CN114179735A - Automatic driving chassis wire control system of mining dump truck - Google Patents
Automatic driving chassis wire control system of mining dump truck Download PDFInfo
- Publication number
- CN114179735A CN114179735A CN202111355555.4A CN202111355555A CN114179735A CN 114179735 A CN114179735 A CN 114179735A CN 202111355555 A CN202111355555 A CN 202111355555A CN 114179735 A CN114179735 A CN 114179735A
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- Prior art keywords
- switch
- lifting
- control circuit
- engine
- steering
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/02—Dynamic electric resistor braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Power Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
A drive-by-wire system for an automatic driving chassis of a mining dump truck. A robot is additionally arranged in a cab to perform human simulation operation, and the robot operates mechanisms such as a steering wheel, an accelerator and a brake in a physical control mode. The scheme has poor reliability, poor control precision and high failure rate, and the scheme which can realize direct control does not appear. The invention comprises the following components: the system comprises a controller, a traction and electric brake control circuit, a gear control circuit, a truck electric control communication circuit, a lifting control circuit, an engine rotating speed and wheel rotating speed circuit and a steering system and engine communication circuit. The invention is used for the drive-by-wire of the automatic driving chassis of the mining dump truck.
Description
Technical Field
The invention relates to a drive-by-wire system for an automatic driving chassis of a mining dump truck.
Background
Because the working principle of the large-scale dump truck is completely different from that of a passenger vehicle, when the vehicle runs, only the power circuit part relates to multiple technologies such as power generation, rectification, inversion, frequency conversion and the like;
the electronic control system is designed for manually driven vehicles and is a closed system, and no drive-by-wire related interface is provided. When the automatic control is required to be improved, the control principle and the circuit of the whole vehicle need to be mastered, otherwise, the automatic control cannot be carried out. In addition, the vehicle type is only used in large-scale open mines, so the number of personnel for use, development, maintenance and the like is very rare, and the solution of wire control from the bottom layer is not realized at present. Most of the existing chassis schemes are data acquisition systems, collect data of the existing systems of vehicles, and then integrate the data to feed back to the needed systems. At present, only one scheme of additionally arranging a driving robot is adopted for controlling the transverse and longitudinal motion of the vehicle and controlling the peripheral circuit of the vehicle. The scheme is that a robot is additionally arranged in a cab to perform human simulation operation, and the robot operates mechanisms such as a steering wheel, an accelerator and a brake in a physical control mode. The scheme has poor reliability, poor control precision and high failure rate, and the scheme which can realize direct control does not appear.
Disclosure of Invention
The invention aims to solve the existing problems and provides the automatic driving chassis wire control system for the mining dump truck, which is used for replacing hardware equipment such as a steering valve, a hopper lifting system, an accelerator, an electric brake, a hydraulic brake and the like which are required to be manually controlled by an original truck with corresponding equipment capable of being automatically controlled.
The above purpose is realized by the following technical scheme:
the utility model provides a mining dump truck autopilot chassis drive-by-wire ization system which constitutes and includes: the system comprises a controller, a traction and electric brake control circuit, a gear control circuit, a truck electric control communication circuit, a lifting control circuit, an engine rotating speed and wheel rotating speed circuit and a steering system and engine communication circuit;
the traction and electric brake control circuit, the gear control circuit, the truck electric control communication circuit, the lifting control circuit, the engine rotating speed and wheel rotating speed circuit and the steering system and engine communication circuit are respectively electrically connected with the controller;
the gear control circuit comprises an engine flameout switch, an engine start/stop switch, a selector switch, a brake speed control switch and a compartment lifting overload switch, wherein the brake speed control switch and the compartment lifting overload switch are respectively electrically connected with the selector switch, and are electrically connected with the controller after being selected by gears of the selector switch;
the steering system and engine communication circuit comprises an engine ECM, a front wheel steering angle sensor and a steering valve.
According to the automatic driving chassis drive-by-wire system of the mining dump truck, the traction and electric brake control circuit comprises a brake speed control variable resistor, a brake pedal variable resistor and an accelerator pedal variable resistor which are connected in parallel.
According to the automatic driving chassis wire control system of the mining dump truck, the front wheel angle sensor is mounted on a front wheel vertical shaft end cover or a steering power cylinder.
The automatic driving chassis wire control system of the mining dump truck comprises a lifting control circuit, a control circuit and a control circuit, wherein the lifting control circuit comprises a lifting switch, a steering low-pressure relay, a floating relay and a compartment lifting proximity switch;
the normally open contact 87A of the steering low-pressure relay is connected with the lifting switch through a 3110 joint, the three-way output of the lifting switch is respectively connected with the terminals of Q20, Q15 and Q14 of a controller, and the lifting switch is connected with the bucket lifting relay 2 through a 3211 terminal;
the output end of the compartment lifting proximity switch is connected with the compartment lifting relay 1 through a 3111 wiring terminal.
Has the advantages that:
1. the invention relates to a drive-by-wire system for an automatic driving chassis of a mining dump truck, which is a device for enabling the mining dump truck to automatically drive through a drive-by-wire instruction. The transformation mainly comprises two aspects, namely control transformation and feedback transformation. Firstly, in the aspect of control transformation, hardware equipment such as a steering valve, a car hopper lifting system, an accelerator, an electric brake and a hydraulic brake which are required to be manually controlled by an original car are replaced by corresponding equipment which can be automatically controlled, and then data of an engine, an electric control system, a tire temperature and pressure system and the like of the original car are acquired. Finally, all the devices and the analog signal control circuit are connected into the controller, and are programmed in the controller, so that the cooperative operation of the devices is realized, and finally, the original manually-driven dump truck is transformed into the automatically-driven dump truck which can be automatically driven and can feed back real-time operation data.
2. The invention can realize the data acquisition feedback of the vehicle chassis, realize the direct control of the transverse and longitudinal movement of the vehicle from the bottom layer, and reduce the hardware required by the robot operation scheme, thereby reducing the failure rate and improving the control precision and reliability.
3. The invention keeps the executable state of each component, coordinates the components to work simultaneously and collects the feedback data of the components and each sensor. And finally, communicating the upper computer by using a CAN bus, sending the data fed back by the chassis to the upper computer, and receiving and executing the instruction sent by the upper computer.
Description of the drawings:
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a circuit diagram of the traction and electric brake control circuit of the present invention;
FIG. 3 is a circuit diagram of the gear control of the present invention;
FIG. 4 is a circuit diagram of the truck electronic control communication of the present invention;
FIG. 5 is a lift control circuit diagram of the present invention;
FIG. 6 is a circuit diagram of engine speed versus wheel speed of the present invention;
FIG. 7 is a circuit diagram of a steering system and engine communication circuit of the present invention.
The specific implementation mode is as follows:
example 1:
the utility model provides a mining dump truck autopilot chassis drive-by-wire ization system which constitutes and includes: the system comprises a controller, a traction and electric brake control circuit, a gear control circuit, a truck electric control communication circuit, a lifting control circuit, an engine rotating speed and wheel rotating speed circuit and a steering system and engine communication circuit;
the traction and electric brake control circuit, the gear control circuit, the truck electric control communication circuit, the lifting control circuit, the engine rotating speed and wheel rotating speed circuit and the steering system and engine communication circuit are respectively electrically connected with the controller;
the gear control circuit comprises an engine flameout switch, an engine start/stop switch, a selector switch, a brake speed control switch and a compartment lifting overload switch, wherein the brake speed control switch and the compartment lifting overload switch are respectively electrically connected with the selector switch, and are electrically connected with the controller after being selected by gears of the selector switch;
the steering system and engine communication circuit comprises an engine ECM, a front wheel steering angle sensor and a steering valve.
Example 2:
the automatic driving chassis wire-control system for the mining dump truck according to embodiment 1, wherein the traction and electric brake control circuit comprises a brake speed control variable resistor, a brake pedal variable resistor and an accelerator pedal variable resistor which are connected in parallel.
Example 3:
according to the automatic driving chassis wire control system of the mining dump truck in the embodiment 1 or 2, the front wheel angle sensor is mounted on a front wheel vertical shaft end cover or a steering power cylinder.
Example 4:
the automatic driving chassis wire control system of the mining dump truck according to embodiment 1, 2 or 3, wherein the lifting control circuit comprises a lifting switch, a steering low-pressure relay, a floating relay and a bucket lifting proximity switch;
the normally open contact 87A of the steering low-pressure relay is connected with the lifting switch through a 3110 joint, the three-way output of the lifting switch is respectively connected with the terminals of Q20, Q15 and Q14 of a controller, and the lifting switch is connected with the bucket lifting relay 2 through a 3211 terminal;
the output end of the compartment lifting proximity switch is connected with the compartment lifting relay 1 through a 3111 wiring terminal.
Claims (4)
1. The utility model provides a mining dump truck autopilot chassis drive-by-wire system which characterized by: the composition comprises: the system comprises a controller, a traction and electric brake control circuit, a gear control circuit, a truck electric control communication circuit, a lifting control circuit, an engine rotating speed and wheel rotating speed circuit and a steering system and engine communication circuit;
the traction and electric brake control circuit, the gear control circuit, the truck electric control communication circuit, the lifting control circuit, the engine rotating speed and wheel rotating speed circuit and the steering system and engine communication circuit are respectively electrically connected with the controller;
the gear control circuit comprises an engine flameout switch, an engine start/stop switch, a selector switch, a brake speed control switch and a compartment lifting overload switch, wherein the brake speed control switch and the compartment lifting overload switch are respectively electrically connected with the selector switch, and are electrically connected with the controller after being selected by gears of the selector switch;
the steering system and engine communication circuit comprises an engine ECM, a front wheel steering angle sensor and a steering valve.
2. The mining dump truck autopilot chassis by-wire system of claim 1, wherein: the traction and electric brake control circuit comprises a brake speed control variable resistor, a brake pedal variable resistor and an accelerator pedal variable resistor which are connected in parallel.
3. The mining dump truck autopilot chassis by-wire system of claim 2 wherein: the front wheel angle sensor is arranged on a front wheel vertical shaft end cover or a steering power cylinder.
4. The mining dump truck autopilot chassis by-wire system of claim 3 wherein: the lifting control circuit comprises a lifting switch, a steering low-pressure relay, a floating relay and a compartment lifting proximity switch;
the normally open contact 87A of the steering low-pressure relay is connected with the lifting switch through a 3110 joint, the three-way output of the lifting switch is respectively connected with the terminals of Q20, Q15 and Q14 of a controller, and the lifting switch is connected with the bucket lifting relay 2 through a 3211 terminal;
the output end of the compartment lifting proximity switch is connected with the compartment lifting relay 1 through a 3111 wiring terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111355555.4A CN114179735A (en) | 2021-11-16 | 2021-11-16 | Automatic driving chassis wire control system of mining dump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111355555.4A CN114179735A (en) | 2021-11-16 | 2021-11-16 | Automatic driving chassis wire control system of mining dump truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114179735A true CN114179735A (en) | 2022-03-15 |
Family
ID=80540187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111355555.4A Pending CN114179735A (en) | 2021-11-16 | 2021-11-16 | Automatic driving chassis wire control system of mining dump truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114179735A (en) |
-
2021
- 2021-11-16 CN CN202111355555.4A patent/CN114179735A/en active Pending
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