02 | 2017-08-04 | 山东五征集团有限公司 | Electric-controlled hydraulic four-wheel steering system and forward method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013011152A1 (en) * | 2013-07-04 | 2015-01-08 | Claas Selbstfahrende Erntemaschinen Gmbh | Vehicle with several steering programs |
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| CN101537853A (en) * | 2009-03-04 | 2009-09-23 | 长安大学 | Automobile four-wheel active steering control system |
| CN101947974A (en) * | 2010-09-14 | 2011-01-19 | 中山市泰宝电子科技有限公司 | Electronic steering angle displacement correction system of electric vehicle driven by child |
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| US4638883A (en) * | 1984-06-29 | 1987-01-27 | Nissan Diesel Co., Ltd. | Steering system for automotive vehicle |
| US5076382A (en) * | 1989-06-23 | 1991-12-31 | Trw Inc. | Method and apparatus for steering a vehicle |
| JP2003252230A (en) * | 2002-02-27 | 2003-09-10 | Hitachi Constr Mach Co Ltd | Steering device for working vehicle |
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| CN201961369U (en) * | 2010-12-06 | 2011-09-07 | 中国三江航天工业集团公司特种车辆技术中心 | Multi-mode all-wheel steering device |
| CN102514616B (en) * | 2011-12-21 | 2013-12-25 | 中联重科股份有限公司 | Safety control method and safety control device of engineering vehicle and electronic control steering system thereof |
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- 2011-12-21 CN CN 201110433781 patent/CN102514616B/en active Active
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- 2012-09-26 WO PCT/CN2012/082027 patent/WO2013091418A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101537853A (en) * | 2009-03-04 | 2009-09-23 | 长安大学 | Automobile four-wheel active steering control system |
| CN101947974A (en) * | 2010-09-14 | 2011-01-19 | 中山市泰宝电子科技有限公司 | Electronic steering angle displacement correction system of electric vehicle driven by child |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013091418A1 (en) * | 2011-12-21 | 2013-06-27 | 中联重科股份有限公司 | Engineering vehicle and safety control method and device for electronic control steering system thereof |
| CN107010108A (en) * | 2017-05-02 | 2017-08-04 | 山东五征集团有限公司 | Electric-controlled hydraulic four-wheel steering system and forward method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102514616B (en) | 2013-12-25 |
| WO2013091418A1 (en) | 2013-06-27 |
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