CN113524995A - Redundant control method and equipment for waterway steering switching of amphibious vehicle - Google Patents
Redundant control method and equipment for waterway steering switching of amphibious vehicle Download PDFInfo
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- CN113524995A CN113524995A CN202110780280.2A CN202110780280A CN113524995A CN 113524995 A CN113524995 A CN 113524995A CN 202110780280 A CN202110780280 A CN 202110780280A CN 113524995 A CN113524995 A CN 113524995A
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- steering
- steering wheel
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- land
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
Abstract
The invention provides a redundant control method and equipment for waterway steering switching of an amphibious vehicle, comprising the following steps: determining a driving mode according to a driving environment, mechanically locking a steering wheel and a steering shaft and keeping synchronous rotation in a land driving mode, directly realizing steering wheel deflection by the steering wheel through a steering system to generate a land steering mode signal for a steering controller to implement a land control mode, and keeping a steering wheel corner sensor at a zero position; the steering wheel is separated from the steering shaft in the water surface running mode, the steering shaft is locked in the middle of wheels, a water surface steering mode signal is generated, if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, the steering wheel angle sensor synchronously outputs a steering wheel angle signal, and the steering engine is subjected to steering control according to the steering wheel angle signal. The invention can realize the running switching of the vehicle in the water and amphibious environment only by operating the steering wheel, thereby reducing the self load of the vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of special vehicles, in particular to a redundant control method and equipment for waterway steering switching of an amphibious vehicle.
Background
Currently, the demand for multi-function delivery vehicles by modern military forces is increasing. The amphibious vehicle has the characteristics of maneuverability and flexibility of the land vehicle, can directly realize water surface running, and has important tactical value. Compared with the traditional vehicle, the amphibious vehicle needs to be provided with a steering control device which is completely different from the land driving for realizing the normal driving and the course control on the water surface. The current common mode is that the steering wheel is controlled to deflect by a traditional steering wheel and a steering system when the vehicle runs on the land, and the steering wheel is controlled to change the course by sending a steering command by using a handle or a hand wheel when the vehicle runs on the water. The mode is not beneficial to system simplification and the requirement of weight reduction of the whole vehicle due to the adoption of two sets of independent devices. In addition, a driver needs to be used to a steering wheel operation mode of the land wheeled vehicle and a handle operation mode during water surface navigation, so that the degree of dependence of the amphibious vehicle on the experience of the driver in water or on land is high, and the control stability of the amphibious vehicle in the driving switching process among different environments is reduced. Therefore, it is an urgent technical problem to be solved in the art to develop a redundant control method and device for waterway steering switching of an amphibious vehicle, which can effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a redundant control method and equipment for waterway steering switching of an amphibious vehicle.
In a first aspect, an embodiment of the present invention provides a redundant control method for waterway steering switching of an amphibious vehicle, including: after the whole vehicle is electrified, the steering system controller performs self-checking, determines a driving mode according to a driving environment, and generates a land/water surface driving mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal; if the land driving mode is switched, the steering wheel and the steering shaft are mechanically locked and keep synchronous rotation, the steering wheel directly realizes the deflection of a steering wheel through a steering system, a land steering mode signal is generated for a steering controller to implement a land control mode, and a steering wheel corner sensor keeps a zero position; if the steering wheel is switched to the water surface running mode, the steering wheel and the steering shaft are separated by the switching mechanism, the steering shaft is locked in the middle position of the wheels, a water surface steering mode signal is generated, if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, the steering wheel angle sensor synchronously outputs a steering wheel angle signal, and the steering engine is subjected to steering control according to the steering wheel angle signal.
On the basis of the content of the embodiment of the method, the redundant control method for waterway steering switching of the amphibious vehicle, which is provided by the embodiment of the invention, generates a land/water surface driving mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal, and comprises the following steps: and comparing the land driving mode signal with the working state signal of the water jet propulsion device, if the land driving mode signal is matched with the working state signal of the water jet propulsion device, working according to a set mode, and if the land driving mode signal is not matched with the working state signal of the water jet propulsion device, alarming and entering a fault protection mode.
On the basis of the content of the above method embodiment, the redundant control method for waterway steering switching of an amphibious vehicle provided in the embodiment of the present invention further includes, after the steering wheel angle sensor maintains the zero position: and if the steering wheel angle sensor is not in the zero position, sending out an abnormal state alarm of the steering wheel angle sensor.
On the basis of the content of the above method embodiment, the redundant control method for switching the waterway steering of the amphibious vehicle provided in the embodiment of the present invention further includes, after the alarm for the abnormal state of the steering wheel angle sensor is issued: if the steering wheel corner sensor is not in abnormal state alarm, the steering engine is kept at the middle position and does not deflect after the land steering mode signal and the steering wheel corner signal are received.
On the basis of the content of the embodiment of the method, the redundant control method for waterway steering switching of the amphibious vehicle, which is provided by the embodiment of the invention, generates a land/water surface driving mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal, and further comprises the following steps: and comparing the water surface running mode signal with the working state signal of the water jet propulsion device, working according to a set mode if the signals are matched, and alarming and entering a fault protection mode if the signals are not matched.
On the basis of the content of the embodiment of the method, the redundant control method for switching the waterway steering of the amphibious vehicle, provided by the embodiment of the invention, comprises the following steps that if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively: the steering wheel angle signal changes along with the rotation of the steering wheel, and if the steering wheel angle signal is abnormal or the steering wheel angle sensor is determined to have a fault after the actual rotation amount of the steering wheel is compared with the display value of the rotation amount of the steering wheel, the manual power-assisted mode is started to control the rotation of the steering wheel.
On the basis of the content of the embodiment of the method, the redundancy control method for waterway steering switching of the amphibious vehicle, provided by the embodiment of the invention, comprises the following steps that a steering wheel steering angle sensor synchronously outputs a steering wheel steering angle signal, and a steering engine is subjected to steering control according to the steering wheel steering angle signal: if the steering wheel corner signal and the steering wheel corner sensor are normal, the steering engine is controlled to deflect according to the steering wheel corner signal after receiving the water surface steering mode signal and the steering wheel corner signal.
In a second aspect, embodiments of the present invention provide a redundant control apparatus for waterway steering switching of an amphibious vehicle, comprising: the first main module is used for self-checking a steering system controller after the whole vehicle is electrified, determining a running mode according to a running environment, and generating a land/water running mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal; the second main module is used for mechanically locking the steering wheel and the steering shaft and keeping synchronous rotation if the driving mode is switched to the land driving mode, the steering wheel directly realizes the deflection of the steering wheel through a steering system, a land steering mode signal is generated for a steering controller to implement a land control mode, and a steering wheel corner sensor keeps a zero position; and the third main module is used for disconnecting the steering wheel from the steering shaft and locking the steering shaft in the middle position of the wheels to generate a water surface steering mode signal if the water surface driving mode is switched to the water surface driving mode, and the steering wheel and the steering shaft rotate relatively if the steering wheel rotates, the steering wheel angle sensor synchronously outputs a steering wheel angle signal and controls the steering of the steering engine according to the steering wheel angle signal.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor invokes the program instructions to implement the redundant control method for waterway steering switching of an amphibious vehicle provided in any of the various implementations of the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the redundant control method for waterway steering switching of an amphibious vehicle provided in any one of the various implementations of the first aspect.
According to the redundancy control method and the redundancy control device for waterway steering switching of the amphibious vehicle, the driving mode is determined through the driving environment, corresponding signals are generated, the steering wheel and the steering shaft are mechanically locked and synchronously rotate under the land driving mode, and the steering controller implements the land control mode; the steering wheel is separated from the steering shaft by the conversion mechanism in the water surface running mode, steering control is performed on the steering engine according to steering wheel turning angle signals, running switching of the vehicle in the waterway amphibious environment can be achieved only by operating the steering wheel, running stability of the waterway amphibious vehicle is improved, the whole system is simple and compact in structure, and self load of the vehicle is effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a redundant control method for waterway steering switching of an amphibious vehicle according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a redundant control device for waterway steering switching of an amphibious vehicle according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
An embodiment of the invention provides a redundant control method for waterway steering switching of an amphibious vehicle, and referring to fig. 1, the method comprises the following steps: after the whole vehicle is electrified, the steering system controller performs self-checking, determines a driving mode according to a driving environment, and generates a land/water surface driving mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal; if the land driving mode is switched, the steering wheel and the steering shaft are mechanically locked and keep synchronous rotation, the steering wheel directly realizes the deflection of a steering wheel through a steering system, a land steering mode signal is generated for a steering controller to implement a land control mode, and a steering wheel corner sensor keeps a zero position; if the steering wheel is switched to the water surface running mode, the steering wheel and the steering shaft are separated by the switching mechanism, the steering shaft is locked in the middle position of the wheels, a water surface steering mode signal is generated, if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, the steering wheel angle sensor synchronously outputs a steering wheel angle signal, and the steering engine is subjected to steering control according to the steering wheel angle signal.
Based on the content of the above method embodiment, as an alternative embodiment, the redundant control method for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention, which generates a land/water driving mode signal, a steering wheel angle signal and a water jet propulsion device operating state signal, includes: and comparing the land driving mode signal with the working state signal of the water jet propulsion device, if the land driving mode signal is matched with the working state signal of the water jet propulsion device, working according to a set mode, and if the land driving mode signal is not matched with the working state signal of the water jet propulsion device, alarming and entering a fault protection mode.
Specifically, after the land mode is switched, the steering wheel and the steering shaft are mechanically locked, the steering wheel and the steering shaft rotate synchronously, and the steering wheel directly realizes steering wheel deflection through a steering system. In this state, a land steering mode signal is generated for the steering controller to implement land mode control (which may support an electric power-assisted or electro-hydraulic power-assisted steering mode). At the moment, the steering wheel and the steering shaft are in a locking state and do not rotate relatively, and the steering wheel angle sensor always keeps zero position; and comparing the land running mode signal with the working state signal of the water jet propulsion device, judging whether the working mode states are consistent, working according to a set mode when the working mode states are consistent, and alarming and entering a fault protection mode when the working mode states are inconsistent.
Based on the content of the above method embodiment, as an optional embodiment, the redundant control method for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes, after the steering wheel angle sensor maintains the zero position, that: and if the steering wheel angle sensor is not in the zero position, sending out an abnormal state alarm of the steering wheel angle sensor. And keeping the steering wheel corner signal in the land running mode at a zero position, and otherwise, performing abnormal alarm on the steering wheel corner signal.
Based on the content of the foregoing method embodiment, as an optional embodiment, the redundant control method for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes, after the sending of the alarm indicating abnormal state of the steering wheel angle sensor, the following steps: if the steering wheel corner sensor is not in abnormal state alarm, the steering engine is kept at the middle position and does not deflect after the land steering mode signal and the steering wheel corner signal are received. Under the fault-free state, the steering system controller receives a land steering mode signal and a steering wheel turning angle signal, and the steering system controller keeps the steering engine in the middle position and does not deflect.
Specifically, in the land driving mode, if the steering wheel angle sensor is in a fault state, no land/water surface steering mode signal exists; or the steering mode signal is not consistent with the working state signal of the water jet propulsion device, the fault alarm is carried out, the working state signal of the water jet propulsion device is used as a judgment basis, and if the water jet propulsion device does not work, the auxiliary judgment is carried out to be in a land mode; no steering wheel angle signal exists, the steering angle keeps a zero position, and the steering engine does not deflect; the steering wheel angle signal is not zero, the steering angle keeps zero position, and the steering engine does not deflect.
Based on the content of the foregoing method embodiment, as an alternative embodiment, the redundant control method for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention, which generates a land/water driving mode signal, a steering wheel angle signal and a water jet propulsion device operating state signal, further includes: and comparing the water surface running mode signal with the working state signal of the water jet propulsion device, working according to a set mode if the signals are matched, and alarming and entering a fault protection mode if the signals are not matched.
Specifically, after the water surface running mode is switched, the switching mechanism automatically realizes the disengagement of the steering wheel and the steering shaft, locks the steering shaft in the middle position of the wheels and generates a water surface steering mode signal. Because the steering wheel and the steering shaft are in a disconnected state at the moment and the steering shaft is locked, when the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, the steering wheel angle sensor synchronously outputs an angle signal to the steering controller to implement steering control of the steering engine in a water surface mode. And comparing the water surface running mode signal with the working state signal of the water jet propulsion device, judging whether the working mode states are consistent, working according to a set mode when the working mode states are consistent, and alarming and entering a fault protection mode when the working mode states are inconsistent.
Based on the content of the foregoing method embodiment, as an optional embodiment, the redundant control method for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention, where if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, includes: the steering wheel angle signal changes along with the rotation of the steering wheel, and if the steering wheel angle signal is abnormal or the steering wheel angle sensor is determined to have a fault after the actual rotation amount of the steering wheel is compared with the display value of the rotation amount of the steering wheel, the manual power-assisted mode is started to control the rotation of the steering wheel. The steering wheel angle signal in the water surface running mode changes along with the rotation of the steering wheel, if the steering wheel angle signal is abnormal, or after the rotation amount of the steering wheel and the display value of the steering wheel are compared manually, whether a fault exists in a steering wheel angle sensor is judged, if the fault exists, a manual power-assisted mode is adopted, and if the fault does not exist, the manual power-assisted mode is not adopted.
Specifically, in the water surface running mode, if the steering wheel angle sensor is in a fault state, no land/water surface steering mode signal exists; or the steering mode signal is not consistent with the working state signal of the water jet propulsion device, the fault alarm is carried out, the working state signal of the water jet propulsion device is used as a judgment basis, if the water jet propulsion device works, the water surface mode is judged in an auxiliary mode, and at the moment, when a steering wheel corner signal exists, the steering engine is controlled to deflect correspondingly according to the steering wheel corner signal; and sending a fault alarm of the steering wheel angle signal when the steering wheel angle signal is not available, wherein the steering wheel control course is invalid, and the steering control system supports switching to a manual power-assisted mode. Manual assist mode: when the vehicle runs on the water surface, the steering wheel corner signal fails, the system loses the steering capacity of the steering wheel control steering engine, and the driver can start the manual mode. A manual rudder stock is connected above a steering engine, and a steering control system utilizes an electric actuating mechanism to implement power-assisted steering control according to the torque and the turning angle signal of the manual rudder stock, so that the control intensity of a driver is reduced.
Based on the content of the above method embodiment, as an optional embodiment, the redundant control method for waterway steering switching of an amphibious vehicle provided in the embodiment of the present invention, where the steering wheel angle sensor outputs a steering wheel angle signal synchronously, and performs steering control on the steering engine according to the steering wheel angle signal, includes: if the steering wheel corner signal and the steering wheel corner sensor are normal, the steering engine is controlled to deflect according to the steering wheel corner signal after receiving the water surface steering mode signal and the steering wheel corner signal. Under the normal state of a steering wheel corner signal and a steering wheel corner sensor, a steering system controller receives a water surface steering mode signal and a steering wheel corner signal and controls a steering engine to deflect according to the steering wheel corner signal value and the preset of the system.
According to the redundant control method for waterway steering switching of the amphibious vehicle, provided by the embodiment of the invention, a driving mode is determined through a driving environment and a corresponding signal is generated, a steering wheel and a steering shaft are mechanically locked and keep synchronous rotation in a land driving mode, and a steering controller implements a land control mode; the steering wheel is separated from the steering shaft by the conversion mechanism in the water surface running mode, steering control is performed on the steering engine according to steering wheel turning angle signals, running switching of the vehicle in the waterway amphibious environment can be achieved only by operating the steering wheel, running stability of the waterway amphibious vehicle is improved, the whole system is simple and compact in structure, and self load of the vehicle is effectively reduced.
The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on the actual situation, on the basis of the above embodiments, the embodiment of the invention provides a redundant control device for waterway steering switching of an amphibious vehicle, which is used for executing the redundant control method for waterway steering switching of the amphibious vehicle in the above method embodiment. Referring to fig. 2, the apparatus includes: the first main module is used for self-checking a steering system controller after the whole vehicle is electrified, determining a running mode according to a running environment, and generating a land/water running mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal; the second main module is used for mechanically locking the steering wheel and the steering shaft and keeping synchronous rotation if the driving mode is switched to the land driving mode, the steering wheel directly realizes the deflection of the steering wheel through a steering system, a land steering mode signal is generated for a steering controller to implement a land control mode, and a steering wheel corner sensor keeps a zero position; and the third main module is used for disconnecting the steering wheel from the steering shaft and locking the steering shaft in the middle position of the wheels to generate a water surface steering mode signal if the water surface driving mode is switched to the water surface driving mode, and the steering wheel and the steering shaft rotate relatively if the steering wheel rotates, the steering wheel angle sensor synchronously outputs a steering wheel angle signal and controls the steering of the steering engine according to the steering wheel angle signal.
The embodiment of the invention provides a redundant control device for waterway steering switching of an amphibious vehicle, which adopts a plurality of modules in a figure 2, determines a driving mode according to a driving environment and generates corresponding signals, a steering wheel and a steering shaft are mechanically locked and keep synchronous rotation in a land driving mode, and a steering controller implements a land control mode; the steering wheel is separated from the steering shaft by the conversion mechanism in the water surface running mode, steering control is performed on the steering engine according to steering wheel turning angle signals, running switching of the vehicle in the waterway amphibious environment can be achieved only by operating the steering wheel, running stability of the waterway amphibious vehicle is improved, the whole system is simple and compact in structure, and self load of the vehicle is effectively reduced.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the above device embodiment, as an optional embodiment, the redundant control device for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes: a first submodule for implementing said and generating a land/water travel mode signal, a steering wheel angle signal and a water jet propulsion unit operating state signal, comprising: and comparing the land driving mode signal with the working state signal of the water jet propulsion device, if the land driving mode signal is matched with the working state signal of the water jet propulsion device, working according to a set mode, and if the land driving mode signal is not matched with the working state signal of the water jet propulsion device, alarming and entering a fault protection mode.
Based on the content of the above device embodiment, as an optional embodiment, the redundant control device for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes: a second submodule for implementing that after the steering wheel angle sensor is maintained at the zero position, the method further includes: and if the steering wheel angle sensor is not in the zero position, sending out an abnormal state alarm of the steering wheel angle sensor.
Based on the content of the above device embodiment, as an optional embodiment, the redundant control device for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes: the third submodule is configured to implement that after the steering wheel angle sensor abnormal state alarm is sent out, the method further includes: if the steering wheel corner sensor is not in abnormal state alarm, the steering engine is kept at the middle position and does not deflect after the land steering mode signal and the steering wheel corner signal are received.
Based on the content of the above device embodiment, as an optional embodiment, the redundant control device for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes: a fourth submodule for implementing said generating and generating a land/water travel mode signal, a steering wheel angle signal and a water jet propulsion unit operating state signal, further comprising: and comparing the water surface running mode signal with the working state signal of the water jet propulsion device, working according to a set mode if the signals are matched, and alarming and entering a fault protection mode if the signals are not matched.
Based on the content of the above device embodiment, as an optional embodiment, the redundant control device for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes: a fifth submodule, configured to implement that if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, including: the steering wheel angle signal changes along with the rotation of the steering wheel, and if the steering wheel angle signal is abnormal or the steering wheel angle sensor is determined to have a fault after the actual rotation amount of the steering wheel is compared with the display value of the rotation amount of the steering wheel, the manual power-assisted mode is started to control the rotation of the steering wheel.
Based on the content of the above device embodiment, as an optional embodiment, the redundant control device for switching waterway steering of an amphibious vehicle provided in the embodiment of the present invention further includes: the sixth submodule piece is used for realizing steering wheel corner signal is exported in step to steering wheel corner sensor, carries out steering control to the steering wheel according to steering wheel corner signal, includes: if the steering wheel corner signal and the steering wheel corner sensor are normal, the steering engine is controlled to deflect according to the steering wheel corner signal after receiving the water surface steering mode signal and the steering wheel corner signal.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.
In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A redundant control method for waterway steering switching of an amphibious vehicle is characterized by comprising the following steps: after the whole vehicle is electrified, the steering system controller performs self-checking, determines a driving mode according to a driving environment, and generates a land/water surface driving mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal; if the land driving mode is switched, the steering wheel and the steering shaft are mechanically locked and keep synchronous rotation, the steering wheel directly realizes the deflection of a steering wheel through a steering system, a land steering mode signal is generated for a steering controller to implement a land control mode, and a steering wheel corner sensor keeps a zero position; if the steering wheel is switched to the water surface running mode, the steering wheel and the steering shaft are separated by the switching mechanism, the steering shaft is locked in the middle position of the wheels, a water surface steering mode signal is generated, if the steering wheel rotates, the steering wheel and the steering shaft rotate relatively, the steering wheel angle sensor synchronously outputs a steering wheel angle signal, and the steering engine is subjected to steering control according to the steering wheel angle signal.
2. A method of redundant control of waterway steering switching for an amphibious vehicle according to claim 1, wherein said combining produces a land/surface travel mode signal, a steering wheel angle signal and a water jet propulsion device operational status signal, comprising: and comparing the land driving mode signal with the working state signal of the water jet propulsion device, if the land driving mode signal is matched with the working state signal of the water jet propulsion device, working according to a set mode, and if the land driving mode signal is not matched with the working state signal of the water jet propulsion device, alarming and entering a fault protection mode.
3. The method of redundant control of waterway steering switching of an amphibious vehicle of claim 2, further comprising, after the steering wheel angle sensor is maintained at zero position: and if the steering wheel angle sensor is not in the zero position, sending out an abnormal state alarm of the steering wheel angle sensor.
4. A method of redundant control of waterway steering switching for an amphibious vehicle according to claim 3, further comprising, after said issuing of a steering wheel angle sensor state anomaly alarm: if the steering wheel corner sensor is not in abnormal state alarm, the steering engine is kept at the middle position and does not deflect after the land steering mode signal and the steering wheel corner signal are received.
5. The method of redundant control of waterway steering switching for an amphibious vehicle of claim 4, wherein said combining generates a land/surface travel mode signal, a steering wheel angle signal, and a water jet propulsion device operational status signal, further comprising: and comparing the water surface running mode signal with the working state signal of the water jet propulsion device, working according to a set mode if the signals are matched, and alarming and entering a fault protection mode if the signals are not matched.
6. The method for redundant control of waterway steering switching of an amphibious vehicle according to claim 5, wherein if the steering wheel is rotated, the steering wheel and the steering shaft are rotated relatively, comprising: the steering wheel angle signal changes along with the rotation of the steering wheel, and if the steering wheel angle signal is abnormal or the steering wheel angle sensor is determined to have a fault after the actual rotation amount of the steering wheel is compared with the display value of the rotation amount of the steering wheel, the manual power-assisted mode is started to control the rotation of the steering wheel.
7. The method for redundantly controlling waterway steering switching of an amphibious vehicle according to claim 6, wherein the steering wheel angle sensor synchronously outputs a steering wheel angle signal, and steering control is performed on a steering engine according to the steering wheel angle signal, and the method comprises the following steps: if the steering wheel corner signal and the steering wheel corner sensor are normal, the steering engine is controlled to deflect according to the steering wheel corner signal after receiving the water surface steering mode signal and the steering wheel corner signal.
8. A redundant control device for waterway steering switching of an amphibious vehicle, comprising: the first main module is used for self-checking a steering system controller after the whole vehicle is electrified, determining a running mode according to a running environment, and generating a land/water running mode signal, a steering wheel turning angle signal and a water jet propulsion device working state signal; the second main module is used for mechanically locking the steering wheel and the steering shaft and keeping synchronous rotation if the driving mode is switched to the land driving mode, the steering wheel directly realizes the deflection of the steering wheel through a steering system, a land steering mode signal is generated for a steering controller to implement a land control mode, and a steering wheel corner sensor keeps a zero position; and the third main module is used for disconnecting the steering wheel from the steering shaft and locking the steering shaft in the middle position of the wheels to generate a water surface steering mode signal if the water surface driving mode is switched to the water surface driving mode, and the steering wheel and the steering shaft rotate relatively if the steering wheel rotates, the steering wheel angle sensor synchronously outputs a steering wheel angle signal and controls the steering of the steering engine according to the steering wheel angle signal.
9. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,
the processor, the memory and the communication interface are communicated with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 7.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
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| JPH0524420A (en) * | 1991-07-19 | 1993-02-02 | Isuzu Motors Ltd | Steering device for amphibious vehicle |
| CN111114223A (en) * | 2019-10-22 | 2020-05-08 | 郑州宇通重工有限公司 | Amphibious steering transmission mechanism |
| CN111186268A (en) * | 2020-03-16 | 2020-05-22 | 芜湖造船厂有限公司 | Amphibious vehicle steering wheel and control method thereof |
| CN210760114U (en) * | 2019-09-19 | 2020-06-16 | 陕西重型汽车有限公司 | Steering switching control system and steering assembly thereof |
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2021
- 2021-07-09 CN CN202110780280.2A patent/CN113524995B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0524420A (en) * | 1991-07-19 | 1993-02-02 | Isuzu Motors Ltd | Steering device for amphibious vehicle |
| CN210760114U (en) * | 2019-09-19 | 2020-06-16 | 陕西重型汽车有限公司 | Steering switching control system and steering assembly thereof |
| CN111114223A (en) * | 2019-10-22 | 2020-05-08 | 郑州宇通重工有限公司 | Amphibious steering transmission mechanism |
| CN111186268A (en) * | 2020-03-16 | 2020-05-22 | 芜湖造船厂有限公司 | Amphibious vehicle steering wheel and control method thereof |
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