A redundant steering control system and method for an unmanned mining dump truck

Abstract

The present application belongs to the technical field of mine dump truck, and particularly discloses a redundancy steering control system and method for unmanned mine dump truck, which comprises: a first steering module for controlling the vehicle steering of the dump truck; a second steering module for replacing the first steering module to control the vehicle steering of the dump truck; a control unit for switching the first steering module and the second steering module; a steering unit for converting hydraulic pressure into linear thrust; the steering unit outputs the linear thrust and drives the wheels of the dump truck through a steering mechanism, so that the first steering module or the second steering module controls the swing of the wheels when the steering tie rod connected with the wheels is in a relative moving state; the present application has the following advantages: compared with the electric control unit and the motor-controlled steering system, the present application does not have mechanical transmission mechanism between the motor and the steering column, the change of the rotation ratio caused by the wear of the moving pair is avoided, the stability is better, and the occupied space is small; the power demand of the power supply is low, only the electromagnetic coil of the electromagnetic valve is energized, and the power demand is lower than that of the driving motor.

Description

Technical Field

[0001] This invention relates to the field of mining dump truck technology, and more specifically, to a redundant steering control system and method for an unmanned mining dump truck. Background Technology

[0002] Mining dump trucks are the main transportation tools in large open-pit mines. Types of mining dump trucks include: electric wheel dump trucks, mechanical wheel dump trucks, and wide-body trucks. Electric wheel and mechanical wheel dump trucks use a fully hydraulic steering system, while wide-body trucks use either a fully hydraulic steering system or an electro-hydraulic circulating ball steering system. To improve the safety and usability of unmanned vehicles, redundancy requirements are placed on the steering system of mining dump trucks. Currently, there are solutions using dual control units and dual motors, or dual control units and dual windings, employing electro-hydraulic circulating balls. One such solution is as follows:

[0003] Patent No. CN 110126911 A, "An Unmanned Redundant Steering Device and Control Method Meeting ASIL_D Standard", employs two sets of electronic control units (ECUs) and motors. The second ECU and the second motor control steering in unmanned driving mode. When the corresponding circuit of the second ECU fails, the first ECU and the first motor continue to perform unmanned driving steering operations.

[0004] The above scheme, in autonomous driving mode, uses one electronic control unit and motor for primary steering, and another electronic control unit and motor for redundant steering. The primary steering motor and redundant steering motor are connected to the steering column and steering tie rod respectively via mechanical structures. This scheme is not suitable for mining dump trucks. The steering tie rod of mining dump trucks is connected to the steering knuckle arm through a spherical bearing. During the movement of the steering linkage, the steering tie rod does not move in a single plane, but rather swings up and down in space, which cannot guarantee stable transmission of the gears. Moreover, the tie rod is easily damaged by impacts, making it unsuitable for mining environments.

[0005] The motor is turned by a mechanical transmission mechanism, which is mechanically connected. Wear of the moving parts will affect the control accuracy. The structure is complex and the reliability is low. The motor also requires a large drive power supply capacity. To address these issues, a redundant steering control system and method for unmanned mining dump trucks is proposed. Summary of the Invention

[0006] The present invention aims to provide a redundant steering control system and method for an unmanned mining dump truck, in order to solve or improve at least one of the above-mentioned technical problems.

[0007] In view of this, a first aspect of the present invention is to provide a redundant steering control system for an unmanned mining dump truck.

[0008] A second aspect of the present invention is to provide a redundant steering control method for an unmanned mining dump truck.

[0009] A first aspect of the present invention provides a redundant steering control system for an unmanned mining dump truck, comprising: a first steering module for controlling the vehicle steering of the dump truck; a second steering module configured to replace the first steering module in controlling the vehicle steering of the dump truck when the first steering module fails; a control unit for switching the opening and closing of the first steering module and the second steering module; and a steering unit for converting the hydraulic pressure transmitted by the second steering module into linear thrust, wherein the first steering module, the second steering module, and the steering unit sequentially transmit power via hydraulic pressure; the steering unit outputs linear thrust and drives the wheels of the dump truck through a steering mechanism, so that the first steering module or the second steering module controls the wheel swing when the steering tie rod connected to the wheel is in a state of relative movement.

[0010] This invention provides a redundant steering control system for an unmanned mining dump truck. It comprises two working modules responsible for vehicle steering: a first steering module and a second steering module. The first steering module serves as the main module for normal operation under unmanned driving conditions, while the second steering module acts as a backup module to take over when the first steering module malfunctions. Both modules operate with hydraulic power transmission to the steering unit. This hydraulic power transmission can be achieved using hoses filled with hydraulic oil, reducing the rigidity requirements of the overall structure during installation. This avoids the need for mounting the system on the steering column and tie rod, allowing the tie rod to adapt to vertical swaying in space, improving transmission stability and efficiency. Furthermore, the tie rod does not need to be positioned at the tie rod location, preventing damage from impacts, making it suitable for mining environments.

[0011] The first steering module, the second steering module, and the steering unit are connected by hydraulic power in sequence. This ensures that the first steering module and the second steering module are connected to each other regardless of which one is in operation. This avoids pressure instability after switching, which would cause the wheel sway angle generated by the calculated input pressure push parameters to not match the actual turning sway angle. Therefore, connecting the first steering module and the second steering module and activating one of them individually can improve the stability of the internal hydraulic push.

[0012] Furthermore, the first steering module is integrated with the steering gear and mounted on the steering column. It can be a separate module, or the first steering module and the second steering module can be mounted on the vehicle body. The specific location needs to be arranged according to the vehicle's requirements.

[0013] In addition, the technical solutions provided by embodiments of the present invention may also have the following additional technical features:

[0014] In any of the above technical solutions, the wheel supports the body of the dump truck through a rotating joint connected to the steering tie rod, and the steering mechanism is used to drive the swing of the wheel to reduce the influence of the rotating joint on the swing accuracy of the wheel.

[0015] In this technical solution, for existing vehicles, the rotating joint typically performs the load support of the wheels on the entire vehicle and is responsible for the end-point steering angle control of the wheels. In autonomous driving, the accuracy of wheel steering angle needs to be high. When the rotating joint is responsible for the load-bearing structure of the vehicle body, it is prone to wear, which leads to a decrease in transmission accuracy. Therefore, any solution that uses the rotating joint to handle wheel steering angle will experience a decrease in wheel steering angle accuracy after long-term use. Therefore, the rotating joint is retained for its load-bearing function, and only the structural function of guiding wheel steering angle is retained. The structure responsible for wheel steering angle is set up separately and does not bear the load of the vehicle body. This can protect the structure responsible for wheel steering angle, i.e., the steering mechanism, during long-term use and avoid the problem of decreased accuracy over long-term use.

[0016] In any of the above technical solutions, the first steering module, the second steering module, and the steering unit are connected by an oil supply hose, and the steering unit includes: two steering cylinders, the extension and retraction movements of the push rods on the two steering cylinders are opposite; a flow amplifier, which is disposed between the second steering module and the steering cylinders and connected by an oil supply hose, for increasing the flow rate transmitted from the first steering module or the second steering module to the steering unit.

[0017] In this technical solution, the use of oil hoses for connection allows for adaptation to the vehicle's internal structure, increases the available installation positions for the first and second steering modules, avoids the design approach of installing on the steering tie rod, and prevents accidental damage during use in mining areas. Two steering cylinders are set to steer one wheel, and the push rods of the two steering cylinders extend and retract simultaneously to maintain a balanced force on the wheel during circumferential pushing, avoiding eccentric force and causing wheel damage.

[0018] By adding a flow amplifier, the vehicle can complete the steering task more stably than mechanical wheels when facing mining dump trucks weighing over 100 tons in the mining area, providing suitable cornering thrust for heavy vehicles.

[0019] In any of the above technical solutions, the dump truck includes an unmanned driving mode and a manual driving mode. The first steering module and the second steering module are used to control the vehicle steering of the dump truck in the unmanned driving mode. The control system further includes a steering gear connected to the steering wheel of the dump truck, and the output end of the steering gear is connected to the steering unit through a flow amplifier so that the steering gear can control the vehicle rotation of the dump truck in the manual driving mode through the steering mechanism.

[0020] In this technical solution, the first steering module and the second steering module are only responsible for the cornering drive of the dump truck in the unmanned driving mode. In the unmanned driving mode, the steering gear connects the steering wheel and the flow amplifier. The steering gear is responsible for converting the rotation of the steering wheel into hydraulic transmission pressure, which is then amplified by the flow amplifier.

[0021] In any of the above technical solutions, the steering mechanism is used to convert the linear movement of the push rod into an oscillating motion that changes the wheel angle.

[0022] In this technical solution, since the push rod of the steering cylinder moves linearly and the wheel's angular swing is circumferential, the steering mechanism can convert driving forces in different directions so as to ultimately drive the wheel's angular movement.

[0023] In any of the above technical solutions, the first steering module includes a first electronically controlled linear valve group, and the second steering module includes a second electronically controlled linear valve group; both the first electronically controlled linear valve group and the flow amplifier are provided with an input port and an output port; the second electronically controlled linear valve group is provided with two input ports and two output ports; wherein, the two input ports of the second electronically controlled linear valve group are respectively connected to the output port of the first electronically controlled linear valve group and the output port of the flow amplifier, and the two output ports of the second electronically controlled linear valve group are respectively connected to the input port of the first electronically controlled linear valve group and the input port of the flow amplifier.

[0024] In this technical solution, both the first and second electrically controlled linear valve groups are integrated drive valve groups composed of multiple control valves, which can realize the starting and non-closing stopping of the first and second steering modules, and the pressure of the internal working oil circuit.

[0025] In any of the above technical solutions, the first steering module and the second steering module further include: a steering angle sensor. When the first electronically controlled linear valve group or the second electronically controlled linear valve group is in working state, the steering angle sensor of the first steering module and the second steering module is in working state.

[0026] In this technical solution, by setting up corner sensors separately and activating them simultaneously when the first or second steering module is working, the perception capability of the surrounding environment is improved. The corner feedback device corner sensors are designed with redundancy. The vehicle controller monitors the operating status of the two modules and controls their switching. When the main steering module experiences a serious failure, the backup steering module is activated to control the vehicle to drive to the designated position.

[0027] The second aspect of the present invention provides a redundant steering control method for an unmanned mining dump truck. When the dump truck is unmanned, the control method includes the following steps: S1, the control unit activates the first steering module and the second steering module, and supplies power to the first steering module; S2, when the dump truck needs to turn during unmanned driving, the first steering module generates hydraulic pressure and transmits it to the steering unit through the second steering module. The steering unit converts the hydraulic pressure into a linear thrust that drives the transmission mechanism. Under the drive of the linear thrust, the transmission mechanism drives the wheels to swing at a certain angle to complete the vehicle's turn; S3, when the control unit detects a fault in the first steering module, the control unit supplies power to the second steering module and stops supplying power to the first steering module; S4, the second steering module generates hydraulic pressure and transmits it to the steering unit. The steering unit converts the power into a linear thrust that drives the transmission mechanism. Under the drive of the linear thrust, the transmission mechanism drives the wheels to swing at a certain angle to complete the vehicle's turn; wherein, the control method is implemented by the control system described in any of the technical solutions of the first aspect.

[0028] This invention provides a redundant steering control method for an unmanned mining dump truck. When the dump truck is unmanned, a first steering module or a second steering module is responsible for the wheel angle swing to achieve vehicle turning. The first steering module is the main execution module, and the second steering module is a substitute module when the first steering module fails. In the transmission of the driving force for wheel angle swing, the first or second steering module first generates hydraulic pressure transmitted by hydraulic oil, which is then transmitted to the steering unit. The hydraulic driving force is then converted into a linear mechanical thrust and transmitted to the transmission mechanism connected to the wheel. The transmission mechanism converts the linear thrust into the circumferential thrust required for wheel swing. This redundant steering control method for an unmanned mining dump truck is implemented by a redundant steering control system for an unmanned mining dump truck as described in any of the above technical solutions. Therefore, the redundant steering control method for an unmanned mining dump truck proposed in this technical solution possesses all the beneficial effects of the redundant steering control systems for unmanned mining dump trucks described in any of the above technical solutions, which will not be elaborated further here.

[0029] In any of the above technical solutions, the first steering module has ports P, L, and R; the second steering module has ports P1, P2, L1, CL, R1, and CR; and the steering unit has ports P3, L2, R2, and HP. Step S2 includes: S201, high-pressure oil enters through port HP, sequentially passes through ports P3, P1, and P2, and flows into port P to enter the first steering module; S202, when the dump truck needs to turn left, the first steering module drives high-pressure oil to flow out from port L, through ports CL and L1, and flows into port L2 to enter the steering unit; when the dump truck needs to turn right, the first steering module drives high-pressure oil to flow out from port R, through ports CR and R1, and flows into port R2 to enter the steering unit; S203, the steering unit converts the hydraulic pressure into a linear thrust that drives the transmission mechanism through the incoming high-pressure oil, and the transmission mechanism converts the linear thrust into a circumferential thrust that drives the wheels to swing.

[0030] In this technical solution, the steering unit, the first steering module, and the second steering module are all modular designs. After integration, they are equipped with multiple external docking ports for the flow of high-pressure oil to transmit hydraulic power. After receiving the hydraulic power of the high-pressure oil, the steering unit can convert it into a linear thrust that acts directly on the outside mechanical force to complete the conversion of the force and ultimately act on the wheel to complete the turning oscillation.

[0031] In any of the above technical solutions, step S3 includes: S301, high-pressure oil enters through port HP, sequentially passes through port P3, port P1, and port P2, and flows into port P to enter the first steering module; S302, when the dump truck needs to turn left, the second steering module drives high-pressure oil to flow out from port L1 and into port L2 to enter the steering unit, and drives high-pressure oil through ports L and CL to enter the second steering module; when the dump truck needs to turn right, the second steering module drives high-pressure oil to flow out from port R1 and into port R2 to enter the steering unit, and drives high-pressure oil through ports R and CR to enter the second steering module; S303, the steering unit converts the hydraulic pressure into a linear thrust that drives the transmission mechanism through the inflowing high-pressure oil, and the transmission mechanism converts the linear thrust into a circumferential thrust that drives the wheels to swing.

[0032] The beneficial effects of this invention compared to the prior art are as follows:

[0033] In autonomous driving mode, the redundant steering system can activate the backup steering branch when the main steering circuit fails to work properly due to reasons such as control circuit failure, electro-hydraulic control valve induction coil failure, or hydraulic valve jamming, and the vehicle cannot travel in the planned route. This ensures that the vehicle has normal steering function so that the vehicle can complete the task or return for maintenance, avoiding the impact on the normal operation of the mine and the damage to braking components, and preventing personal injury and property loss.

[0034] Compared to electronic control units (ECUs) and motor-controlled steering systems, it has no mechanical transmission mechanism, so the gear ratio will not change due to wear of moving parts, resulting in higher reliability; it also has low drive power, as only the solenoid coil of the steering module's solenoid valve is energized, resulting in lower energy consumption compared to the drive motor.

[0035] Additional aspects and advantages of embodiments of the invention will become apparent in the following description or may be learned by practice of embodiments of the invention. Attached Figure Description

[0036] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0037] Figure 1 This is a schematic diagram of an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of a steering system for an unmanned mining dump truck according to the present invention.

[0039] Figure 3 This is a flowchart of a redundant steering control method for an unmanned mining dump truck according to the present invention.

[0040] in, Figure 1-2 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0041] 1. Main steering module, 1-1 activation solenoid valve, 1-2 first electro-proportional valve, 1-3 second electro-proportional valve, 1-4 first directional valve, 1-5 control valve, 1-6 second directional valve, 2. standby steering module, 3. flow amplifier, 4. steering cylinder, 4-1 first branch cylinder, 4-2 second branch cylinder. Detailed Implementation

[0042] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0043] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0044] Please see Figure 1-3 The following describes a redundant steering control system and method for an unmanned mining dump truck according to some embodiments of the present invention.

[0045] An embodiment of the first aspect of the present invention provides a redundant steering control system for an unmanned mining dump truck. In some embodiments of the present invention, such as... Figure 1-2 As shown, a redundant steering control system for an unmanned mining dump truck is provided. This redundant steering control system includes:

[0046] The vehicle controller, also known as the control unit, is electrically connected to the main steering module 1 (the first steering module), the backup steering module 2 (the second steering module), and two steering angle sensors of the main steering module 1 and the backup steering module 2. It is used to control the switching operation of the main steering module 1 and the backup steering module 2 based on the data transmitted by the two steering angle sensors installed on the wheels.

[0047] The steering gear, with the steering wheel connected to the steering column, controls the vehicle's steering in manual driving mode.

[0048] The main steering module 1 includes: a controller, an electronically controlled linear valve, and a hydraulic steering gear.

[0049] Specifically, the hydraulic steering gear integrates an electronically controlled linear valve and has steering function for manual driving mode; the electronically controlled linear valve group includes: a controller, five solenoid valves, five hydraulic control valves, a safety valve, and a valve core position feedback device, wherein the valve block contains a solenoid valve for switching between manual driving mode and autonomous driving mode.

[0050] Backup steering module 2 includes: a controller and an electronically controlled linear valve.

[0051] Flow amplifier 3 is used to connect steering cylinder 4 and electronically controlled linear valve to meet the steering speed requirements of large-tonnage mining dump trucks.

[0052] Steering cylinder 4 is an actuator of the steering hydraulic system, which outputs linear mechanical motion under the action of pressurized oil; specifically, steering cylinder 4 is a two-way piston hydraulic cylinder.

[0053] Specifically, the steering cylinder 4 includes a first steering cylinder 4-1 and a second steering cylinder 4-2 with different output directions, and when the push rod of the first steering cylinder 4-1 extends, the push rod of the second steering cylinder 4-2 retracts; or when the push rod of the first steering cylinder 4-1 retracts, the push rod of the second steering cylinder 4-2 extends.

[0054] Steering mechanism, a mechanical motion mechanism used to connect the wheel and steering cylinder 4, and to drive the wheel to turn.

[0055] Wheels, specifically the front wheels of a vehicle.

[0056] Furthermore, the specific connection relationships between the main steering module 1, the backup steering module 2, and the flow amplifier 3 are as follows:

[0057] The P port of the main steering module 1 is connected to the P2 port of the backup steering module 2; the LS port of the main steering module 1 is connected to the LS1 port of the backup steering module 2; the T port of the main steering module 1 is connected to the T2 port of the backup steering module 2; the L port of the main steering module 1 is connected to the CL port of the backup steering module 2, and is also connected to the LS1 port of the backup steering module 2 via a check valve and a shuttle valve; the R port of the main steering module 1 is connected to the CR port of the backup steering module 2, and is also connected to the LS1 port of the backup steering module 2 via a check valve and a shuttle valve; the oil outlet of the shuttle valve is connected to the LS3 port of the flow amplifier 3.

[0058] The P1 port of the backup steering module 2 is connected to the P3 port of the flow amplifier 3; the T1 port of the backup steering module 2 is connected to the T3 port of the flow amplifier 3; the L1 port of the backup steering module 2 is connected to the L2 port of the flow amplifier 3; the R1 port of the backup steering module 2 is connected to the R2 port of the flow amplifier 3; the CL and CR ports of the backup steering module 2 are respectively connected to both sides of the piston of the steering cylinder 4.

[0059] In some embodiments, the main steering module 1 includes:

[0060] 1-1 Activate the solenoid valve to energize the module and enable it to process the working state.

[0061] 1-2 First electro-proportional valve and 1-3 Second electro-proportional valve are two electro-proportional valves in the bridge valve, which control the valve core position of 1-5 three-position six-way valve.

[0062] 1-4 The first directional control valve is a two-position eight-way directional control valve that controls the oil supply to the bridge valve.

[0063] 1-5 are control valves, specifically three-position six-way valves, and working oil circuit control valves.

[0064] 1-6 The second directional control valve is a three-position three-way directional control valve, which limits the pressure of the control oil circuit.

[0065] A second aspect of the present invention provides a redundant steering control method for an unmanned mining dump truck. In some embodiments of the present invention, such as... Figure 3 As shown, a redundant steering control method for an unmanned mining dump truck is provided, which includes:

[0066] The steering system has two steering branches, one primary and one backup. When the primary steering branch fails, the backup steering branch is activated, and the vehicle is brought to a stop on a flat surface that does not obstruct normal operating vehicles using electric slow-down and service braking. This includes the following steps:

[0067] In manual driving mode, the main steering module 1 and the backup steering module 2 are in the off state. The driver drives the steering gear of the main steering module 1 to turn through the steering wheel to control the direction of the vehicle.

[0068] In autonomous driving mode, the main steering module 1 is activated and the backup steering module 2 is in standby mode. The vehicle controller monitors its status and switches between them, and controls the vehicle's direction of travel by controlling the electro-hydraulic control valve in the main steering module 1.

[0069] When the main steering module 1 malfunctions, or the control circuit connected to the main steering module 1 malfunctions, affecting the steering function, the backup steering module 2 is activated to control the vehicle's direction of travel.

[0070] Furthermore, in autonomous driving mode, the main steering module 1 operates, energizing the solenoid valve 1-1. High-pressure oil enters through the HP port of the flow amplifier 3, and then through the P3 port of the flow amplifier 3, the P1 port of the backup steering module 2, and the P2 port of the backup steering module 2 to the P port of the main steering module 1. After passing through the second directional valve 1-6, the high-pressure oil is simultaneously supplied to the first directional valve 1-4 and the energizing solenoid valve 1-1, reaching the left control port of 1-4, placing 1-4 in the left working position. The oil inlets of the first electro-proportional valve 1-2 and the second electro-proportional valve 1-3 are controlled by the current magnitude of the first electro-proportional valve 1-2 and the second electro-proportional valve 1-3, which control the working position of the control valve 1-5 and the output high-pressure oil flow. When turning left, the first electro-proportional valve 1-2 is energized, and the second electro-proportional valve 1-3 is de-energized. The pressurized oil passes through the first electro-proportional valve 1-2 to the right control port of the control valve 1-5, placing the control valve 1-5 in the right working position, connecting the P port and the L port. High-pressure oil output from the L port of the main steering module 1 reaches the steering cylinder through the CL port, L1 port, L2 port of the flow amplifier 3, and CL port of the backup steering module 2, driving the steering mechanism to move. When turning right, the first electro-proportional valve 1-2 is de-energized, and the second electro-proportional valve 1-3 is energized. Pressure oil flows through the second electro-proportional valve 1-3 to the left control port of the control valve 1-5, placing the control valve 1-5 in the left working position and connecting the P port and R port. High-pressure oil output from the R port of the main steering module 1 reaches the steering cylinder through the CR port, R1 port, R2 port of the flow amplifier 3, and CR port of the backup steering module 2, driving the steering mechanism to move.

[0071] Furthermore, in autonomous driving mode, the main steering module 1 is in a fault state, while the backup steering module 2 is in an active state, with its status monitored and switched by the vehicle control unit (VCU). The switching valve in the main steering module 1 is de-energized, while the backup steering module 2 is in a standby state, and the switching valve in the backup steering module 2 is energized.

[0072] The main steering module 1's switching valve is in the closed state; the standby steering module 2 is in the working state. The specific control process is as follows: High-pressure oil enters through the HP port of the flow amplifier 3, and then enters the P port of the main steering module 1 through the P3 port of the flow amplifier 3, the P1 port of the standby steering module 2, and the P2 port of the standby steering module 2. The high-pressure oil output from the L1 and R1 ports of the standby steering module 2 is controlled by the electronically controlled linear valve of the standby steering module 2. When turning left, the high-pressure oil output from the CL port of the standby steering module 2 passes through the L1 port of the standby steering module 2, the L2 port of the flow amplifier 3, and the CL port of the standby steering module 2 to reach the steering cylinder, driving the steering mechanism to move. When turning right, the high-pressure oil output from the CR port of the standby steering module 2 passes through the R1 port of the standby steering module 2, the R2 port of the flow amplifier 3, and the CR port of the standby steering module 2 to reach the steering cylinder, driving the steering mechanism to move.

[0073] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0074] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A redundant steering control system for an unmanned mining dump truck, characterized in that, include: The first steering module is used to control the vehicle steering of the dump truck; The second steering module is configured to take over the steering of the dump truck when the first steering module fails. The control unit is used to switch the opening and closing of the first steering module and the second steering module; The steering unit converts the hydraulic pressure transmitted by the second steering module into linear thrust. The first steering module, the second steering module, and the steering unit transmit power sequentially via hydraulic pressure. The steering unit outputs linear thrust and drives the wheels of the dump truck through the steering mechanism, so that the first or second steering module controls the wheel swing when the steering tie rod connected to the wheel is in a state of relative movement. The first steering module includes a first electronically controlled linear valve group; the second steering module includes a second electronically controlled linear valve group. The first electrically controlled linear valve assembly and the flow amplifier are each provided with an input port and an output port; The second electrically controlled linear valve assembly has two input ports and two output ports; The two input ports of the second electrically controlled linear valve group are respectively connected to the output port of the first electrically controlled linear valve group and the output port of the flow amplifier, and the two output ports of the second electrically controlled linear valve group are respectively connected to the input port of the first electrically controlled linear valve group and the input port of the flow amplifier.

2. The redundant steering control system for an unmanned mining dump truck according to claim 1, characterized in that, The wheels support the dump truck body via a rotating joint connected to the steering tie rod, and the steering mechanism is used to drive the wheel's swing, thereby reducing the impact of the rotating joint on the wheel's swing accuracy.

3. The redundant steering control system for an unmanned mining dump truck according to claim 1, characterized in that, The first steering module, the second steering module, and the steering unit are connected via an oil supply hose, and the steering unit includes a flow amplifier and two steering cylinders. The extension and retraction movements of the push rods on the two steering cylinders are opposite; The flow amplifier is located between the second steering module and the steering cylinder and is connected via an oil delivery hose to increase the flow rate transmitted from the first steering module or the second steering module to the steering unit.

4. The redundant steering control system for an unmanned mining dump truck according to claim 3, characterized in that, The dump truck includes an unmanned driving mode and a manual driving mode. The first steering module and the second steering module are used to control the vehicle steering of the dump truck in the unmanned driving mode. The control system further includes: A steering gear is connected to the steering wheel of the dump truck, and the output end of the steering gear is connected to the steering unit through a flow amplifier, so that the steering gear can control the rotation of the dump truck in manual driving mode through the steering mechanism.

5. A redundant steering control system for an unmanned mining dump truck according to claim 3, characterized in that, The steering mechanism is used to convert the linear movement of the push rod into an oscillating motion that changes the wheel angle.

6. A redundant steering control system for an unmanned mining dump truck according to claim 4, characterized in that, Both the first steering module and the second steering module further include: When the first or second electronically controlled linear valve group is in operation, the angle sensors of both the first and second steering modules are in operation.

7. A redundant steering control method for an unmanned mining dump truck, characterized in that, When the dump truck is driverless, the control method includes the following steps: S1, the control unit activates the first steering module and the second steering module, and supplies power to the first steering module; S2, when the dump truck needs to turn during autonomous driving, the first steering module generates hydraulic pressure and transmits it to the steering unit through the second steering module. The steering unit converts the hydraulic pressure into a linear thrust that drives the transmission mechanism. Under the drive of the linear thrust, the transmission mechanism drives the wheels to swing, thus completing the vehicle's turn. S3, when the control unit detects a fault in the first steering module, the control unit supplies power to the second steering module and stops supplying power to the first steering module; S4, the second steering module generates hydraulic power and transmits it to the steering unit. The steering unit converts the power into a linear thrust that drives the transmission mechanism. Under the drive of the linear thrust, the transmission mechanism drives the wheels to swing and complete the vehicle's turn. The control method is implemented by the control system as described in any one of claims 1-6.

8. A redundant steering control method for an unmanned mining dump truck according to claim 7, characterized in that, The first steering module has ports P, L, and R; the second steering module has ports P1, P2, L1, CL, R1, and CR; the steering unit has ports P3, L2, R2, and HP; and step S2 includes: S201, high-pressure oil enters through the HP port, passes through the P3 port, P1 port, and P2 port in sequence, and flows into the first steering module through the P port; S202, when the dump truck needs to turn left, the first steering module drives the high-pressure oil to flow out from port L, through port CL and port L1 and into port L2 to enter the steering unit; when the dump truck needs to turn right, the first steering module drives the high-pressure oil to flow out from port R, through port CR and port R1 and into port R2 to enter the steering unit. S203, the steering unit converts hydraulic pressure into linear thrust that drives the transmission mechanism through the inflow of high-pressure oil, and the transmission mechanism converts the linear thrust into circumferential thrust that drives the wheels to swing.

9. A redundant steering control method for an unmanned mining dump truck according to claim 8, characterized in that, The steps in S3 include: S301, high-pressure oil enters through the HP port, passes through the P3 port, P1 port, and P2 port in sequence, and flows into the first steering module through the P port; S302, when the dump truck needs to turn left, the second steering module drives the high-pressure oil to flow out from port L1 and into port L2 to enter the steering unit, and drives the high-pressure oil through port L and port CL to enter the second steering module; when the dump truck needs to turn right, the second steering module drives the high-pressure oil to flow out from port R1 and into port R2 to enter the steering unit, and drives the high-pressure oil through port R and port CR to enter the second steering module. In S303, the steering unit converts hydraulic pressure into linear thrust that drives the transmission mechanism through the inflow of high-pressure oil. The transmission mechanism then converts the linear thrust into circumferential thrust that drives the wheels to swing.

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