CN109625082B - Steering control device and method for container loader - Google Patents
Steering control device and method for container loader Download PDFInfo
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- CN109625082B CN109625082B CN201811534392.4A CN201811534392A CN109625082B CN 109625082 B CN109625082 B CN 109625082B CN 201811534392 A CN201811534392 A CN 201811534392A CN 109625082 B CN109625082 B CN 109625082B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses a steering control device for a container loader, which comprises a steering angle detection device for detecting a steering angle theta of a wheel and a speed detection device for detecting a wheel speed S, wherein the steering angle detection device and the speed detection device are in signal connection with a control system, and when the speed S is greater than a preset speed A and the steering angle theta is greater than a first preset steering angle α, the control system controls the steering angle theta to be reduced to be not more than α.
Description
Technical Field
The invention relates to the field of aviation ground equipment, in particular to a steering control method for a containerized cargo loader. The invention also relates to a steering control device for a bulk loader.
Background
A loader for loading cargoes in an airport has a large turning radius if a turning angle is too small when the loader is required to turn at a low speed, and has a large potential safety hazard if the turning angle is too large when the loader is required to turn at a high speed.
In the running process of the existing container cargo loader, when the speed of the vehicle is very high, the dead weight of the whole vehicle is very large, and if the allowed turning angle is still very large, the front axle is damaged or the whole vehicle is out of control, so that the running safety is seriously influenced.
Therefore, how to avoid the problem that the front axle is damaged or the whole vehicle is out of control due to an overlarge steering angle when the loader runs at a high speed is a problem to be solved urgently by the technical personnel in the field at present.
Disclosure of Invention
In view of the above, the present invention provides a steering control device for a bulk loader, which can effectively avoid the problem of an excessively large steering angle when the loader is traveling at a high speed, and improve the traveling safety of the loader.
Another object of the present invention is to provide a steering method for a bulk loader.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a turn to controlling means for containerized cargo loader, is including being used for detecting the steering angle detection device of wheel steering angle theta, and be used for detecting the speed detection device of wheel speed S, steering angle detection device with speed detection device signal connection is in control system, works as speed S is greater than and predetermines speed A just steering angle theta is greater than first predetermined steering angle α, control system control steering angle theta reduces to theta and is less than or equal to α.
Preferably, when the speed S is greater than the preset speed a and the steering angle θ is greater than the first preset steering angle α, the control system controls the speed S to decrease to S ═ a.
Preferably, the control system is signally connected to a hydraulic pump to control hydraulic flow to a hydraulic motor for driving the wheels.
Preferably, the preset speed a is 16 km/h.
Preferably, when the speed S is less than the preset speed a, the steering angle θ is greater than a second preset steering angle β, and the steering angle θ is less than the first preset steering angle α, the control system controls the steering angle θ to increase to θ α, and the second preset steering angle β is less than the first preset steering angle α.
A steering control method for a bulk loader, comprising:
detecting a steering angle theta and a speed S of a wheel;
and when the speed S is greater than the preset speed A and the steering angle theta is greater than a first preset steering angle α, controlling the steering angle theta to be reduced to theta not less than α.
Preferably, when the speed S is greater than the preset speed a and the steering angle θ is greater than the first preset steering angle α, the speed S is controlled to decrease to S ═ a.
Preferably, after detecting the steering angle θ and the speed S of the wheel, the method further includes controlling the steering angle θ to increase to α when the speed S is less than the preset speed a, the steering angle θ is greater than a second preset steering angle β, and the steering angle θ is less than the first preset steering angle α.
The invention provides a steering control device for a container loader, which comprises a steering angle detection device for detecting a steering angle theta of a wheel and a speed detection device for detecting a speed S of the wheel, wherein the steering angle detection device and the speed detection device are in signal connection with a control system, and when the speed S is greater than a preset speed A and the steering angle theta is greater than a first preset steering angle α, the control system controls the steering angle theta of the wheel to be reduced to be less than or equal to α, so that serious damage to a walking system, a suspension system and the like of the loader due to the fact that the steering angle theta is too large when the running speed of the loader is high is avoided, and the running safety and reliability of the container loader are improved.
The invention further provides a steering control method for the bulk cargo loader.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of an embodiment of a steering control apparatus for a bulk loader provided in accordance with the present invention;
FIG. 2 is a flow chart of a first embodiment of a steering control method for a bulk loader provided in accordance with the present invention;
FIG. 3 is a flow chart of a second embodiment of a steering control method for a bulk loader provided in accordance with the present invention;
fig. 4 is a flowchart of a third embodiment of the steering control method for a bulk loader according to the present invention.
The system comprises a hydraulic pump 1, a pipeline 2, a hydraulic motor 3, a steering mechanism 4, wheels 5, a control system 6, a speed detection device 7, a steering angle detection device 8 and a drive steering axle 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a steering control device for a bulk cargo loader, which can effectively control the steering angle of the loader and improve the driving safety of the loader. Another core of the present invention is to provide a steering control method for a bulk cargo loader.
Referring to fig. 1 to 4, fig. 1 is a schematic view of an embodiment of a steering control device for a bulk loader according to the present invention; FIG. 2 is a flow chart of a first embodiment of a steering control method for a bulk loader provided in accordance with the present invention; FIG. 3 is a flow chart of a second embodiment of a steering control method for a bulk loader provided in accordance with the present invention; fig. 4 is a flowchart of a third embodiment of the steering control method for a bulk loader according to the present invention.
Referring to fig. 1, the steering control device for a container loader according to the present invention includes a steering angle detection device 8 for detecting a steering angle θ of a wheel 5, and a speed detection device 7 for detecting a speed S of the wheel 5, wherein the steering angle detection device 8 and the speed detection device 7 are in signal connection with a control system 6, and when the speed S is greater than a preset speed a and the steering angle θ is greater than a first preset steering angle α, the control system 6 controls the steering angle θ to decrease to θ ≦ α.
The speed detection device 7 is used for detecting the speed S of the loader during driving and sending the detected speed to the control system 6, the control system 6 compares the received steering angle theta of the wheels 5 with a first preset steering angle α, meanwhile, the control system 6 compares the received speed S of the loader during driving with a preset speed A, and when the steering angle theta of the wheels 5 is larger than the first preset steering angle α and the driving speed of the wheels 5 is larger than the preset speed A, the control system 6 controls the steering angle theta of the wheels 5 to be reduced to a range that the steering angle theta is not larger than the first preset steering angle α so as to ensure that the steering angle theta of the wheels 5 does not exceed the first preset steering angle α all the time during high-speed driving of the loader.
The control system 6 is controllably connected to the drive steering axle 9, and is further operable to control the steering mechanism 4 to control the steering angle θ of the wheels 5.
It should be understood that the specific values of the preset speed a and the first preset steering angle α are determined according to the specific situation of the loader for the cargo, for example, the size and the operation performance of the loader are considered, and the environment of the working site of the loader is also considered.
The steering angle detection device 8 may be selected in various ways in consideration of the selection of the steering angle detection device 8, for example, the steering angle detection device 8 is an angle sensor, the angle sensor may be mounted on an axle, and real-time monitoring of the steering angle θ of the wheels 5 is realized according to the rotation angle of the axle during the turning of the loader. Of course, other detection means are possible, and the steering angle detection means 8 may be a steering wheel angle sensor, for example. Preferably, the speed detection device 7 is a speed sensor.
The steering control device for the container loader can detect the steering angle theta of the wheels 5 of the loader and the driving speed S of the wheels 5 in real time, and when the steering angle theta of the wheels 5 and the driving speed S of the wheels 5 exceed the preset value in the control system 6, the control system 6 can be used for controlling the steering angle theta of the wheels 5 to be reduced to a range which does not exceed the first preset steering angle α, so that the wheels 5 can always keep a smaller steering angle when the driving speed of the loader is higher, serious damage to a walking system, a suspension system and the like of the loader due to the fact that the steering angle theta is too large when the driving speed of the loader is higher is avoided, and the driving safety and reliability of the container loader are improved.
On the basis of the above embodiment, when the speed S is greater than the preset speed a and the steering angle θ is greater than the first preset steering angle α, the control system 6 controls the speed S to decrease to S ═ a.
In order to further improve the safety of the loader during the turning process, when the driving speed S of the wheels 5 is greater than the preset speed a and the steering angle θ of the wheels 5 is greater than the first preset steering angle α, the control system 6 may control the driving speed S of the wheels 5 to be reduced to S equal to a, so as to reduce the driving speed of the loader, thereby further reducing the damage to the walking and suspension systems of the loader caused by the excessively high speed of the vehicle, and improving the safety of the loader during the turning process.
In this embodiment, when the speed S of the vehicle wheel 5 is greater than the preset speed a and the steering angle θ of the vehicle wheel 5 is greater than the first preset steering angle α, the control system 6 controls the steering angle θ to decrease and simultaneously decreases the speed S of the vehicle wheel 5 to the preset speed a, so as to limit the vehicle wheel 5 in terms of speed and angle, thereby greatly improving the safety and reliability of the vehicle.
On the basis of the above embodiment, the control system 6 is connected to the hydraulic system to control the hydraulic flow of the hydraulic motor 3, the hydraulic motor 3 being used to drive the wheels 5.
Considering the way that the control system 6 controls the vehicle to decelerate, the control system 6 can achieve the effect of controlling the speed of the wheels 5 by controlling the power system for driving the wheels 5, for example, the control system 6 can be connected with a hydraulic system by a signal, the hydraulic system can comprise a hydraulic pump 1 and a hydraulic motor 3, the hydraulic pump 1 is connected with the hydraulic motor 3 through a pipeline 2 capable of conveying liquid, the hydraulic pump 1 is used for providing liquid with certain pressure for the hydraulic motor 3 to drive the hydraulic motor 3, the hydraulic motor 3 is used for driving the wheels 5, and when deceleration control needs to be carried out on the wheels 5, the rotation speed of the hydraulic motor 3 can be reduced by reducing the flow of the hydraulic pressure provided by the hydraulic pump 1 to the hydraulic motor 3, so as to reduce the running speed of the wheels 5.
The control of the driving speed of the wheels 5 may of course be performed in other ways, for example, the control system 6 may control the brake system of the loader to reduce the driving speed of the wheels 5.
In the process of turning the container loader, in order to ensure the safe driving of the loader, the value of the preset speed a is not too large, and on the basis of the above embodiment, the preset speed a is preferably 16 km/h.
On the basis of any of the above embodiments, when the speed S is less than the preset speed a, the steering angle θ is greater than the second preset steering angle β, and the steering angle θ is less than the first preset steering angle α, the control system 6 controls the steering angle θ to be increased to θ α, and the second preset steering angle β is less than the first preset steering angle α.
Considering that when the loader needs to turn or turn around, if the running speed of the loader is small and the steering angle θ of the wheels 5 is small, the turning radius of the loader is too large, which is not beneficial to the turning or turning around of the loader, when the running speed S of the loader is less than the preset speed a, the steering angle θ of the wheels 5 is greater than the second preset steering angle β, and the steering angle θ is less than the first preset steering angle α, the control system 6 may control the steering angle θ of the wheels 5 to be increased to α, so that the loader may complete the turning or turning around within the small turning radius.
The second preset steering angle β should be smaller than the first preset steering angle α, and the second preset steering angle β should not be too small, so as to avoid that the control system 6 controls the steering angle θ of the wheels 5 to increase and affect the normal running of the loader during the normal straight running of the loader.
Referring to fig. 2, in addition to the steering control device for a bulk loader, the present invention also provides a steering control method for a bulk loader, comprising:
s1, detecting the steering angle theta and the speed S of the wheels 5;
and S2, when the speed S is greater than the preset speed A and the steering angle theta is greater than the first preset steering angle α, controlling the steering angle theta to be reduced to be theta less than or equal to α.
The steering angle theta may be an angle between a plane where the wheels 5 are located when the loader turns and a plane where the wheels 5 are located when the loader travels straight, and the travel speed of the wheels 5 may be detected by detecting the rotation speed of the wheels 5 and further converting the travel speed of the wheels 5 according to the detected rotation speed of the wheels 5.
Referring to fig. 3, in addition to the above embodiments, when the speed S is greater than the preset speed a and the steering angle θ is greater than the first preset steering angle α, the method further includes:
s3, the control speed S is decreased to S ═ a.
Referring to fig. 4, after detecting the steering angle θ and the speed S of the wheel 5, the method further includes controlling the steering angle θ to increase to α when the speed S is less than the preset speed a, the steering angle θ is greater than the second preset steering angle β, and the steering angle θ is less than the first preset steering angle α.
For the embodiment of controlling the steering angle θ and the rotation speed S, reference may be made to the above-mentioned method for using the steering control device for the bulk loader, and details thereof are not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The steering control apparatus and method for a bulk loader provided by the present invention has been described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (6)
1. A steering control device for a container loader is characterized by comprising a steering angle detection device (8) for detecting a steering angle theta of a wheel (5) and a speed detection device (7) for detecting a speed S of the wheel (5), wherein the steering angle detection device (8) and the speed detection device (7) are in signal connection with a control system (6), and when the speed S is greater than a preset speed A and the steering angle theta is greater than a first preset steering angle α, the control system (6) controls the steering angle theta to be reduced to theta not more than α;
when the speed S is less than the preset speed a, the steering angle θ is greater than a second preset steering angle β, and the steering angle θ is less than the first preset steering angle α, the control system (6) controls the steering angle θ to increase to α, and the second preset steering angle β is less than the first preset steering angle α.
2. The steering control device according to claim 1, characterized in that the control system (6) controls the speed S to decrease to S ═ a when the speed S is greater than the preset speed a and the steering angle θ is greater than the first preset steering angle α.
3. Steering control device according to claim 2, characterized in that the control system (6) is signally connected to a hydraulic pump (1) for controlling the hydraulic flow of a hydraulic motor (3), which hydraulic motor (3) is intended to drive the wheels (5).
4. The steering control device according to claim 1, characterized in that the preset speed a is 16 km/h.
5. A steering control method for a bulk loader, comprising:
detecting a steering angle theta and a speed S of a wheel (5);
when the speed S is greater than a preset speed A and the steering angle theta is greater than a first preset steering angle α, controlling the steering angle theta to be reduced to theta not less than α;
after detecting the steering angle theta and the speed S of the wheel (5), the method further comprises controlling the steering angle theta to be increased to α when the speed S is less than the preset speed A, the steering angle theta is greater than a second preset steering angle β, and the steering angle theta is less than the first preset steering angle α.
6. The steering control method according to claim 5, characterized in that when the speed S is greater than the preset speed A and the steering angle θ is greater than the first preset steering angle α, the speed S is controlled to decrease to S-A.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811534392.4A CN109625082B (en) | 2018-12-14 | 2018-12-14 | Steering control device and method for container loader |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811534392.4A CN109625082B (en) | 2018-12-14 | 2018-12-14 | Steering control device and method for container loader |
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| CN109625082A CN109625082A (en) | 2019-04-16 |
| CN109625082B true CN109625082B (en) | 2020-07-28 |
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| CN113753121A (en) * | 2020-06-05 | 2021-12-07 | 北京新能源汽车股份有限公司 | Wire-controlled steering system, control method and device thereof, control equipment and automobile |
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| JP5068638B2 (en) * | 2007-12-25 | 2012-11-07 | 本田技研工業株式会社 | Vehicle rear wheel toe angle control device and rear wheel toe angle control method |
| CN103863392B (en) * | 2012-12-12 | 2017-06-06 | 上海汽车集团股份有限公司 | A kind of control method and electric power-assisted steering apparatus for suppressing vehicle side turning |
| CN203651885U (en) * | 2013-11-29 | 2014-06-18 | 北汽福田汽车股份有限公司 | Auxiliary steering control system for heavy vehicles |
| DE102014202230A1 (en) * | 2014-02-07 | 2015-08-13 | Robert Bosch Gmbh | Method and apparatus for preventing tipping of a steerable vehicle |
| CN107176205A (en) * | 2017-06-20 | 2017-09-19 | 聊城中通轻型客车有限公司 | A kind of four wheels of electric automobile steering and control method |
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Address after: 410000 No. 1335 Liangtang East Road, Changsha Economic and Technological Development Zone, Hunan Province Applicant after: Shanhe Airport Equipment Co.,Ltd. Address before: 410000 No. 1335 Liangtang East Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Applicant before: SHANHAI SPECIAL EQUIPMENT Co.,Ltd. |
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Inventor after: Xu Yangang Inventor after: Guo Zhixin Inventor after: Wang Zhongren Inventor after: Yang Qiu Inventor before: Xu Yangang Inventor before: Guo Jixin Inventor before: Wang Zhongren Inventor before: Li Yan |
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