Steering mode control method, system, and work machine

Abstract

The application provides a steering mode control method, system and working machine, the method comprises the following steps: obtaining a target steering mode, a first target rotation direction of the working machine and current angles of each steering wheel in the working machine; when each steering wheel meets a steering mode switching condition, determining a first target control valve in a steering control valve corresponding to each steering wheel based on the target steering mode and the first target rotation direction, and controlling the first target control valve to open. The steering mode control process is simple and efficient, and the steering control of the front wheel steering mode, the rear wheel steering mode, the all-wheel steering mode and the crab steering mode can be realized, thereby improving the flexibility and stability of the working machine operation.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a steering mode control method, system and working machinery. Background Technology

[0002] All-terrain work machinery is a type of work machinery with multiple tools and functions. Compared with ordinary tracked and wheeled work machinery, its significant feature is that all four wheels have walking mechanisms. With the help of the assembled outriggers, the four wheels can move up, down, left, and right. At the same time, it can also have good driving ability like wheeled work machinery, making it suitable for use in special areas such as mountains and shallow lakes.

[0003] However, the increasing demands of various work scenarios place higher requirements on work machinery. Different work scenarios require different steering modes. Therefore, steering mode control is an important factor in determining the performance of work machinery.

[0004] In related technologies, mechanical transmission is usually used for steering mode control. Steering mode control is difficult to achieve and it is hard to guarantee the flexibility and stability of the machine operation, as well as its applicability to different operating scenarios. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a steering mode control method, system, and working machinery.

[0006] This invention provides a steering mode control method, comprising:

[0007] The target steering mode of the operating machinery, the first target rotation direction, and the current angle of each steering wheel in the operating machinery are obtained.

[0008] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that each steering wheel meets the steering mode switching conditions, based on the target steering mode and the first target rotation direction, the first target control valve in the steering control valve corresponding to each steering wheel is determined, and the first target control valve is controlled to open.

[0009] According to the steering mode control method provided by the present invention, based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, determining whether each steering wheel meets the steering mode switching condition includes:

[0010] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, the target angle corresponding to each steering wheel is determined;

[0011] Based on the comparison between the current angle of the steering wheel and the corresponding target angle, it is determined whether the steering wheel meets the steering mode switching conditions.

[0012] According to the steering mode control method provided by the present invention, the target steering mode is a front-wheel steering mode or a rear-wheel steering mode; determining the target angle corresponding to each steering wheel based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel includes:

[0013] Based on the first target rotation direction and the current angle of the wheel to be rotated in each of the steering wheels, the target angle corresponding to each wheel to be rotated is determined, and the preset angle is used as the current angle of the non-wheel to be rotated in each of the steering wheels.

[0014] According to the steering mode control method provided by the present invention, the target steering mode is an all-wheel steering mode or a crab steering mode; the step of determining the target angle corresponding to each steering wheel based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel includes:

[0015] Based on the first target rotation direction, determine the second target rotation direction of each of the steering wheels;

[0016] Based on the current angle of each steering wheel and the rotation direction of the second target, determine the deflection angle of each steering wheel in the corresponding rotation direction of the second target;

[0017] The target angle of each steering wheel is determined based on the deflection angle of each steering wheel in the corresponding second target rotation direction.

[0018] The steering mode control method provided by the present invention further includes:

[0019] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that at least one or more steering wheels do not meet the steering mode switching conditions, based on the current angle and target angle of the target steering wheel among the one or more steering wheels that do not meet the steering mode switching conditions, the second target control valve among the steering control valves corresponding to the target steering wheel is determined, and the second target control valve is controlled to open.

[0020] According to the steering mode control method provided by the present invention, the steering control valve corresponding to each steering wheel includes a switching valve, the switching valve being used to control the operating mode of the multiplexed control valve in each steering control valve of the corresponding steering wheel; the operating mode includes a single-wheel operation mode and a multi-wheel operation mode.

[0021] The steering mode control method provided by the present invention further includes:

[0022] Real-time acquisition of the operating status data of the angle detection device corresponding to each of the steering wheels;

[0023] Based on the working status data of each angle detection device, when it is determined that one or more of the angle detection devices are malfunctioning, the system switches to emergency steering mode; wherein, in emergency steering mode, steering commands corresponding to each steering wheel are obtained, and the corresponding steering wheel is controlled to rotate based on each steering command.

[0024] According to the steering mode control method provided by the present invention, before determining whether each steering wheel meets the steering mode switching condition based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, the method further includes:

[0025] The current state of each steering wheel is obtained, and based on the current state of each steering wheel, it is determined whether each steering wheel has a fault.

[0026] The present invention also provides a steering mode control system, comprising:

[0027] The first input device is used to input the target steering mode of the operating machinery;

[0028] The second input device is used to input the first target rotation direction of the operating machinery;

[0029] An angle detection device is used to collect the current angle of each steering wheel in the operating machinery;

[0030] A control device, connected to the first input device, the second input device, and the angle detection device, is used to determine, based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when all steering wheels meet the steering mode switching conditions, determine the first target control valve among the steering control valves corresponding to each steering wheel, and control the first target control valve to open.

[0031] The present invention also provides a working machine, including a plurality of rotating wheels and a steering mode control system as described above.

[0032] The steering mode control method, system, and working machinery provided by this invention acquire the target steering mode, the first target rotation direction, and the current angle of each steering wheel in the working machinery. Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, it determines that when each steering wheel meets the steering mode switching conditions, it determines the first target control valve in the steering control valve corresponding to each steering wheel based on the target steering mode and the first target rotation direction, and controls the opening of the first target control valve, thereby controlling the rotation of the corresponding steering wheel to complete the steering of the working machinery. The steering mode control process is simple and efficient, and can realize steering control of front wheel steering mode, rear wheel steering mode, all-wheel steering mode, and crab steering mode, improving the flexibility and stability of the working machinery and making the working machinery applicable to a variety of different working scenarios.

[0033] Meanwhile, before controlling the working machinery to execute the target steering mode, the present invention can effectively ensure that each steering wheel is in a state where steering mode switching can be performed, which further improves the reliability of steering mode control results and the steering ability of the working machinery, thereby improving the stability and safety of the working machinery operation.

[0034] In addition, when the angle acquisition device malfunctions, the present invention can automatically switch to emergency steering mode, thereby effectively improving the safety of operation while ensuring the normal steering of the working machinery. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a flowchart illustrating the steering mode control method provided by the present invention;

[0037] Figure 2 This is a schematic diagram of the deflection range of the outriggers and steering wheels of the all-terrain operation machinery provided by the present invention;

[0038] Figure 3 This is a flowchart illustrating the process of determining whether each steering wheel meets the conditions for switching steering modes, provided by the present invention.

[0039] Figure 4 This is a schematic diagram of the control flow of the front wheel steering mode provided by the present invention;

[0040] Figure 5 This is a schematic diagram of the control flow of the all-wheel steering mode provided by the present invention;

[0041] Figure 6 This is a schematic diagram of the control flow of the crab-like steering mode provided by the present invention;

[0042] Figure 7 This is a schematic diagram of the steering mode control device provided by the present invention;

[0043] Figure 8 This is a schematic diagram of the steering mode control system provided by the present invention;

[0044] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0046] The following is combined Figures 1-6 The present invention describes a steering mode control method, which is executed by an electronic device such as a controller, or by hardware and / or software therein. The controller can be the controller of the working machinery itself, such as a vehicle controller, or it can be a newly added controller. Figure 1 As shown, the steering mode control method of the present invention includes at least the following steps:

[0047] S101. Obtain the target steering mode of the working machinery, the first target rotation direction, and the current angle of each steering wheel in the working machinery;

[0048] S102. Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that each steering wheel meets the steering mode switching condition, based on the target steering mode and the first target rotation direction, the first target control valve in the steering control valve corresponding to each steering wheel is determined, and the first target control valve is controlled to open; wherein, the steering control valve corresponding to each steering wheel includes a left turn control valve and a right turn control valve.

[0049] In this embodiment, the working machinery can be an all-terrain working machine, including multiple steering wheels, each mounted on a different outrigger, enabling it to move up, down, left, and right. It is understood that the working machinery can also be a wheeled working machine including multiple steering wheels capable of moving up, down, left, and right. The number of steering wheels can be four.

[0050] The target steering mode of the operating machinery is the steering mode of the machinery to be controlled. Operators and other relevant personnel can input the target steering mode through a first input device, such as the machinery's display screen or steering mode control buttons. The target steering mode can be front-wheel steering, rear-wheel steering, all-wheel steering, or crab steering. Specifically, front-wheel steering involves the front wheels turning while the rear wheels remain in a neutral position; rear-wheel steering involves the rear wheels turning while the front wheels remain in a neutral position; all-wheel steering involves all steering wheels turning, with the front and rear wheels rotating in opposite directions, allowing the machinery to maintain a small turning radius and providing good maneuverability in confined spaces; crab steering involves all steering wheels turning, with the front and rear wheels rotating in the same direction, minimizing lateral impact during steering and providing high stability.

[0051] The primary target rotation direction of the working machinery is the direction in which the machinery to be controlled rotates. Operators and other relevant personnel can input this primary target rotation direction via a second input device, such as the machinery's control handle. Specifically, in front-wheel steering mode, the primary target rotation direction can be left-front or right-front; in rear-wheel steering mode, it can be left-rear or right-rear; and in all-wheel steering mode and crab steering mode, it can be left-front, right-front, left-rear, or right-rear.

[0052] The current angle of each steering wheel in the working machinery refers to the deflection angle of each steering wheel at the current moment, such as 30° to the left or 50° to the right. The current angle of each steering wheel can be acquired by an angle detection device, which can be an angle sensor. Taking all-terrain working machinery as an example, for any one of the steering wheels, a first angle sensor is installed on the wheel, and a second angle sensor is installed on the outrigger mounting the wheel. The current angle of the wheel is the sum of the angle acquired by the first angle sensor and the angle acquired by the second angle sensor. Figure 2 The deflection range of the outriggers 201 and steering wheels 202 of the all-terrain work machine is demonstrated. Figure 2 It can be seen that the maximum angle that the outrigger 201 can deflect to the left is θ1 and the maximum angle that it can deflect to the right is θ2, and the maximum angle that the steering wheel 202 can deflect to the right is θ3 and the maximum angle that it can deflect to the left is θ4.

[0053] In implementation, based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, it can be determined whether each steering wheel meets the steering mode switching conditions. Specifically, the target angle for each steering wheel can be determined based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel. For any steering wheel, its current angle can be compared with the target angle, and the result of the comparison determines whether the steering wheel meets the steering mode switching conditions. Simultaneously, the current state of each steering wheel can be detected. If the current state of any steering wheel is a fault state, it is determined that the steering wheel does not meet the steering mode switching conditions. If the current state of all steering wheels is normal, it can be further determined whether each steering wheel meets the steering mode switching conditions based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel.

[0054] Understandably, if all steering wheels meet the steering mode switching conditions, the machine is determined to meet the steering conditions, and the machine can be steered based on the target steering mode and the first target rotation direction. If at least one steering wheel does not meet the steering mode switching conditions, the machine is determined to not meet the steering conditions, and the angle of the steering wheel that does not meet the steering mode switching conditions can be adjusted and / or troubleshooted to ensure that all steering wheels meet the steering mode switching conditions.

[0055] For any one of the steering wheels, the steering control valve corresponding to that steering wheel may include a left-turn control valve and a right-turn control valve. The left-turn control valve is used to control the steering wheel to turn to the left, and the right-turn control valve is used to control the steering wheel to turn to the right, so that each steering wheel can be flexibly controlled according to the angle adjustment requirements or steering requirements.

[0056] When all steering wheels meet the steering mode switching conditions, the first target control valve in the steering control valve corresponding to each steering wheel can be determined based on the target steering mode and the first target rotation direction. The first target control valve is then opened to control the corresponding steering wheel to rotate according to the target steering mode, thus completing the steering of the working machinery. The steering mode control process is simple and efficient, and it can realize steering control for multiple different steering modes, improving the flexibility and stability of the working machinery and making it suitable for a variety of different working scenarios.

[0057] In the process of determining the first target control valve among the steering control valves corresponding to each steering wheel based on the target steering mode and the first target rotation direction, the wheel to be rotated can be determined from each steering wheel based on the target steering mode. The wheel to be rotated is the steering wheel that needs to rotate left and right during the execution of the target steering mode. Then, the target rotation direction of the wheel to be rotated is determined based on the target steering mode and the first target rotation direction. The first target control valve is determined from the multiple steering control valves corresponding to each wheel to be rotated according to the target rotation direction of each wheel to be rotated.

[0058] This embodiment acquires the target steering mode, the first target rotation direction, and the current angle of each steering wheel in the working machinery. Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, it determines that when each steering wheel meets the steering mode switching conditions, it determines the first target control valve in the steering control valve corresponding to each steering wheel based on the target steering mode and the first target rotation direction, and controls the opening of the first target control valve, thereby controlling the rotation of the corresponding steering wheel to complete the steering of the working machinery. The steering mode control process is simple and efficient, and it can realize steering control of front wheel steering mode, rear wheel steering mode, all-wheel steering mode, and crab steering mode, improving the flexibility and stability of the working machinery and making the working machinery applicable to a variety of different working scenarios.

[0059] In an exemplary embodiment, such as Figure 3 As shown, based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, determining whether each steering wheel meets the steering mode switching conditions includes:

[0060] S301. Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, determine the target angle corresponding to each steering wheel;

[0061] S302. Based on the comparison result between the current angle of the steering wheel and the corresponding target angle, determine whether the steering wheel meets the steering mode switching condition.

[0062] In this embodiment, during the process of determining the target angle of each steering wheel based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, firstly, the wheels to be rotated and the wheels not to be rotated can be determined from among the steering wheels based on the target steering mode; wherein, the wheels to be rotated are the steering wheels that need to rotate left and right during the execution of the target steering mode, and the wheels not to be rotated are the steering wheels that do not need to rotate left and right during the execution of the target steering mode, that is, the steering wheels that maintain the center position. Then, the target angle of the wheels to be rotated can be determined based on the first target rotation direction and the current angle of each steering wheel. At the same time, a preset angle can be used as the current angle of the wheels not to be rotated, thereby enabling the target angle corresponding to each steering wheel to be determined quickly and effectively.

[0063] In practice, the current angle of each steering wheel can be compared with the corresponding target angle, and the result of the comparison can be used to determine whether the corresponding steering wheel meets the steering mode switching condition. For example, for any steering wheel, if the current angle of the steering wheel is equal to the target angle, it is determined that the steering wheel meets the steering mode switching condition; if the current angle of the steering wheel is not equal to the target angle, it is determined that the steering wheel does not meet the steering mode switching condition. Thus, before controlling the working machinery to execute the target steering mode, it can effectively ensure that each steering wheel is in a state where steering mode switching can be performed, further improving the reliability of the steering mode control result and the steering ability of the working machinery, thereby improving the stability and safety of the working machinery operation.

[0064] In an exemplary embodiment, the target steering mode is a front-wheel steering mode or a rear-wheel steering mode; determining the target angle corresponding to each steering wheel based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel includes:

[0065] Based on the first target rotation direction and the current angle of the wheel to be rotated in each of the steering wheels, the target angle corresponding to each wheel to be rotated is determined, and the preset angle is used as the current angle of the non-wheel to be rotated in each of the steering wheels.

[0066] In this embodiment, when the target steering mode is front wheel steering mode, the wheel to be turned is the front wheel and the wheel not to be turned is the rear wheel; when the target steering mode is rear wheel steering mode, the wheel to be turned is the rear wheel and the wheel not to be turned is the front wheel.

[0067] When the target steering mode is either front-wheel steering or rear-wheel steering, the target angle for each wheel can be determined based on the first target rotation direction and the current angle of each wheel. The third target rotation direction for each wheel can be determined based on the first target rotation direction. This third target rotation direction is the direction the corresponding wheel needs to deflect when the target steering mode is executed. For example, if the first target rotation direction is left front or left rear, the third target rotation direction is to the left; if the first target rotation direction is right front or right rear, the third target rotation direction is to the right. It is understood that the third target rotation direction and the corresponding target angle are the same for all wheels. Specifically, the deflection angle of each wheel in the direction of rotation of the third target can be determined based on its current angle. For example, if the direction of rotation of the third target is to the left, and the current angle of each wheel is 30° to the left, then the deflection angle of that wheel in the direction of rotation of the third target is 30°. If the current angle of each wheel is 50° to the right, then the deflection angle of that wheel in the direction of rotation of the third target is -50°. Therefore, the target angle corresponding to each wheel can be determined based on its deflection angle in the direction of rotation of the third target. For example, the maximum deflection angle among all the wheels in the direction of rotation of the third target can be taken as the target angle of each wheel. It can be understood that the target angle of a wheel is the target deflection angle of that wheel in the corresponding direction of rotation of the third target.

[0068] At the same time, a preset angle can be used as the current angle of the non-rotating wheel among each steering wheel. The preset angle can be 0°, that is, the angle corresponding to the center direction. In this way, before controlling the working machine to execute the target steering mode, it can effectively ensure that the deflection state of each steering wheel is the same as the corresponding target steering mode, thus realizing the effective switching of steering modes.

[0069] Therefore, by determining the target angle of each wheel to be turned, this embodiment can effectively determine whether each wheel to be turned can switch to the target steering mode at the current moment, thereby further improving the reliability of the steering mode control result.

[0070] In an exemplary embodiment, the target steering mode is an all-wheel steering mode or a crab steering mode; determining the target angle corresponding to each steering wheel based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel includes:

[0071] Based on the first target rotation direction, determine the second target rotation direction of each of the steering wheels;

[0072] Based on the current angle of each steering wheel and the rotation direction of the second target, determine the deflection angle of each steering wheel in the corresponding rotation direction of the second target;

[0073] The target angle of each steering wheel is determined based on the deflection angle of each steering wheel in the corresponding second target rotation direction.

[0074] In this embodiment, when the target steering mode is all-wheel steering or crab steering, all steering wheels need to turn synchronously. The second target steering direction for each steering wheel can be determined based on the first target steering direction. The second target steering direction is the direction the corresponding steering wheel needs to deflect when the target steering mode is executed. For example, when the target steering mode is all-wheel steering, if the first target steering direction is left front or left rear, the second target steering direction for the front wheels is to the left, and the second target steering direction for the rear wheels is to the right. If the first target steering direction is right front or right rear, the second target steering direction for the front wheels is to the right. The second target rotation direction is to the right, and the second target rotation direction of the rear wheels is to the left. That is, when the target steering mode is all-wheel steering mode, the second target rotation direction of the front wheels is opposite to that of the rear wheels. When the target steering mode is crab steering mode, if the first target rotation direction is left front or left rear, the second target rotation direction of each steering wheel is to the left. If the first target rotation direction is right front or right rear, the second target rotation direction of each steering wheel is to the right. That is, when the target steering mode is crab steering mode, the second target rotation direction of all steering wheels is the same.

[0075] After determining the second target rotation direction of each steering wheel, the deflection angle of each steering wheel in the corresponding second target rotation direction can be determined based on the current angle of each steering wheel and the second target rotation direction. Then, the target angle of each steering wheel can be determined based on its deflection angle in the corresponding second target rotation direction. It can be understood that the target angle of a steering wheel is its target deflection angle in the corresponding second target rotation direction. For example, the maximum deflection angle among the deflection angles of each steering wheel in the corresponding second target rotation direction can be used as the target angle of each steering wheel. Since the target deflection angles of each steering wheel in the corresponding second target rotation direction are all the same, this effectively ensures that the deflection state of each steering wheel is the same as the corresponding target steering mode before controlling the working machinery to execute the target steering mode, thus achieving effective switching of steering modes.

[0076] Therefore, by determining the target angle of each steering wheel, this embodiment can effectively determine whether each steering wheel can switch to the target steering mode at the current moment, thereby further improving the reliability of the steering mode control result.

[0077] In an exemplary embodiment, it also includes:

[0078] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that at least one or more steering wheels do not meet the steering mode switching conditions, based on the current angle and target angle of the target steering wheel among the one or more steering wheels that do not meet the steering mode switching conditions, the second target control valve among the steering control valves corresponding to the target steering wheel is determined, and the second target control valve is controlled to open.

[0079] In this embodiment, if one or more steering wheels do not meet the steering mode switching conditions, the angle of the steering wheels that do not meet the steering mode switching conditions can be adjusted until all steering wheels meet the steering mode switching conditions.

[0080] The target steering wheel is any steering wheel that does not meet the steering mode switching conditions. During the angle adjustment of the target steering wheel, the adjustment direction of the target steering wheel can be determined based on its current angle and target angle, such as left or right. Based on the adjustment direction of the target steering wheel, the second target control valve in each steering control valve corresponding to the target steering wheel is determined, and the second target control valve is controlled to open. The target steering wheel is then controlled to adjust its angle according to the corresponding adjustment direction until the current angle of the target steering wheel is the same as the target angle. At this point, the second target control valve is controlled to close. This allows for quick and accurate angle adjustment of steering wheels that do not meet the steering mode switching conditions, further improving the reliability of steering mode switching.

[0081] In an exemplary embodiment, the steering control valve corresponding to each steering wheel includes a switching valve, which is used to control the operating mode of the multiplexed control valve in each steering control valve of the corresponding steering wheel; the operating mode includes a single-wheel operation mode and a multi-wheel operation mode.

[0082] In this embodiment, each steering control valve corresponding to each steering wheel may include a reused control valve. The working mode of the reused control valve may include a single-wheel operation mode and a multi-wheel operation mode. In the single-wheel operation mode, the reused control valve only controls the corresponding steering wheel to rotate; in the multi-wheel operation mode, the reused control valve simultaneously controls multiple steering wheels to rotate, for example, simultaneously controlling all front wheels to rotate, or simultaneously controlling all rear wheels to rotate. This effectively ensures the consistency of the steering wheel's movement during steering control, further improving the stability of the working machinery during steering. Specifically, when controlling the working machinery to execute the target steering mode, the reused control valve can be controlled to use the multi-wheel operation mode; when adjusting the angle of a steering wheel that does not meet the steering mode switching conditions, the reused control valve can be controlled to use the single-wheel operation mode.

[0083] Simultaneously, the steering control valve corresponding to each steering wheel also includes a switching valve. The switching valve controls the switching of the operating mode of the multiplexed control valve among the steering control valves of the corresponding steering wheel. For example, when the switching valve is open, the operating mode of the corresponding multiplexed control valve switches to single-wheel operation mode; when the switching valve is closed, the operating mode of the corresponding multiplexed control valve switches to multi-wheel operation mode. One switching valve can correspond to one or more steering wheels. For example, all front wheels can have one switching valve, all rear wheels can have one switching valve, or each multiplexed control valve can have one switching valve.

[0084] As an optional implementation, the left-turn control valve corresponding to the left front wheel, the right-turn control valve corresponding to the right front wheel, the left-turn control valve corresponding to the left rear wheel, and the right-turn control valve corresponding to the right rear wheel can be used as shared control valves. For example, when the switch valve corresponding to the front wheel is closed, if the left-turn control valve corresponding to the left front wheel is opened, all front wheels will turn to the left simultaneously; when the switch valve corresponding to the front wheel is open, if the left-turn control valve corresponding to the left front wheel is opened, only the left front wheel will turn to the left.

[0085] For example, taking left-front steering as an example, the control process of the front wheel steering mode can be as follows: Figure 4 As shown, the system can determine the front wheel status in real time. If the front wheel angles are consistent, the front wheel switch valve is closed, and the left front wheel left turn control valve is opened to control both front wheels to turn to the left synchronously. If not, the front wheel switch valve is opened, and the left turn control valve corresponding to the front wheel with the smaller left turn angle is opened to adjust its angle until the two front wheels have the same angle. At the same time, the system can also determine the rear wheel status in real time. If the rear wheel angles are consistent and both are 0, the left turn control valve and right turn control valve of each rear wheel are closed to keep the rear wheel angle at 0. If at least one rear wheel angle is not 0, the rear wheel switch valve is opened, and the right turn control valve or left turn control valve corresponding to the rear wheel with the non-zero angle is opened to adjust its angle until the two rear wheel angles are consistent and both are 0.

[0086] The control process of all-wheel steering mode can be as follows: Figure 5 As shown, the system can determine the status of the front and rear wheels in real time. If the front wheel angles are the same and the rear wheel angle (after being negative) is the same as the front wheel angle (both are A), then the front wheel and rear wheel switch valves are closed, and the left front wheel left-turn control valve and the right rear wheel right-turn control valve are opened to control the two front wheels to turn to the left synchronously and the two rear wheels to turn to the right synchronously. Otherwise, if there is a front wheel angle less than A, the front wheel switch valve is opened, and the left-turn control valve of the front wheel with an angle less than A is opened to adjust its angle until both front wheel angles are A. If there is a rear wheel angle (after being negative) less than A, the rear wheel switch valve is opened, and the right-turn control valve of the rear wheel with an angle less than A is opened to adjust its angle until both rear wheel angles are negative and are A. Here, A is the negative result of the rear wheel deflection angle and the angle with the largest leftward deflection among the front wheel deflection angles.

[0087] The control process of the crab steering mode can be as follows: Figure 6 As shown, the system can determine the status of the front and rear wheels in real time. If the angles of the front and rear wheels are both B, the system closes the front and rear wheel control valves and opens the left front wheel left-turn control valve and the left rear wheel left-turn control valve to control the two front wheels and two rear wheels to turn to the left synchronously. Otherwise, if there is a front wheel angle less than B, the system opens the front wheel control valve and the left-turn control valve of the front wheel with an angle less than B to adjust its angle until both front wheel angles are B. If there is a rear wheel angle less than B, the system opens the rear wheel control valve and the left-turn control valve of the rear wheel with an angle less than B to adjust its angle until both rear wheel angles are B. Here, B is the angle that deflects to the left the most between the front and rear wheel deflections.

[0088] In an exemplary embodiment, it also includes:

[0089] Real-time acquisition of the operating status data of the angle detection device corresponding to each of the steering wheels;

[0090] Based on the working status data of each angle detection device, when it is determined that one or more of the angle detection devices are malfunctioning, the system switches to emergency steering mode; wherein, in emergency steering mode, steering commands corresponding to each steering wheel are obtained, and the corresponding steering wheel is controlled to rotate based on each steering command.

[0091] In this embodiment, during the process of controlling the steering mode of the working machinery, the working status data of the angle detection device corresponding to each steering wheel can also be obtained in real time. The working status data is used to characterize the working status of the corresponding angle detection device, which can be normal or faulty.

[0092] The operating status of each angle detection device can be determined based on the operating status data of each angle detection device. If the operating status of each angle detection device is normal, the current steering mode can continue to be executed. If one or more angle detection devices are in a faulty state, the emergency steering mode can be automatically switched.

[0093] After switching to emergency steering mode, a reminder message can be generated and sent to a preset terminal, such as the display screen of the operating machinery or a remote control terminal. Upon receiving the reminder message, operators and other relevant personnel can input steering commands for each steering wheel via a third input device, based on steering requirements and the current angle of each steering wheel. This allows for individual control of each steering wheel's rotation based on its corresponding steering command. For example, for any given steering wheel, a fourth target rotation direction can be determined based on its steering command. This fourth target rotation direction then determines the third target control valve among the steering control valves corresponding to that wheel, and controls the third target control valve to open, thus controlling the steering wheel to rotate according to the corresponding steering command. Therefore, even if the angle acquisition device malfunctions, steering control can still be performed on each steering wheel without considering its current angle, effectively improving operational safety while ensuring normal steering of the operating machinery.

[0094] In an exemplary embodiment, before determining whether each steering wheel meets the steering mode switching condition based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, the method further includes:

[0095] The current state of each steering wheel is obtained, and based on the current state of each steering wheel, it is determined whether each steering wheel has a fault.

[0096] In this embodiment, the current state of the steering wheel can be either a faulty state or a normal state. For any one of the steering wheels, the presence or absence of a fault can be determined based on its current state. For example, if the current state of the steering wheel is normal, it indicates that the steering wheel is not faulty; if the current state of the steering wheel is faulty, it indicates that the steering wheel is faulty, that is, the steering wheel does not meet the conditions for switching steering modes. An early warning can be issued to remind relevant personnel to troubleshoot in time, avoiding safety accidents caused by controlling the steering wheel when it is faulty, ensuring the stability and safety of the operating machinery, and at the same time, ensuring the reliability of the steering mode control results.

[0097] If all steering wheels are in normal condition, it is possible to further determine whether each steering wheel meets the steering mode switching conditions based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel. This further improves the reliability of the steering mode control results and the steering capability of the working machinery.

[0098] This invention also provides a steering mode control device. The steering mode control device provided by this invention will be described below. The steering mode control device described below can be referred to in correspondence with the steering mode control method described above. For example... Figure 7 As shown, the steering mode control device of the present invention includes at least:

[0099] The first processing module 701 is used to acquire the target steering mode of the working machinery, the first target rotation direction, and the current angle of each steering wheel in the working machinery;

[0100] The second processing module 702 is used to determine, based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when all steering wheels meet the steering mode switching conditions, determine the first target control valve among the steering control valves corresponding to each steering wheel based on the target steering mode and the first target rotation direction, and control the first target control valve to open; wherein, the steering control valve corresponding to each steering wheel includes a left turn control valve and a right turn control valve.

[0101] In an exemplary embodiment, the second processing module 702 is specifically used for:

[0102] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, the target angle corresponding to each steering wheel is determined;

[0103] Based on the comparison between the current angle of the steering wheel and the corresponding target angle, it is determined whether the steering wheel meets the steering mode switching conditions.

[0104] In an exemplary embodiment, the target steering mode is a front-wheel steering mode or a rear-wheel steering mode; the second processing module 702 is specifically used for:

[0105] Based on the first target rotation direction and the current angle of the wheel to be rotated in each of the steering wheels, the target angle corresponding to each wheel to be rotated is determined, and the preset angle is used as the current angle of the non-wheel to be rotated in each of the steering wheels.

[0106] In an exemplary embodiment, the target steering mode is an all-wheel steering mode or a crab steering mode; the second processing module 702 is specifically used for:

[0107] Based on the first target rotation direction, determine the second target rotation direction of each of the steering wheels;

[0108] Based on the current angle of each steering wheel and the rotation direction of the second target, determine the deflection angle of each steering wheel in the corresponding rotation direction of the second target;

[0109] The target angle of each steering wheel is determined based on the deflection angle of each steering wheel in the corresponding second target rotation direction.

[0110] In an exemplary embodiment, the second processing module 702 is further configured to:

[0111] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that at least one or more steering wheels do not meet the steering mode switching conditions, based on the current angle and target angle of the target steering wheel among the one or more steering wheels that do not meet the steering mode switching conditions, the second target control valve among the steering control valves corresponding to the target steering wheel is determined, and the second target control valve is controlled to open.

[0112] In an exemplary embodiment, the steering control valve corresponding to each steering wheel includes a switching valve, which is used to control the operating mode of the multiplexed control valve in each steering control valve of the corresponding steering wheel; the operating mode includes a single-wheel operation mode and a multi-wheel operation mode.

[0113] In an exemplary embodiment, a third processing module is further included, the third processing module being used to:

[0114] Real-time acquisition of the operating status data of the angle detection device corresponding to each of the steering wheels;

[0115] Based on the working status data of each angle detection device, when it is determined that one or more of the angle detection devices are malfunctioning, the system switches to emergency steering mode; wherein, in emergency steering mode, steering commands corresponding to each steering wheel are obtained, and the corresponding steering wheel is controlled to rotate based on each steering command.

[0116] The steering mode control system provided by this invention is described below. The steering mode control system described below can be referred to in correspondence with the steering mode control method described above. Figure 8 As shown, the steering mode control system of the present invention includes at least:

[0117] The first input device 801 is used to input the target steering mode of the operating machinery;

[0118] The second input device 802 is used to input the first target rotation direction of the operating machinery;

[0119] Angle detection device 803 is used to collect the current angle of each steering wheel in the operating machinery;

[0120] The control device 804, connected to the first input device 801, the second input device 802, and the angle detection device 803, is used to determine, based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when all steering wheels meet the steering mode switching conditions, determine the first target control valve among the steering control valves corresponding to each steering wheel, and control the first target control valve to open; wherein, the steering control valve corresponding to each steering wheel includes a left turn control valve and a right turn control valve.

[0121] This invention also provides a working machine, including multiple rotating wheels and a steering mode control system as described in the above embodiments.

[0122] In this embodiment, the working machinery can be all-terrain working machinery, such as all-terrain excavators and all-terrain cranes. All-terrain working machinery includes multiple steering wheels, each mounted on a different outrigger, enabling it to move up, down, left, and right. It is understood that the working machinery can also be wheeled working machinery including multiple steering wheels capable of moving up, down, left, and right, such as wheeled excavators and wheeled cranes. The number of steering wheels can be four.

[0123] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9 As shown, the electronic device may include: a processor 901, a communication interface 902, a memory 903, and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904. The processor 901 can call logical instructions in the memory 903 to execute a steering mode control method, which includes: acquiring the target steering mode of the working machinery, the first target rotation direction, and the current angle of each steering wheel in the working machinery;

[0124] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that each steering wheel meets the steering mode switching conditions, based on the target steering mode and the first target rotation direction, the first target control valve among the steering control valves corresponding to each steering wheel is determined, and the first target control valve is controlled to open; wherein, the steering control valve corresponding to each steering wheel includes a left turn control valve and a right turn control valve.

[0125] Furthermore, the logical instructions in the aforementioned memory 903 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0126] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being able to be stored on a non-transitory computer-readable storage medium, the computer program being executed by a processor, the computer being able to execute the steering mode control method provided by the above methods, the method including: acquiring the target steering mode of the working machinery, the first target rotation direction and the current angle of each steering wheel in the working machinery;

[0127] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that each steering wheel meets the steering mode switching conditions, based on the target steering mode and the first target rotation direction, the first target control valve among the steering control valves corresponding to each steering wheel is determined, and the first target control valve is controlled to open; wherein, the steering control valve corresponding to each steering wheel includes a left turn control valve and a right turn control valve.

[0128] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steering mode control method provided by the above methods, the method comprising: acquiring a target steering mode of the working machine, a first target rotation direction, and the current angle of each steering wheel in the working machine;

[0129] Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that each steering wheel meets the steering mode switching conditions, based on the target steering mode and the first target rotation direction, the first target control valve among the steering control valves corresponding to each steering wheel is determined, and the first target control valve is controlled to open; wherein, the steering control valve corresponding to each steering wheel includes a left turn control valve and a right turn control valve.

[0130] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0131] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering mode control method, characterized in that, include: The target steering mode of the operating machinery, the first target rotation direction, and the current angle of each steering wheel in the operating machinery are obtained. The target steering mode is either all-wheel steering or crab steering. Based on the first target rotation direction, the second target rotation direction of each steering wheel is determined. Based on the current angle of each steering wheel and the rotation direction of the second target, determine the deflection angle of each steering wheel in the corresponding rotation direction of the second target; The target angle of each steering wheel is determined based on the deflection angle of each steering wheel in the corresponding second target rotation direction; Based on the comparison between the current angle of the steering wheel and the corresponding target angle, it is determined whether the steering wheel meets the steering mode switching conditions; When it is determined that all the steering wheels meet the steering mode switching conditions, based on the target steering mode and the first target rotation direction, the first target control valve in the steering control valve corresponding to each steering wheel is determined, and the first target control valve is controlled to open.

2. The steering mode control method according to claim 1, characterized in that, The target steering mode is either front-wheel steering mode or rear-wheel steering mode; Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, the target angle corresponding to each steering wheel is determined, including: Based on the first target rotation direction and the current angle of the wheel to be rotated in each of the steering wheels, the target angle corresponding to each wheel to be rotated is determined, and the preset angle is used as the current angle of the non-wheel to be rotated in each of the steering wheels.

3. The steering mode control method according to claim 1, characterized in that, Also includes: Based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, when it is determined that at least one or more steering wheels do not meet the steering mode switching conditions, based on the current angle and target angle of the target steering wheel among the one or more steering wheels that do not meet the steering mode switching conditions, the second target control valve among the steering control valves corresponding to the target steering wheel is determined, and the second target control valve is controlled to open.

4. The steering mode control method according to any one of claims 1 to 3, characterized in that, Each steering wheel has a steering control valve including a switching valve, which controls the operating mode of the multiplexed control valve in each steering control valve of the corresponding steering wheel; the operating mode includes a single-wheel operation mode and a multi-wheel operation mode.

5. The steering mode control method according to any one of claims 1 to 3, characterized in that, Also includes: Real-time acquisition of the operating status data of the angle detection device corresponding to each of the steering wheels; Based on the working status data of each angle detection device, when it is determined that one or more of the angle detection devices are malfunctioning, the system switches to emergency steering mode; wherein, in emergency steering mode, steering commands corresponding to each steering wheel are obtained, and the corresponding steering wheel is controlled to rotate based on each steering command.

6. The steering mode control method according to claim 1, characterized in that, Before determining whether each steering wheel meets the steering mode switching condition based on the target steering mode, the first target rotation direction, and the current angle of each steering wheel, the method further includes: The current state of each steering wheel is obtained, and based on the current state of each steering wheel, it is determined whether each steering wheel has a fault.

7. A steering mode control system, characterized in that, include: The first input device is used to input the target steering mode of the operating machinery; The second input device is used to input the first target rotation direction of the operating machinery; An angle detection device is used to collect the current angle of each steering wheel in the operating machinery; A control device is connected to the first input device, the second input device, and the angle detection device. The target steering mode is an all-wheel steering mode or a crab steering mode. It is used to determine the second target rotation direction of each steering wheel based on the first target rotation direction. Based on the current angle of each steering wheel and the second target rotation direction, the deflection angle of each steering wheel in the corresponding second target rotation direction is determined; based on the deflection angle of each steering wheel in the corresponding second target rotation direction, the target angle of each steering wheel is determined; based on the comparison result between the current angle of the steering wheel and the corresponding target angle, it is determined whether the steering wheel meets the steering mode switching condition; when it is determined that all steering wheels meet the steering mode switching condition, based on the target steering mode and the first target rotation direction, the first target control valve in the steering control valve corresponding to each steering wheel is determined, and the first target control valve is controlled to open.

8. A type of operating machinery, characterized in that, It includes multiple rotating wheels and a steering mode control system as described in claim 7.

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