CN106347459A - Method and device for automatically aligning steering wheel - Google Patents
Method and device for automatically aligning steering wheel Download PDFInfo
- Publication number
- CN106347459A CN106347459A CN201610939855.XA CN201610939855A CN106347459A CN 106347459 A CN106347459 A CN 106347459A CN 201610939855 A CN201610939855 A CN 201610939855A CN 106347459 A CN106347459 A CN 106347459A
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- CN
- China
- Prior art keywords
- steering
- steering wheel
- vehicle
- angle
- speed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
Abstract
The invention relates to the technical field of steering wheel control for vehicles, and particularly relates to a method and device for automatically aligning a steering wheel. The method comprises the following steps: S1, starting a vehicle, detecting whether the vehicle speed is zero or not, entering the steps S2 if so, otherwise entering the step S4; S2, detecting whether the steering angle of the steering wheel is aligned to the steering angle of a steering system or not, entering the step S4 if so, otherwise entering the step S3; S3, rotating the steering wheel, and entering step S2; and S4, enabling the steering system which rotates correspondingly according to the steering angle of the steering wheel. The invention further discloses a steering wheel automatic aligning device. The method and device can help a driver to well align the steering wheel of a vehicle to the actual position of wheels, so that the vehicle is ensured to be always in the same state when being started, and the driver feels comfortable; and the alignment can be implemented by software development, and no extra hardware cost is needed.
Description
Technical field
The invention belongs to steering wheel for vehicle control technology field, more particularly to a kind of steering wheel automatic alignment method and dress
Put.
Background technology
Fork truck is industrial transportation vehicle, be for carrying out to member pallet cargo loading and unloading, stacking and short distance hauling operation
Various wheeled carrying vehicle.Fork truck plays very important role in the logistics system of enterprise, is cargo handling equipment
In main force, be widely used in each department in the national economy such as station, harbour, airport, factory, warehouse.With China
Economic fast development, the material handling of most of enterprise has had been detached from original a dead lift, the substitute is to pitch
Conveyorization based on car.Therefore, the demand in Chinese fork truck market is increasing.
The steering wheel of fork truck can be with 360 degree of cycle rotations, and when fork truck stops working, driver not necessarily can be by steering wheel
Go back to center position, and be in various different rotational angle positions, even if additionally, when fork truck stops working, driver is by direction
Disk goes back to center position, but flame-out after it is also possible to someone's steering wheel rotation so that steering wheel is not located at center position, when
After fork truck is again started up, the rotational angle of steering wheel is not aligned with the steering angle of steering, i.e. steering wheel and wheel
Physical location is not aligned with, vehicle open every time operated condition all different so that driving very inconvenient, drive especially for new
Member.
Content of the invention
Present invention aim at providing for solving the above problems a kind of driver can be helped to the steering wheel of vehicle and car
The physical location of wheel completes good be aligned it is ensured that vehicle is always at same state on startup, allows driver feel easypro
Suitable steering wheel automatic alignment method and device
For this reason, the invention discloses a kind of steering wheel automatic alignment method, comprising the steps:
S1, starts vehicle, whether the speed of detection vehicle is zero, if it is, entering step s2；If not, entering step s4；
Whether s2, the rotational angle of detection steering wheel and the steering angle of steering align, if it is, entering step s4；As
Really no, enter step s3；
S3, steering wheel rotation, enter s2；
S4, enables steering, and steering is accordingly rotated according to steering wheel rotational angle.
Further, in described step s1, to detect the speed of vehicle using velocity sensor.
Further, specifically include in described step s2:
S21, steering is automatically brought to center, enters step s22；
Whether s22, the rotational angle of detection steering wheel and the steering angle of steering align, if it is, entering step s4；As
Really no, enter step s3.
Further, steering is realized using centering sensor and be automatically brought to center.
Further, the rotational angle of steering wheel is detected using angular transducer.
Further, described angular transducer is photoelectric encoder.
Further, described step s3, particularly as follows: hand rotation steering wheel, enters s2；
The invention also discloses a kind of steering wheel automatic aligning device, including
Bus- Speed Monitoring module, for after vehicle start-up, whether the speed of detection vehicle is zero；
Alignment detection module, for detecting whether the rotational angle of steering wheel and the steering angle of steering align；
Rotating module, for steering wheel rotation；
Processing module, when the speed for vehicle is detected when Bus- Speed Monitoring module is zero, starts alignment detection module, works as speed
When detection module detects the speed of vehicle and is not zero, enable steering；When alignment detection module detects turning of steering wheel
During the steering angle alignment of dynamic angle and steering, enable steering, when alignment detection module detects turning of steering wheel
When the steering angle of dynamic angle and steering does not line up, start rotating module, restart alignment detection module.
The present invention can help driver to the steering wheel of vehicle and the physical location of wheel completes good be aligned it is ensured that car
It is always at same state on startup, allow driver to feel comfortably cool, be particularly well-suited to fresh driver, or even only need to pass through
Software development is not it is achieved that need to increase extra hardware spending, low cost.
Brief description
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is the corresponding relation figure with angular transducer signal for the steering wheel rotational angle of the embodiment of the present invention；
Fig. 3 is a kind of system construction drawing for implementing direction disk automatic alignment method in the embodiment of the present invention；
Fig. 4 is the structured flowchart of the steering wheel automatic aligning device in the embodiment of the present invention.
Specific embodiment
In conjunction with the drawings and specific embodiments, the present invention is further described.
Present invention is mainly applied to there is the fork truck of the automatically controlled steering of start automatic centering function, as shown in figure 3, tool
The fork truck having the automatically controlled steering of start automatic centering function is typically provided fork truck controller 1, angular transducer 2, steering wheel
3rd, power module 4, the automatically controlled steering 5 with start automatic centering function, velocity sensor 6, running motor 7, steering electricity
Machine 8 and centering sensor 9, will describe the steering wheel automatic alignment method of the present invention in detail below as example.
As shown in figure 1, a kind of steering wheel automatic alignment method, comprise the steps:
S1, starts fork truck, whether the speed of detection fork truck is zero, if it is, entering step s2；If not, entering step s4.
Specifically, to detect the speed of fork truck using velocity sensor 6, certainly, in other embodiments, it would however also be possible to employ
Detecting the speed of fork truck, whether such as detection running motor 7 has rotation no etc. to other methods, and this is that those skilled in the art are permissible
Realize easily, no longer describe in detail.If speed fork truck is detected is not zero, fork truck controller 1 then disabled orientation disk from
Dynamic alignment function, directly enables automatically controlled steering 5, and automatically controlled steering 5 is accordingly turned according to steering wheel 3 rotational angle
Dynamic, to meet safety standard requirement, but steering wheel 3 now is not aligned with automatically controlled steering 5.If fork truck is detected
Speed be zero, then enter step s2.
Whether s2, the rotational angle of detection steering wheel and the steering angle of steering align, if it is, entering step
s4；If not, entering step s3.
Specifically, automatically controlled first steering 5 drives steer motor 8 to rotate, until centering sensor 9 feeds back automatically controlled steering
System 5 correctly centering, the automatic centering function of automatically controlled steering 5 is prior art, and this no longer describes in detail.Angular transducer
The rotational angle of 2 detection steering wheels 3, in this specific embodiment, to detect the rotational angle of steering wheel 3 using photoelectric encoder,
In other embodiments, it would however also be possible to employ detecting the rotational angle of steering wheel 3, this is this area skill to other angular transducers
Art personnel can realize easily, no longer describes in detail.
Steering wheel 3 can be with 360 degree of cycle rotations, therefore, and the signal of angular transducer 2 rotates 360 degree with steering wheel 3
Linearly corresponded to for the cycle, Fig. 2 is exemplary to give two of which corresponding relation.
Then, according to the signal of angular transducer 2, fork truck controller 1 judges whether steering wheel 3 is in center position, that is, with
The steering angle alignment of automatically controlled steering 5, if alignment, enters step s4；If do not lined up, enter step s3.
S3, steering wheel rotation, enter s2.
Hand rotation steering wheel 3, repeats step s2, until alignment till, certainly, in other embodiments it is also possible to
One automatic rotating module is set, to carry out automatic steering wheel rotation 3, this is that those skilled in the art can realize, no easily
Describe in detail again.
S4, enables steering, and steering is accordingly rotated according to steering wheel rotational angle.
Specifically, enable automatically controlled steering 5, the rotational angle according to steering wheel 3 is carried out accordingly by automatically controlled steering 5
Rotate, that is, after achieving fork truck start, steering wheel 3 is alignd with automatically controlled steering 5, facilitates operator.
In the present embodiment, only steering wheel automatic centering just need to can be realized by software development it is not necessary to increase extra
Hardware spending, low cost, application prospect is wide.
Certainly, the present invention can also be applied to be not powered on the automatically controlled steering of automatic centering function or hydraulic control
Steering, only need to increase the sensor of the steering angle for detecting steering, without steering centering, directly judge
Whether the steering angle of the rotational angle of steering wheel and steering aligns, you can realize, this no longer describes in detail.
The invention also discloses a kind of steering wheel automatic aligning device, comprising:
Bus- Speed Monitoring module 22, for, after fork truck starts, whether the speed of detection vehicle is zero, specifically, Bus- Speed Monitoring mould
Block 22 is velocity sensor.
Alignment detection module 23, for detecting whether the rotational angle of steering wheel and the steering angle of steering align,
Specifically, alignment detection module 23 is included for detecting the angular transducer of steering wheel rotational angle and the automatically right of steering
Middle sensor.
Rotating module 24, for steering wheel rotation, specially hand rotation steering wheel.
Processing module 21, when the speed for vehicle is detected when Bus- Speed Monitoring module 22 is zero, starts alignment detection mould
Block 23, when the speed that Bus- Speed Monitoring module 22 detects vehicle is not zero, enables steering；When alignment detection module 23 is examined
When the steering angle of the rotational angle and steering that measure steering wheel aligns, enable steering, when alignment detection module 23
When the steering angle of rotational angle and steering that steering wheel is detected does not line up, start rotating module 24, restart alignment
Detection module 23, until the steering angle alignment of the rotational angle of steering wheel and steering.
Certainly, the present invention can also be applied to other and has the vehicles of similar steering wheel it is not limited to forklift steering wheel.
Although specifically show and describe the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
In vain, in the spirit and scope of the present invention being limited without departing from appended claims, in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (8)
1. a kind of steering wheel automatic alignment method it is characterised in that: comprise the steps
S1, starts vehicle, whether the speed of detection vehicle is zero, if it is, entering step s2；If not, entering step s4；
Whether s2, the rotational angle of detection steering wheel and the steering angle of steering align, if it is, entering step s4；As
Really no, enter step s3；
S3, steering wheel rotation, enter s2；
S4, enables steering, and steering is accordingly rotated according to steering wheel rotational angle.
2. steering wheel automatic alignment method according to claim 1 it is characterised in that: in described step s1, using speed
Sensor is detecting the speed of vehicle.
3. steering wheel automatic alignment method according to claim 1 it is characterised in that: specifically include in described step s2
S21, steering is automatically brought to center, enters step s22；
Whether s22, the rotational angle of detection steering wheel and the steering angle of steering align, if it is, entering step s4；As
Really no, enter step s3.
4. steering wheel automatic alignment method according to claim 3 it is characterised in that: using centering sensor realize turn to
System is automatically brought to center.
5. steering wheel automatic alignment method according to claim 1 it is characterised in that: using angular transducer detect direction
The rotational angle of disk.
6. steering wheel automatic alignment method according to claim 5 it is characterised in that: described angular transducer be photoelectricity compile
Code device.
7. steering wheel automatic alignment method according to claim 1 it is characterised in that: described step s3 is particularly as follows: manually
Steering wheel rotation, enters s2.
8. a kind of steering wheel automatic aligning device it is characterised in that: include
Bus- Speed Monitoring module, for after vehicle start-up, whether the speed of detection vehicle is zero；
Alignment detection module, for detecting whether the rotational angle of steering wheel and the steering angle of steering align；
Rotating module, for steering wheel rotation；
Processing module, when the speed for vehicle is detected when Bus- Speed Monitoring module is zero, starts alignment detection module, works as speed
When detection module detects the speed of vehicle and is not zero, enable steering；When alignment detection module detects turning of steering wheel
During the steering angle alignment of dynamic angle and steering, enable steering, when alignment detection module detects turning of steering wheel
When the steering angle of dynamic angle and steering does not line up, start rotating module, restart alignment detection module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939855.XA CN106347459B (en) | 2016-11-01 | 2016-11-01 | A kind of steering wheel automatic alignment method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939855.XA CN106347459B (en) | 2016-11-01 | 2016-11-01 | A kind of steering wheel automatic alignment method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106347459A true CN106347459A (en) | 2017-01-25 |
| CN106347459B CN106347459B (en) | 2019-10-08 |
Family
ID=57864363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610939855.XA Active CN106347459B (en) | 2016-11-01 | 2016-11-01 | A kind of steering wheel automatic alignment method and device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106347459B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829830A (en) * | 2019-11-25 | 2021-05-25 | 北京新能源汽车股份有限公司 | Control method, controller and control system for remote control steering |
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| US20050284688A1 (en) * | 2002-12-06 | 2005-12-29 | Koyo Sterring Europe | Method for setting, in a motor vehicle electrical power steering system, the power steering torque set point |
| CN202264814U (en) * | 2011-09-26 | 2012-06-06 | 杭州拜特电驱动技术有限公司 | Electronic steering control system for industrial vehicle |
| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
| CN103786780A (en) * | 2012-10-31 | 2014-05-14 | 宁波储力叉车有限公司 | Intelligent electric power steering controller for goods trolleys |
| CN104097682A (en) * | 2013-04-03 | 2014-10-15 | 株式会社捷太格特 | Vehicle steering system |
| CN204383562U (en) * | 2014-12-12 | 2015-06-10 | 浙江吉利汽车研究院有限公司 | Vehicle parking wheel self-aligning device |
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2016
- 2016-11-01 CN CN201610939855.XA patent/CN106347459B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050284688A1 (en) * | 2002-12-06 | 2005-12-29 | Koyo Sterring Europe | Method for setting, in a motor vehicle electrical power steering system, the power steering torque set point |
| CN202264814U (en) * | 2011-09-26 | 2012-06-06 | 杭州拜特电驱动技术有限公司 | Electronic steering control system for industrial vehicle |
| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
| CN103786780A (en) * | 2012-10-31 | 2014-05-14 | 宁波储力叉车有限公司 | Intelligent electric power steering controller for goods trolleys |
| CN104097682A (en) * | 2013-04-03 | 2014-10-15 | 株式会社捷太格特 | Vehicle steering system |
| CN204383562U (en) * | 2014-12-12 | 2015-06-10 | 浙江吉利汽车研究院有限公司 | Vehicle parking wheel self-aligning device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829830A (en) * | 2019-11-25 | 2021-05-25 | 北京新能源汽车股份有限公司 | Control method, controller and control system for remote control steering |
| CN112829830B (en) * | 2019-11-25 | 2022-05-31 | 北京新能源汽车股份有限公司 | Control method, controller and control system for remote control steering |
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| Publication number | Publication date |
|---|---|
| CN106347459B (en) | 2019-10-08 |
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