A vehicle remote steering system and control method

Abstract

This invention provides a vehicle remote steering system, including a driving steering system comprising a steering gear, a left turn limit solenoid valve, a right turn limit solenoid valve, a flow amplification valve, a load-sensitive pump, and a steering cylinder. It also includes a remote steering system comprising a remote steering valve assembly, several shuttle valves, a pressure sensor, and a remote control panel. The remote control panel is equipped with function keys and is communicatively connected to the remote steering valve assembly, which is connected to the driving steering system via the shuttle valves. This invention adds a remote steering system to an existing manual driving steering system. Both steering modes can be operated independently and can be freely switched via the remote control panel. A pressure sensor is included to detect whether there is any output when the steering gear is turned, effectively preventing possible command interference between the remote steering system and the driving steering system, thus improving operational safety.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment auxiliary tools technology, and in particular to a vehicle remote steering system and control method. Background Art

[0002] In complex working conditions, especially in hazardous areas such as furnace fronts or confined spaces, and in emergency situations like fire response, remote control operation becomes particularly important. Remote control is undoubtedly one of the inevitable trends in the future development of special transport vehicles. The use of remote control can significantly improve the safety of special vehicle operations and reduce the workload of operators.

[0003] Currently, metallurgical special vehicles, such as ladle carriers, generally use 4-speed gearboxes with maximum speeds exceeding 25 km / h, placing higher demands on the controllability of steering speed. However, molten iron cars, limited by safety and cost factors, mostly employ synchronous tie-rod steering systems, resulting in large turning radii, long bodies, and poor visibility inside the vehicle, all of which negatively impact manual steering. Existing metallurgical special vehicle steering systems are generally based on fully hydraulic steering systems with flow amplification valves, offering flexible and reliable operation with good micro-motion capabilities. These systems typically employ small-displacement steering gears combined with flow amplifiers, with steering gear displacement generally not exceeding 400 ml / r, resulting in small size and low required operating torque. However, current remote control solutions for fully hydraulic steering systems with flow amplification valves are still in the initial design phase based on functional design, lacking a mature application solution that is economical, practical, safe, and reliable. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a vehicle remote steering system and control method, which aims to comprehensively improve the reliability of the vehicle remote steering system and control method without significantly changing the cost, and effectively ensure the safe steering operation of special wheeled transport vehicles such as molten iron cars and ladle cars in production operations.

[0005] To achieve the above and other related objectives, the present invention provides a vehicle remote steering system, including a driving steering system. The driving steering system includes a steering gear, a left turn limit solenoid valve, a right turn limit solenoid valve, a flow amplification valve, a load-sensitive pump, and a steering cylinder. The L port of the steering gear is connected to the L port of the flow amplification valve through the left turn limit solenoid valve; the R port of the steering gear is connected to the R port of the flow amplification valve through the right turn limit solenoid valve; the T port of the steering gear is connected to the T port of the flow amplification valve; the P port of the steering gear is connected to the P port and PP port of the flow amplification valve; and the LS port of the steering gear is connected to the LS port of the flow amplification valve. The load-sensitive pump is connected to the HP port of the flow amplification valve; an oil tank is connected to the load-sensitive pump to provide pressurized oil; a remote steering system is also included, which comprises a remote steering valve assembly, several shuttle valves, a pressure sensor, and a remote control panel. The remote control panel is equipped with function keys and is communicatively connected to the remote steering valve assembly. The remote steering valve assembly is connected to the driving steering system through several shuttle valves. The pressure sensor is connected between the LS port of the steering gear and the LS port of the flow amplification valve to detect the feedback pressure at the LS port of the steering gear; the CL and CR ports of the flow amplification valve are respectively connected to the steering cylinder.

[0006] Preferably, the flow amplification valve includes a replenishing overflow valve, a flow amplifier, a priority valve, and an LS overflow valve. The inlet of the priority valve is connected to the HP port of the flow amplification valve, and the outlet of the priority valve is connected to the EF port of the flow amplification valve. The EF port is connected to other working devices. The priority valve is also connected to the P port and PP port of the flow amplification valve. The inlet of the LS overflow valve is connected to the spring cavity of the priority valve, and the outlet of the LS overflow valve is connected to the HT port of the flow amplification valve. An oil tank is provided at the HT port of the flow amplification valve. The flow amplifier is connected to the T port, L port, R port, P port, HT port, CL port, and CR port of the flow amplification valve. The replenishing overflow valve is located between the flow amplifier and the CL port and CR port of the flow amplification valve.

[0007] Preferably, there are two steering gears, namely a front steering gear and a rear steering gear, which are respectively located at the front end and rear end of the vehicle; a first left-turn shuttle valve is also provided between the steering gear and the left turn limit solenoid valve, and the L port of the front steering gear and the R port of the rear steering gear are both connected to the first left-turn shuttle valve; a first right-turn shuttle valve is also provided between the steering gear and the right turn limit solenoid valve, and the R port of the front steering gear and the L port of the rear steering gear are both connected to the first right-turn shuttle valve.

[0008] Preferably, the driving steering system further includes a plurality of pressure feedback shuttle valves, including a first pressure feedback shuttle valve, a second pressure feedback shuttle valve, and a third pressure feedback shuttle valve. The LS port of the front steering gear and the LS port of the rear steering gear output feedback pressure oil through the second pressure feedback shuttle valve. The output end of the second pressure feedback shuttle valve is connected to the pressure sensor, the input end of the first pressure feedback shuttle valve, and the input end of the third pressure feedback shuttle valve. The other input end of the third pressure feedback shuttle valve is connected to the other input end of the first pressure feedback shuttle valve. The output end of the third pressure feedback shuttle valve is connected to the LS port of the flow amplification valve. The output end of the first pressure feedback shuttle valve is connected to the LS port of the load-sensitive pump.

[0009] Preferably, the remote steering valve assembly includes an electro-proportional valve, a loading valve, an LS signal shuttle valve, and a back pressure check valve. The A port of the electro-proportional valve is connected to the A port of the loading valve, the B port of the electro-proportional valve is connected to the B port of the loading valve, the T port of the electro-proportional valve is connected to the T port of the loading valve and is connected to the oil tank through the back pressure check valve, the P port of the loading valve is connected to the T port of the loading valve, and the P port of the electro-proportional valve is connected to the P port and PP port of the flow amplification valve. The LS signal shuttle valve is disposed between the A port and the B port of the electro-proportional valve and is connected to the first pressure feedback shuttle valve.

[0010] Preferably, the A port of the electro-proportional valve is connected to the R port of the remote steering valve assembly, and the B port of the electro-proportional valve is connected to the L port of the remote steering valve assembly; the plurality of shuttle valves in the remote steering system include a second left-turn shuttle valve and a second right-turn shuttle valve, the L port of the remote steering valve assembly is connected to the left-turn limit solenoid valve and the second left-turn shuttle valve is disposed between the two, and the first left-turn shuttle valve is connected to the second left-turn shuttle valve; the R port of the remote steering valve assembly is connected to the right-turn limit solenoid valve and the second right-turn shuttle valve is disposed between the two, and the first right-turn shuttle valve is connected to the second right-turn shuttle valve.

[0011] Preferably, the electro-proportional valve is a three-position four-way valve, and the loading valve is a two-position four-way on / off electromagnetic directional valve.

[0012] Preferably, the remote control panel is further provided with a signal transmitter, which is used to send the control commands input by the function keys on the remote control panel to the remote steering valve group to realize remote control of vehicle steering.

[0013] To achieve the above or other objectives, the present invention also discloses a control method for a vehicle remote steering system, employing the aforementioned vehicle remote steering system, comprising the following steps:

[0014] S1: When steering the vehicle via the driver steering system:

[0015] S1.1: When the steering gear is turned to the left, the L port of the steering gear will output pressure oil with a flow rate proportional to the rotational speed. This pressure oil passes through the left turn limit solenoid valve and enters the L port of the flow amplification valve for flow amplification. The load-sensitive pump determines the outlet pressure oil flow rate of the load-sensitive pump based on the flow input signal of the oil circuit at the L port of the flow amplification valve and the amplification ratio coefficient of the flow amplification valve. The pressure oil pumped out by the load-sensitive pump flows into the steering cylinder through the flow amplification valve, and the steering cylinder realizes the steering of the vehicle.

[0016] S1.2: When the steering gear is turned to the right, the R port of the steering gear will output pressure oil with a flow rate proportional to the rotational speed. This pressure oil passes through the right turn limit solenoid valve and enters the R port of the flow amplification valve for flow amplification. The load-sensitive pump determines the outlet pressure oil flow rate of the load-sensitive pump based on the flow input signal of the oil circuit of the R port of the flow amplification valve and the amplification ratio coefficient of the flow amplification valve. The pressure oil pumped out by the load-sensitive pump flows into the steering cylinder through the flow amplification valve, and the steering cylinder realizes the steering of the vehicle.

[0017] S2: When steering the vehicle via a remote steering system:

[0018] S2.1: The operator sets the sensing parameters of the pressure sensor through the remote control control panel;

[0019] S2.2: The operator sends a control signal through the remote control panel. If the sensing parameters detected by the pressure sensor do not meet the sensing parameter requirements input in step S2.1, the remote steering valve group will not work, and the left steering limit solenoid valve and the right steering limit solenoid valve will be energized and locked. If the sensing parameters detected by the pressure sensor meet the sensing parameter requirements input in step S2.1, proceed to the next step.

[0020] S2.3: When the sensing parameters detected by the pressure sensor meet the sensing parameter requirements input in step S2.1, the remote steering valve assembly is energized. The remote steering valve assembly controls the flow rate of the pressure oil entering the L port and R port of the flow amplification valve. The load-sensitive pump determines the outlet pressure oil flow rate of the load-sensitive pump based on the flow input signal of the oil circuit of the L port and R port of the flow amplification valve and the amplification ratio coefficient of the flow amplification valve. The pressure oil pumped out by the load-sensitive pump flows into the steering cylinder through the flow amplification valve, and the steering cylinder realizes the steering of the vehicle.

[0021] Preferably, the sensing parameter of the pressure sensor in step S2.1 is set to 0.5 MPa; the vehicle steering can only be controlled by the remote steering system when the sensing parameter of the pressure sensor is less than 0.5 MPa.

[0022] As described above, the vehicle remote steering system and control method of the present invention have the following beneficial effects:

[0023] The present invention relates to a vehicle remote steering system and control method. This system adds a remote steering valve assembly, several shuttle valves, a pressure sensor, and a remote control panel to an existing manual steering system. The remote steering system is connected in parallel with the driving steering system, and both steering modes can be operated independently and switched freely via the remote control panel. A pressure sensor is installed on the LS port of the steering gear to detect whether there is any action output when the steering gear is turned, effectively preventing possible command interference between the remote steering system and the driving steering system, and improving operational safety. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the hydraulic control principle of the vehicle remote steering system of the present invention;

[0025] Figure 2 This is a schematic diagram of the vehicle remote steering system control method of the present invention;

[0026] Figure 3 This is a schematic diagram of the function keys on the remote control control panel of the vehicle remote steering system of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Remote steering valve assembly; 101. Electro-proportional valve; 102. Loading valve; 103. Back pressure check valve; 104. LS signal shuttle valve; 2. Flow amplification valve; 201. Fuel replenishment relief valve; 202. Flow amplifier; 203. Priority valve; 204. LS relief valve; 3. Second left turn shuttle valve; 4. Left turn limit solenoid valve; 5. Right turn limit solenoid valve; 6. Second right turn shuttle valve; 7. First pressure feedback shuttle valve; 8. Forward steering gear; 9. Second pressure feedback shuttle valve; 10. Pressure sensor; 11. Rear steering gear; 12. Third pressure feedback shuttle valve; 13. Load-sensitive pump; 14. First left turn shuttle valve; 15. First right turn shuttle valve. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0030] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0031] like Figure 1 As shown in Figure 3, this invention provides a vehicle remote steering system, including a driving steering system. The driving steering system includes a steering gear, a left turn limit solenoid valve 4, a right turn limit solenoid valve 5, a flow amplification valve 2, a load-sensitive pump 13, and a steering cylinder. The L port of the steering gear is connected to the L port of the flow amplification valve 2 through the left turn limit solenoid valve 4; the R port of the steering gear is connected to the R port of the flow amplification valve 2 through the right turn limit solenoid valve 5; the T port of the steering gear is connected to the T port of the flow amplification valve 2; the P port of the steering gear is connected to the P port and PP port of the flow amplification valve 2; and the LS port of the steering gear is connected to the LS port of the flow amplification valve 2. The load-sensitive pump 13... 3 is connected to the HP port of the flow amplification valve 2; the load-sensitive pump 13 is connected to an oil tank to provide pressurized oil; it also includes a remote steering system, which includes a remote steering valve assembly 1, several shuttle valves, a pressure sensor 10, and a remote control panel. The remote control panel is equipped with function keys and is communicatively connected to the remote steering valve assembly 1. The remote steering valve assembly 1 is connected to the driving steering system through several shuttle valves. The pressure sensor 10 is connected between the LS port of the steering gear and the LS port of the flow amplification valve 2 to detect the feedback pressure of the LS port of the steering gear; the CL port and CR port of the flow amplification valve 2 are respectively connected to the steering cylinder.

[0032] The present invention relates to a vehicle remote steering system, which adds a remote steering system to the basic driving steering system. It includes a remote control panel, through which users can select between manual driving steering mode and remote control mode. Different control modes can be selected according to different locations, making it widely applicable. A pressure sensor 10 is included, with preset pressure detection parameters. The pressure sensor 10 detects whether the steering gear is outputting any movement, effectively preventing possible command interference between the remote steering system and the driving steering system, thus improving operational safety.

[0033] Furthermore, in this embodiment, the pressure sensor 10 is used to detect whether the steering gear outputs any steering action. Once the pressure exceeds the unloading set value (generally set to 0.5 MPa), it will be determined that the system is in manual driving mode. If the function key on the remote control panel is set to remote driving mode, it will be determined that the steering gear may be malfunctioning and a warning will be issued. In other embodiments, the pressure sensor 10 can also be replaced by a pressure switch.

[0034] Preferred, such as Figure 1 As shown, the flow amplification valve 2 includes a replenishing overflow valve 201, a flow amplifier 202, a priority valve 203, and an LS overflow valve 204. The inlet of the priority valve 203 is connected to the HP port of the flow amplification valve 2, and the outlet of the priority valve 203 is connected to the EF port of the flow amplification valve 2. The EF port is connected to other working devices. The priority valve 203 is also connected to the P port and PP port of the flow amplification valve 2. The inlet of the LS overflow valve 204 is connected to the spring cavity of the priority valve 203, and the outlet of the LS overflow valve 204 is connected to the HT port of the flow amplification valve 2. An oil tank is provided at the HT port of the flow amplification valve 2. The flow amplifier 202 is connected to the T port, L port, R port, P port, HT port, CL port, and CR port of the flow amplification valve 2. The replenishing overflow valve 201 is located between the flow amplifier 202 and the CL port and CR port of the flow amplification valve 2.

[0035] Preferred, such as Figure 1 As shown, there are two steering gears: a front steering gear 8 and a rear steering gear 11, located at the front and rear ends of the vehicle, respectively. A first left-turn shuttle valve 14 is also provided between the steering gears and the left-turn limit solenoid valve 4, with the L-port of the front steering gear 8 and the R-port of the rear steering gear 11 both connected to the first left-turn shuttle valve 14. Similarly, a first right-turn shuttle valve 15 is also provided between the steering gears and the right-turn limit solenoid valve 5, with the R-port of the front steering gear 8 and the L-port of the rear steering gear 11 both connected to the first right-turn shuttle valve 15. The steering gears, including the front steering gear 8 and the rear steering gear 11, are located at the front and rear ends of the vehicle, respectively. This allows the driver to easily steer the vehicle when it is long enough to operate either the front steering gear 8 or the rear steering gear 11.

[0036] Preferred, such as Figure 1As shown, the driving steering system also includes several pressure feedback shuttle valves, including a first pressure feedback shuttle valve 7, a second pressure feedback shuttle valve 9, and a third pressure feedback shuttle valve 12. The LS port of the front steering gear 8 and the LS port of the rear steering gear 11 provide pressure oil feedback through the second pressure feedback shuttle valve 9. The output end of the second pressure feedback shuttle valve 9 is connected to the pressure sensor 10, the input end of the first pressure feedback shuttle valve 7, and the input end of the third pressure feedback shuttle valve 12. The other input end of the third pressure feedback shuttle valve 12 is connected to the other input end of the first pressure feedback shuttle valve 7. The output end of the third pressure feedback shuttle valve is connected to the LS port of the flow amplification valve 2. The output end of the first pressure feedback shuttle valve 7 is connected to the LS port of the load-sensitive pump 13.

[0037] Preferred, such as Figure 1 As shown, the remote control steering valve assembly 1 includes an electro-proportional valve 101, a loading valve 102, an LS signal shuttle valve 104, and a back pressure check valve 103. The A port of the electro-proportional valve 101 is connected to the A port of the loading valve 102, the B port of the electro-proportional valve 101 is connected to the B port of the loading valve 102, the T port of the electro-proportional valve 101 is connected to the T port of the loading valve 102, and is connected to the oil tank through the back pressure check valve 103. The P port of the loading valve 102 is connected to the T port of the loading valve 102, and the P port of the electro-proportional valve 101 is connected to the P port and the PP port of the flow amplification valve 2. The LS signal shuttle valve 104 is located between the A port and the B port of the electro-proportional valve 101, and is connected to the first pressure feedback shuttle valve 7. When the electro-proportional valve 101 is in the neutral position, its ports A and B are connected to its port T. When the loading valve 102 is in the neutral position, its ports A and B are also connected to its port T, and its port T is connected to its port P. The ports A and B of the electro-proportional valve 101 are connected to the ports A and B of the loading valve 102, ensuring that when both are in the neutral position, there are more than two flow unloading channels on the two valves, thus preventing the valves from failing to turn due to zero point offset or jamming.

[0038] Preferred, such as Figure 1As shown, port A of the electro-proportional valve 101 is connected to port R of the remote steering valve assembly 1, and port B of the electro-proportional valve 101 is connected to port L of the remote steering valve assembly 1. The remote steering system includes several shuttle valves, including a second left-turn shuttle valve 3 and a second right-turn shuttle valve 6. Port L of the remote steering valve assembly 1 is connected to the left-turn limit solenoid valve 4, with the second left-turn shuttle valve 3 positioned between them. First left-turn shuttle valve 14 is connected to the second left-turn shuttle valve 3. Port R of the remote steering valve assembly 1 is connected to the right-turn limit solenoid valve 5, with the second right-turn shuttle valve 6 positioned between them. First right-turn shuttle valve 15 is connected to the second right-turn shuttle valve 6. In this embodiment, port L of the front steering gear 8 and port R of the rear steering gear 11 are respectively connected to the two inlets of the first left-turn shuttle valve 14. The outlet of the first left-turn shuttle valve 14 is connected to one inlet of the second left-turn shuttle valve 3, and port L of the remote steering valve assembly 1 is connected to the other inlet of the second left-turn shuttle valve 3. The outlet of the second left-turn shuttle valve 3 is connected to the left-turn limit solenoid valve 4. Thus, the steering of the front steering gear 8 and the rear steering gear 11 is combined through the first left-turn shuttle valve 14, and the steering of the steering gear and the remote steering valve assembly 1 is combined through the second left-turn shuttle valve 3, thereby enabling coordinated control of the remote steering system and the driving steering system. Similarly, the connection method of the first right-turn shuttle valve 15, the second right-turn shuttle valve 6, and the right-turn limit solenoid valve 5 is the same, thereby enabling coordinated control of the remote steering system and the driving steering system.

[0039] Furthermore, in this embodiment, the first left-turn shuttle valve 14, the second left-turn shuttle valve 3, the first right-turn shuttle valve 15, and the second right-turn shuttle valve 6 all preferentially use one end of the shuttle valve to realize the control function, and then consider using electric ball valves, manual ball valves, etc. to replace them. This can minimize the control points in the steering system and reduce costs.

[0040] Preferably, the electro-proportional valve 101 is a three-position four-way valve, and the loading valve 102 is a two-position four-way on / off solenoid directional valve. The electro-proportional valve 101 is equipped with two proportional electromagnets, located at port A and port B respectively. When either proportional electromagnet is energized, and the loading valve 102 is also energized, either port A or port B of the electro-proportional valve 101 will complete the pressure build-up process, and this pressure will be transmitted downwards through the LS signal shuttle valve 104.

[0041] Furthermore, the remote control panel is also equipped with a signal transmitter, which is used to send the control commands input by the function keys on the remote control panel to the remote steering valve group 1 to realize remote control of vehicle steering.

[0042] Furthermore, in this embodiment, the vehicle is also equipped with an on-board system, which includes a master controller for receiving control signals transmitted from the remote control panel and transmitting the signals to the remote steering valve assembly 1. This controller controls the electro-proportional valve 101 and the loading valve 102 in the remote steering valve assembly 1 to be energized and operate after receiving the signals.

[0043] Furthermore, such as Figure 3 As shown, the function keys on the remote control panel include the following knobs:

[0044] 1. Gear selection knob: Used to determine the forward and reverse speed when the vehicle is turning. It prioritizes setting the speed of the engine or wheel-side motors to maintain a constant speed.

[0045] 2. Steering mode selection knob: This knob is divided into manual driving steering mode and remote control steering mode, and it is also the remote control enable button.

[0046] 3. Parking release button: Before turning, you must ensure that the parking brake has been successfully released before proceeding to the next step of other operations. Otherwise, the left turn limit solenoid valve 4 and the right turn limit solenoid valve 5 will lock themselves when energized.

[0047] 4. Proportional steering remote control handle: This handle can output a proportional signal, thereby ensuring that the electro-proportional valve 101 follows the control of the remote control handle synchronously according to the proportional steering.

[0048] 5. Remote steering pump loading button: Ensures reliable unloading of the hydraulic system when there is no steering action, reducing system fuel consumption. (Furthermore, in this embodiment, the steering pump is the load-sensitive pump 13, used to pump pressurized oil into the vehicle's steering system.)

[0049] 6. Disable Manual Steering Button: When in manual steering mode, remote control and manual steering modes can be used together for ease of operation. When in remote control mode, to avoid command interference between manual steering mode and remote control mode, this disable manual steering button can be pressed to ensure operational safety.

[0050] 7. Emergency Stop Button: When the vehicle is steering abnormally and an emergency stop is required, the power source can be remotely cut off, such as turning off the engine or wheel-side motors, thereby stopping the vehicle's operation.

[0051] 8. Start button: refers to remotely starting the engine.

[0052] In addition, the remote control panel is equipped with several important indicator lights, such as the manual driving turn signal indicator, the remote control turn signal indicator, the parking release indicator, and the limit valve energization indicator. The limit valve energization indicator shows whether the left turn limit solenoid valve 4 and the right turn limit solenoid valve 5 are energized.

[0053] To achieve the above or other objectives, the present invention also discloses a control method for a vehicle remote steering system, employing the aforementioned vehicle remote steering system, such as... Figure 2 , Figure 3 As shown, the steps are as follows:

[0054] A1: When controlling the vehicle's steering through the driver's steering system, the control steps and principles are as follows:

[0055] A1.1: Start the engine, and the driver sets the steering mode to manual steering mode using the steering mode selection knob; at this time, the manual steering indicator light illuminates, and the vehicle enters the manual steering standby mode. If the manual steering disabling button on the remote control panel is triggered, a remote signal is sent to fully energize one end of the proportional valve 101, and simultaneously energizes the steering limit valves (including the left steering limit solenoid valve 4 and the right steering limit solenoid valve 5) to lock the steering. The loading valve 102 is de-energized, and the load-sensitive pump 13 actively unloads the loading valve 102, causing the loading valve 102 to enter an interlock state. This meets the safety requirements for joint control with remote steering, meaning that improper operation of the vehicle by the driver can be avoided through remote control.

[0056] A1.2: If the manual steering disabling button on the remote control panel is not triggered in step A1.1, meaning the driver can manually control the vehicle's steering, the driver turns the front steering gear 8 to the left (right). The L port (R port) of the front steering gear 8 will output pressure oil with a flow rate proportional to the rotational speed. This pressure oil flows out through the first left-turn shuttle valve 14 (first right-turn shuttle valve 15), then through the second left-turn shuttle valve 3 (second right-turn shuttle valve 6), and the left-turn limit solenoid valve 4 (right-turn limit solenoid valve 5) to the L port (R port) of the flow amplifier 202 in the flow amplifier valve 2, where it is amplified. The load-sensitive pump 13 outputs pressure oil with a flow rate proportional to the steering gear rotational speed. At the same time, the LS port of the front steering gear 8 itself feeds back pressure to the second pressure feedback shuttle valve 9. Part of this pressure enters the first pressure feedback shuttle valve 7, and then enters the LS port of the load-sensitive pump 13, completing the pressure build-up of the load-sensitive pump 13. The amplified flow rate output by the load-sensitive pump 13 merges with the pressure oil output from the L port (R port) of the front steering gear 8 and flows into the steering cylinder together. The steering cylinder works to drive the vehicle to complete a certain angle of left (right) steering. The pressure oil output from the LS port of the front steering gear 8 enters the third pressure feedback shuttle valve 12 through the second pressure feedback shuttle valve 9. After being output by the third pressure feedback shuttle valve 12, the pressure oil enters the spring chamber of the priority valve 203, ensuring that the right position of the priority valve 203 is closed, that is, ensuring steering priority, so that the pressure oil output by the load-sensitive pump 13 can smoothly enter the steering cylinder, instead of the EF port. The LS overflow valve 204 is used to limit the maximum pressure of the LS port in the flow amplification valve 2.

[0057] When the driver turns the rear steering gear 11 to the right (left), the R port (L port) of the rear steering gear 11 outputs pressurized oil with a flow rate proportional to the engine speed. This pressurized oil passes through the first left-turn shuttle valve 14 (first right-turn shuttle valve 15), then through the second left-turn shuttle valve 3 (second right-turn shuttle valve 6), and the left-turn limit solenoid valve 4 (right-turn limit solenoid valve 5) to reach the L port (R port) of the flow amplifier 202 in the flow amplifier valve 2. After passing through the flow amplifier valve 2, the load-sensitive pump 13 outputs pressurized oil with a flow rate proportional to the engine speed. At the same time, the LS port of the front steering gear 8 feeds back pressure to the second pressure feedback shuttle valve 9. Part of this pressure enters the first pressure feedback shuttle valve 7, and then enters the LS port of the load-sensitive pump 13, completing the pressure build-up of the load-sensitive pump 13. The amplified flow rate output by the load-sensitive pump 13 and the pressurized oil output from the R port (L port) of the front steering gear 8 merge and flow together into the steering cylinder. The steering cylinder then drives the vehicle to turn left (right) at a certain angle.

[0058] A2: When controlling the vehicle's steering via a remote steering system, the control steps and principles are as follows:

[0059] A2.1: Start the engine. The driver sets the steering mode to remote steering mode using the steering mode selection knob on the remote control panel. When set to remote steering mode, the remote steering indicator light illuminates. The main controller first performs a self-check on the parking status. If the parking status has been released, the parking release indicator light illuminates, and the next operation can be performed. If the parking status has not been released, the steering limit valve energization indicator light illuminates, and the left steering limit solenoid valve 4 and the right steering limit solenoid valve 5 are energized and self-locked, automatically limiting steering.

[0060] A2.2: When the parking state has been released and the parking release indicator light is on, the pressure sensor 10 detects whether the pressure between the LS port of the front steering gear 8 and the LS port of the rear steering gear 11 is less than the set pressure parameter (in this embodiment, the set pressure parameter of the pressure sensor 10 is 0.5 MPa). When the pressure sensor 10 detects that the pressure is less than the set pressure parameter, step A2.2.1 is executed; if the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, step A2.2.2 is executed.

[0061] A2.2.1: When the pressure sensor 10 detects that the pressure is less than the set pressure parameter, the driver outputs a signal through the proportional steering remote control. The signal is transmitted to the main controller of the vehicle system. Then, the main controller controls the loading valve 102 to be energized. The A port or B port of the loading valve 102 transmits a signal to the LS port of the load sensitive pump 13 through the LS signal shuttle valve 104. The load sensitive pump 13 builds up pressure and transmits the pressurized oil through the priority valve 203 to the P port of the flow amplifier 202.

[0062] Then, when the proportional steering remote control handle is operated to turn left, one end of the electro-proportional valve 101 is energized, the proportional electromagnet on the B port side is energized, and the corresponding loading valve 102 is energized to load and build pressure. At this time, the pressure oil in the B port of the electro-proportional valve 101 comes out through the first left turn shuttle valve 14, and then through the second left turn shuttle valve 3 and the left turn limit solenoid valve 4 to the L port of the flow amplifier 202 in the flow amplifier valve 2. After passing through the flow amplifier valve 2, it merges with the amplified flow output by the load sensitive pump 13 and flows into the steering cylinder. The steering cylinder works to drive the vehicle to complete a certain angle of left turn.

[0063] Then, when the steering remote control handle is operated to turn right, one end of the electro-proportional valve 101 is energized, and the proportional electromagnet on the A-port side is energized to load and build pressure in the corresponding loading valve 102. At this time, the pressure oil in the A-port of the electro-proportional valve 101 comes out through the first right-turn shuttle valve 15, and then through the second right-turn shuttle valve 6 and the right-turn limit solenoid valve 5 to the R-port of the flow amplifier 202 in the flow amplifier valve 2. After passing through the flow amplifier valve 2, it merges with the amplified flow output by the load sensitive pump 13 and flows into the steering cylinder. The steering cylinder works to drive the vehicle to turn right at a certain angle.

[0064] When the driver outputs a signal through the proportional steering remote control handle, but the signal is not successfully sent to the main controller, or the driver does not operate the proportional steering remote control handle, or the remote steering angle of the vehicle is too small (due to a setting problem, such as setting 10% or less of the normal output signal), the main controller prevents the loading valve 102 from being energized (causing the load-sensitive pump 13 to automatically unload). Either end (port A or port B) of the electro-proportional valve 101 can be energized. At this time, even if one end of the electro-proportional valve 101 is energized and has pressurized oil, the loading valve 102 cannot deliver loading pressure, and remote control of the vehicle cannot be achieved, thus preventing the occurrence of unexpected steering.

[0065] A2.2.2: When pressure sensor 10 detects a pressure greater than the set pressure parameter, the following situations may occur:

[0066] ① When pressure sensor 10 detects a pressure greater than the set pressure parameter, the proportional electro-proportional valve 101 at either end is fully energized, and loading valve 102 is de-energized (i.e., proportional valve 101 and loading valve 102 are interlocked). Remote control operation can only be performed when the pressure detected by pressure sensor 10 is less than the set value. The reason why pressure sensor 10 detects a pressure greater than the set parameter at this time is that the steering gear may be malfunctioning, causing abnormal pressure between the LS port of the front steering gear 8 and the LS port of the rear steering gear 11. Therefore, the purpose of setting pressure sensor 10 at this time is to effectively avoid command interference between the remote steering system and the driving steering system, thereby improving the safety of operation.

[0067] ② When the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the steering limit valve (i.e., the left steering limit solenoid valve 4 and the right steering limit solenoid valve 5) is energized, and the steering is automatically locked. Therefore, the purpose of setting the pressure sensor 10 at this time is to lock the left steering limit solenoid valve 4 and the right steering limit solenoid valve 5 to avoid safety hazards.

[0068] ③ When the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the manual driving turn signal indicator will light up.

[0069] ④ When the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the main controller of the vehicle system will issue a fault warning.

[0070] When the pressure sensor 10 detects that the pressure is greater than the set pressure parameter, the above four situations occur simultaneously: the steering limit valve is energized and locked, and the electro-proportional valve 101 and the loading valve 102 are interlocked to ensure safety.

[0071] Furthermore, in this embodiment, the preset pressure parameter of the pressure sensor 10 is 0.5 MPa.

[0072] Furthermore, in step A2.2.1, the driver can control the steering speed through the gear selection knob. That is, the remote control panel sends a control signal to the main controller. The main controller controls the current of the proportional electromagnet at one end of the proportional valve 101, and controls the pressure oil flow output by the proportional valve 101 to the flow amplification valve 2, thereby controlling the steering speed.

[0073] Furthermore, in step A2, when the steering gear rotates, a portion of the pressure oil between the LS port of the front steering gear 8 and the LS port of the rear steering gear 11 flows through the second pressure feedback shuttle valve 9 to the third pressure feedback shuttle valve 12, reaching the LS port of the flow amplification valve 2. The LS relief valve 204 in the flow amplification valve 2 is used to limit the maximum pressure at the LS port of the flow amplification valve 2. Another portion of the pressure oil flows through the second pressure feedback shuttle valve 9 to the first pressure feedback shuttle valve 7, and after exiting the first pressure feedback shuttle valve 7, it is directly fed back to the LS port of the load-sensitive pump 13, realizing the pressure building and unloading process of the load-sensitive pump 13.

[0074] Furthermore, the spring pressure at the right end of the priority valve 203 determines the pressure difference between the inlet and outlet of the steering gear and before and after the electro-proportional valve 101, ensuring the basic stability of the pressure difference before and after the electro-proportional valve 101 and eliminating the adverse effects of steering load fluctuations on the real-time speed control of the electro-proportional valve 101.

[0075] Furthermore, in step A2, after the loading valve 102 is energized, one end of the electro-proportional valve 101 is energized, and the loading valve 102 maintains the pressure at that end of the electro-proportional valve 101. The high-side pressure is output through the LS signal shuttle valve 104, and part of the pressure goes directly to the LS port of the load-sensitive pump 13 through the first pressure feedback shuttle valve 7 to complete the pressure build-up. Another part of the pressure goes through one end of the third pressure feedback shuttle valve 12 to the LS port of the flow amplifier valve 2 to complete the pressure limit, and makes the priority valve 203 work in the right position, that is, the priority supply is reversed. After the supply is reversed, the excess flow is supplied to other working devices through the EF port of the priority valve 203.

[0076] The vehicle remote steering system and control method disclosed in this invention have the following beneficial effects:

[0077] 1. It is equipped with a remote control panel, and the remote control panel is connected to the main controller of the vehicle system. The remote control panel is equipped with several function keys, and the different functions of the function keys can avoid interference between the manual driving steering system and the remote steering system.

[0078] 2. This invention meets the needs of operation control by combining remote control mode and manual driving mode for steering, and expands the flexibility of steering operation.

[0079] 3. This invention improves the safety, reliability, economy, and practicality of remote steering solutions.

[0080] 4. This invention adds a remote steering system to the driving steering system. Both steering modes can be operated independently and can be freely switched on the remote control panel.

[0081] 5. The present invention is equipped with a pressure sensor 10, which is used to determine whether the steering gear is abnormal, and provides an important basis for further judgment on steering lock, manual steering pressure unloading, and remote steering unloading.

[0082] 6. In this invention, when in manual driving mode, by operating the manual driving steering prohibition button, the electro-proportional valve 101 is energized, the load-sensitive pump 13 can be actively unloaded, and the steering limit valve can be energized to lock the steering, so as to achieve the safety steering control requirements of manual driving steering combined with remote steering.

[0083] 7. In this invention, when the manual driving mode is switched to the remote steering mode, and the self-check parking is released, if the proportional steering remote control handle does not move or moves at an unexpected small angle (such as 10% or less of the set signal output), it will automatically enter the steering pressure unloading condition, that is, the loading valve 102 is de-energized (the load sensitive pump 13 is unloaded), but one of the proportional electromagnets of the electro-proportional valve 101 is energized.

[0084] Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0085] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A vehicle remote steering system, comprising a driving steering system, the driving steering system comprising a steering gear, a left steering limit solenoid valve (4), a right steering limit solenoid valve (5), a flow amplification valve (2), a load-sensitive pump (13), and a steering cylinder, wherein the L port of the steering gear is connected to the L port of the flow amplification valve (2) through the left steering limit solenoid valve (4), the R port of the steering gear is connected to the R port of the flow amplification valve (2) through the right steering limit solenoid valve (5), the T port of the steering gear is connected to the T port of the flow amplification valve (2), the P port of the steering gear is connected to the P port and PP port of the flow amplification valve (2), the LS port of the steering gear is connected to the LS port of the flow amplification valve (2), and the load-sensitive pump (13) is connected to the HP port of the flow amplification valve (2); an oil tank is connected to the load-sensitive pump (13) for providing pressurized oil; characterized in that: It also includes a remote steering system, which includes a remote steering valve assembly (1), several shuttle valves, a pressure sensor (10), and a remote control panel. The remote control panel is equipped with function keys and is communicatively connected to the remote steering valve assembly (1). The remote steering valve assembly (1) is connected to the driving steering system through several shuttle valves. The pressure sensor (10) is connected between the LS port of the steering gear and the LS port of the flow amplification valve (2) to detect the feedback pressure of the LS port of the steering gear. The CL port and CR port of the flow amplification valve (2) are respectively connected to the steering cylinder. The flow amplification valve (2) includes a replenishment relief valve (201), a flow amplifier (202), a priority valve (203), and an LS relief valve (204). The inlet of the priority valve (203) is connected to the HP port of the flow amplification valve (2), and the outlet of the priority valve (203) is connected to the EF port of the flow amplification valve (2). The EF port is connected to other working devices. The priority valve (203) is also connected to the P port and PP port of the flow amplification valve (2). The inlet of (204) is connected to the spring cavity of the priority valve (203), and the outlet of the LS relief valve (204) is connected to the HT port of the flow amplification valve (2). The HT port of the flow amplification valve (2) is equipped with an oil tank. The flow amplifier (202) is connected to the T port, L port, R port, P port, HT port, CL port, and CR port of the flow amplification valve (2). The oil replenishment relief valve (201) is located between the flow amplifier (202) and the CL port and CR port of the flow amplification valve (2). The driving steering system also includes several pressure feedback shuttle valves, including a first pressure feedback shuttle valve (7); the remote steering valve group (1) includes an electro-proportional valve (101), a loading valve (102), an LS signal shuttle valve (104), and a back pressure check valve (103). The A port of the electro-proportional valve (101) is connected to the A port of the loading valve (102), and the B port of the electro-proportional valve (101) is connected to the B port of the loading valve (102). The T port of the loading valve (102) is connected to the T port of the loading valve (102) and is connected to the oil tank through the back pressure check valve (103). The P port of the loading valve (102) is connected to the T port of the loading valve (102). The P port of the electro-proportional valve (101) is connected to the P port and PP port of the flow amplification valve (2). The LS signal shuttle valve (104) is located between the A port and the B port of the electro-proportional valve (101) and is connected to the first pressure feedback shuttle valve (7).

2. The vehicle remote steering system according to claim 1, characterized in that: The number of steering gears is two, namely a front steering gear (8) and a rear steering gear (11), which are respectively located at the front end and rear end of the vehicle; a first left turn shuttle valve (14) is also provided between the steering gear and the left turn limit solenoid valve (4), and the L port of the front steering gear (8) and the R port of the rear steering gear (11) are both connected to the first left turn shuttle valve (14); a first right turn shuttle valve (15) is also provided between the steering gear and the right turn limit solenoid valve (5), and the R port of the front steering gear (8) and the L port of the rear steering gear (11) are both connected to the first right turn shuttle valve (15).

3. The vehicle remote steering system according to claim 2, characterized in that: The pressure feedback shuttle valve also includes a second pressure feedback shuttle valve (9) and a third pressure feedback shuttle valve (12). The LS port of the front steering gear (8) and the LS port of the rear steering gear (11) output feedback pressure oil through the second pressure feedback shuttle valve (9). The output end of the second pressure feedback shuttle valve (9) is connected to the pressure sensor (10), the input end of the first pressure feedback shuttle valve (7), and the input end of the third pressure feedback shuttle valve (12). The other input end of the third pressure feedback shuttle valve (12) is connected to the other input end of the first pressure feedback shuttle valve (7). The output end of the third pressure feedback shuttle valve (12) is connected to the LS port of the flow amplification valve (2). The output end of the first pressure feedback shuttle valve (7) is connected to the LS port of the load-sensitive pump (13).

4. The vehicle remote steering system according to claim 3, characterized in that: The A port of the electro-proportional valve (101) is connected to the R port of the remote steering valve group (1), and the B port of the electro-proportional valve (101) is connected to the L port of the remote steering valve group (1). The remote steering system includes a second left-turn shuttle valve (3) and a second right-turn shuttle valve (6). The L port of the remote steering valve group (1) is connected to the left-turn limit solenoid valve (4), and the second left-turn shuttle valve (3) is located between the two. The first left-turn shuttle valve (14) is connected to the second left-turn shuttle valve (3). The R port of the remote steering valve group (1) is connected to the right-turn limit solenoid valve (5), and the second right-turn shuttle valve (6) is located between the two. The first right-turn shuttle valve (15) is connected to the second right-turn shuttle valve (6).

5. The vehicle remote steering system according to claim 4, characterized in that: The electro-proportional valve (101) is a three-position four-way valve, and the loading valve (102) is a two-position four-way switch-type solenoid directional valve.

6. The vehicle remote steering system according to claim 1, characterized in that: The remote control panel is also equipped with a signal transmitter, which is used to send the control commands input by the function keys on the remote control panel to the remote steering valve group (1) to realize remote control of vehicle steering.

7. A control method for a vehicle remote steering system, employing the vehicle remote steering system according to any one of claims 1-6, characterized in that: The steps are as follows: S1: When steering the vehicle via the driver steering system: S1.1: When the steering gear is turned to the left, the L port of the steering gear will output pressure oil with a flow rate proportional to the rotation speed. This pressure oil enters the L port of the flow amplification valve (2) through the left steering limit solenoid valve (4) for flow amplification. The load sensitive pump (13) determines the outlet pressure oil flow rate of the load sensitive pump (13) according to the flow input signal of the oil circuit of the L port of the flow amplification valve (2) and the amplification ratio coefficient of the flow amplification valve (2). The pressure oil pumped out by the load sensitive pump (13) flows into the steering cylinder through the flow amplification valve (2) and the steering cylinder realizes the steering of the vehicle. S1.2: When the steering gear is turned to the right, the R port of the steering gear will output pressure oil with a flow rate proportional to the rotation speed. This pressure oil enters the R port of the flow amplification valve (2) through the right turn limit solenoid valve (5) for flow amplification. The load sensitive pump (13) determines the outlet pressure oil flow rate of the load sensitive pump (13) according to the flow input signal of the oil circuit of the R port of the flow amplification valve (2) and the amplification ratio coefficient of the flow amplification valve (2). The pressure oil pumped out by the load sensitive pump (13) flows into the steering cylinder through the flow amplification valve (2) and the steering cylinder realizes the steering of the vehicle. S2: When steering the vehicle via a remote steering system: S2.1: The operator sets the sensing parameters of the pressure sensor (10) via the remote control control panel; S2.2: The operator sends a control signal through the remote control panel. If the sensing parameters detected by the pressure sensor (10) do not meet the sensing parameter requirements input in step S2.1, the remote control steering valve group (1) will not work, and the left steering limit solenoid valve (4) and the right steering limit solenoid valve (5) will be energized and locked. If the sensing parameters detected by the pressure sensor (10) meet the sensing parameter requirements input in step S2.1, the next step will be executed. S2.3: When the sensing parameters detected by the pressure sensor (10) meet the sensing parameter requirements input in step S2.1, the remote steering valve group (1) is energized. The remote steering valve group (1) controls the flow rate of the pressure oil entering the L port and R port of the flow amplification valve (2). The load sensitive pump (13) determines the outlet pressure oil flow rate of the load sensitive pump (13) according to the flow input signal of the oil circuit of the L port and R port of the flow amplification valve (2) and the amplification ratio coefficient of the flow amplification valve (2). The pressure oil pumped out by the load sensitive pump (13) flows into the steering cylinder through the flow amplification valve (2) and the steering cylinder realizes the steering of the vehicle.

8. The vehicle remote steering system control method according to claim 7, characterized in that: In step S2.1, the sensing parameter of the pressure sensor (10) is set to 0.5 MPa; the vehicle can be controlled by the remote steering system only when the sensing parameter of the pressure sensor (10) is less than 0.5 MPa.

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