Steer-by-wire system, method and device for forklift steering wheel

Abstract

The invention provides a drive-by-wire steering system, method and device for a forklift steering wheel, and relates to the technical field of forklifts.The drive-by-wire steering system comprises a steering wheel assembly, a vehicle control unit, a steering wheel drive-by-wire subsystem and a steering wheel assembly.The steering wheel drive-by-wire subsystem is used for adjusting the working state of a full-hydraulic steering gear according to rotation information when a forklift is in a power-on state, and the steering wheel drive-by-wire subsystem is used for adjusting the working state of the full-hydraulic steering gear according to rotation information; the oil supply amount of each steering oil cylinder is controlled, so that the steering wheel rotates to a target steering angle; the vehicle control unit is used for detecting the steering angle of each steering wheel in the steering wheel assembly, entering a delayed power-off state when the forklift is in a power-off state, detecting the offset of the steering wheels within a preset delayed power-off time threshold range, and sending a steering-by-wire instruction to the steering wheel steering-by-wire subsystem if detecting that the steering wheels deviate from the neutral position; therefore, the steering wheel deviating from the neutral position is aligned. According to the invention, the steering angles of the steering wheels of the forklift can be monitored and automatically returned, so that the driving safety of the forklift is obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of forklifts, and in particular to a wire-controlled steering system, method and device for a forklift steering wheel. Background Art

[0002] At present, relevant technologies have proposed that when a forklift is turning, hydraulic oil can be delivered to the steering cylinder, and the steering wheel of the rear axle of the forklift is driven by the action of the steering cylinder piston rod to steer the forklift. This structure can significantly reduce the steering control force, thereby making the steering process more convenient and stable. However, in complex parking or driving scenarios, forklift drivers who do not have good driving habits often cannot grasp the status of the steering wheel when parking an electric counterbalanced forklift, and the steering wheel is prone to not return to the center position after parking and turning off the engine. This will cause the steering wheel to occupy the space outside the vehicle body and expose the tire, which can easily cause collisions and other accidents. At the same time, when the driver drives the vehicle again next time, there is a problem of not being able to figure out the status of the steering wheel, thereby increasing the risk of starting collision accidents. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a wire-controlled steering system, method and device for a forklift steering wheel, which can significantly improve the safety of forklift driving by monitoring and automatically returning the steering angle of the forklift steering wheel.

[0004] In a first aspect, an embodiment of the present invention provides a wire-controlled steering system for a forklift steering wheel, the system comprising: a steering wheel assembly, a vehicle controller, a steering wheel wire-controlled subsystem and a steering wheel assembly, the vehicle controller is respectively connected to the steering wheel wire-controlled subsystem and the steering wheel assembly, the steering wheel wire-controlled subsystem is respectively connected to the steering wheel assembly and the steering wheel assembly; wherein the steering wheel wire-controlled subsystem comprises a full hydraulic steering gear and a steering cylinder assembly, the full hydraulic steering gear is respectively connected to the steering wheel assembly and each steering cylinder in the steering cylinder assembly, the steering wheel wire-controlled subsystem is used to connect when the forklift is in a powered-on state The vehicle controller receives the rotation information of the steering wheel assembly and adjusts the working state of the full hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder so that the steering wheel corresponding to the steering cylinder in the steering wheel assembly rotates to the target steering angle; the vehicle controller is used to detect the steering angle of each steering wheel in the steering wheel assembly, and enters the delayed power-off state when the forklift is in the power-off state. Within the preset delayed power-off time threshold range, the offset of the steering wheel is detected. If it is detected that the steering wheel is offset to the middle position, a wire control steering command is sent to the steering wheel wire control subsystem to return the steering wheel in the offset middle position to the straight position.

[0005] In one embodiment, the steering wheel-by-wire subsystem also includes: a wire-controlled steering column assembly, the wire-controlled steering column assembly includes: a wire-controlled steering column and a steering column motor, the wire-controlled steering column is respectively connected to the steering column motor and the full hydraulic steering gear, and the steering column motor is also connected to the steering wheel assembly; wherein the wire-controlled steering column is used to drive the steering column motor to rotate to the zero position when receiving a wire-controlled steering command, so as to drive the steering wheel assembly to automatically return to the zero position.

[0006] In one embodiment, the steering wheel wire control subsystem also includes: a lifting motor and an oil pump, the lifting motor is connected to the oil pump, and the oil pump is connected to the steering cylinder through a full hydraulic steering gear; wherein the lifting motor is used to start upon receiving a wire control steering command, and supply oil to the steering cylinder by driving the oil pump to return the steering wheel that is offset from the center position to the straight position.

[0007] In one embodiment, the system also includes: an instrument assembly, which is connected to a vehicle controller; wherein the vehicle controller is also used to send the steering angle of each steering wheel in the steering wheel assembly to the instrument assembly for system wheel angle display when the forklift is in a powered-on state.

[0008] In a second aspect, an embodiment of the present invention further provides a wire-controlled steering method for a forklift steering wheel, the method being applied to a wire-controlled steering system for a forklift steering wheel as in any one of the first aspects, the method comprising: acquiring the working status information of the forklift in real time, and detecting the steering angle of each steering wheel in the forklift steering wheel assembly to determine the steering angle of the steering wheel, wherein the working status information comprises: a power-on state and a power-off state, and the steering angle comprises a first steering angle and a second steering angle; when it is detected that the forklift is in a power-on state, the first steering angle is sent to the instrument assembly for system wheel angle display, wherein the first steering angle is the angle at which the steering wheel is controlled to rotate by the steering wheel when the forklift is working; when it is detected that the forklift is in a power-off state, an offset detection process is performed on the second steering angle, and when the offset detection result shows that the steering wheel is offset in a middle position, a wire-controlled steering instruction is sent to the steering wheel wire control subsystem to make the steering wheel in the offset middle position return to the positive position, wherein the second steering angle is the steering angle of each steering wheel when the forklift is in a power-off state.

[0009] In one embodiment, before the step of sending the first steering angle to the instrument assembly for displaying the system wheel angle, the step includes: when the steering wheel assembly is detected to be rotating, obtaining the steering wheel angle of the steering wheel assembly, and comparing the steering wheel angle with the first steering angle; if the comparison results are different, it is determined that the rotation of the steering wheel and the steering wheel is not synchronized.

[0010] In one embodiment, after the step of determining that the steering wheel and the steering wheel rotate asynchronously, the method includes: performing compensation calculation processing on the angle difference between the steering wheel angle and the first steering angle through a preset wire control calculation model, determining the oil compensation amount, and performing oil compensation processing on the steering cylinder according to the oil compensation amount, so that the steering wheel and the steering wheel rotate synchronously.

[0011] In one embodiment, the step of performing offset detection on the second steering angle includes: if the angle difference between the second steering angle and the median angle is within a preset angle range threshold, the offset detection passes and the vehicle is powered off; if the angle difference between the second steering angle and the median angle is not within the preset angle range threshold, the offset detection fails, and the steering wheel that is offset from the median is returned to the center by wire control.

[0012] In one embodiment, the step of performing a wire-controlled return processing on a steering wheel that is offset from the center position includes: performing compensation calculation processing on the angle difference between the second steering angle and the center angle through a preset wire-controlled calculation model, determining a first motor compensation amount and a second motor compensation amount, and determining the first motor compensation amount and the second motor compensation amount as a wire-controlled steering instruction; sending the first motor compensation amount to the steering column motor to control the steering column motor to rotate to the zero position, so that the steering column motor drives the steering wheel assembly to automatically return to the zero position; sending the second motor compensation amount to the lifting motor to control the lifting motor to start, and drive the oil pump to supply oil to the steering cylinder, so that the steering wheel that is offset from the center position is returned to the center.

[0013] In a third aspect, an embodiment of the present invention further provides a wire-controlled steering device for a forklift steering wheel, the device is applied to a wire-controlled steering system for a forklift steering wheel as in any one of the first aspects, the device comprising: an information acquisition module, acquiring the working state information of the forklift in real time, and detecting the steering angle of each steering wheel in the forklift steering wheel assembly to determine the steering angle of the steering wheel, wherein the working state information comprises: a power-on state and a power-off state, and the steering angle comprises a first steering angle and a second steering angle; a power-on control module, when detecting that the forklift is in the power-on state, sending the first steering angle to the instrument assembly for system wheel angle display, wherein the first steering angle is the angle at which the steering wheel is controlled to rotate by the steering wheel when the forklift is working; a power-off control module, when detecting that the forklift is in the power-off state, performing an offset detection process on the second steering angle, and when the offset detection result shows that the steering wheel is offset in the middle position, sending a wire-controlled steering instruction to the steering wheel wire control subsystem to make the steering wheel offset in the middle position return to the positive position, wherein the second steering angle is the steering angle of each steering wheel when the forklift is in the power-off state.

[0014] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement any one of the methods provided in the second aspect.

[0015] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the second aspect.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] An embodiment of the present invention provides a wire-controlled steering system, method and device for a forklift steering wheel, the system comprising a steering wheel assembly, a vehicle controller, a steering wheel wire-controlled subsystem and a steering wheel assembly, the vehicle controller being connected to the steering wheel wire-controlled subsystem and the steering wheel assembly respectively, the steering wheel wire-controlled subsystem being connected to the steering wheel assembly and the steering wheel assembly respectively, the steering wheel wire-controlled subsystem comprising a full hydraulic steering gear and a steering cylinder assembly, the full hydraulic steering gear being connected to the steering wheel assembly and each steering cylinder in the steering cylinder assembly respectively. The above system receives the rotation information of the steering wheel assembly through the steering wheel wire control subsystem when the forklift is in the power-on state, and adjusts the working state of the full hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder so that the steering wheel corresponding to the steering cylinder in the steering wheel assembly rotates to the target steering angle; and detects the steering angle of each steering wheel in the steering wheel assembly through the vehicle controller, and enters the delayed power-off state when the forklift is in the power-off state, and detects the offset of the steering wheel within the preset delayed power-off time threshold range. If it is detected that the steering wheel is offset in the middle position, a wire control steering instruction is sent to the steering wheel wire control subsystem to make the steering wheel in the offset middle position return to the center. The embodiment of the present invention can display the steering wheel angle state when the driver is parking, so that the driver can grasp the steering wheel state, and automatically check the steering wheel angle after parking and turning off the engine. If the steering wheel is in a non-returning state, the system can automatically return the steering wheel to the center, thereby solving the driver's parking pain point and significantly improving the safety of forklift driving.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic structural diagram of a steer-by-wire system for a forklift steering wheel provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the specific structure of a steer-by-wire system for a forklift steering wheel provided in an embodiment of the present invention;

[0023] Figure 3 A schematic flow chart of a wire-controlled steering method for a forklift steering wheel provided in an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a specific process of a wire-controlled steering method for a forklift steering wheel provided by an embodiment of the present invention;

[0025] Figure 5 A schematic structural diagram of a wire-controlled steering device for a forklift steering wheel provided in an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] At present, the relevant technology proposes that when a forklift is turning, hydraulic oil can be delivered to the steering cylinder, and the steering wheel of the rear axle of the forklift is driven by the action of the steering cylinder piston rod to turn the forklift. The structure can significantly reduce the steering control force, thereby making the steering process more convenient and stable. However, in complex parking or driving scenarios, forklift drivers who do not have good driving habits often fail to grasp the state of the steering wheel when performing parking operations on electric counterbalanced forklifts, and the steering wheel is prone to not return to the center after parking and shutting down. This will cause the steering wheel to occupy the space outside the vehicle body and expose the tire, which is easy to cause collisions and other accidents. At the same time, when the driver drives the vehicle again next time, there is a problem of not being able to figure out the state of the steering wheel, thereby increasing the risk of collision accidents when starting. Based on this, the wire control steering system, method and device of the forklift steering wheel provided by the present invention can display the steering wheel angle state when the driver is parking, so that the driver can grasp the steering wheel state, and automatically check the steering wheel angle after parking and shutting down. If the steering wheel is in a non-returning state, the system can automatically return the steering wheel to the center, thereby solving the driver's parking pain point and significantly improving the safety of forklift driving.

[0029] To facilitate understanding of this embodiment, a wire-controlled steering method for a forklift steering wheel disclosed in an embodiment of the present invention is first introduced in detail. The method is applied to a wire-controlled steering system for a forklift steering wheel. The system includes: a steering wheel assembly, a vehicle controller, a steering wheel wire-controlled subsystem and a steering wheel assembly. The vehicle controller is respectively connected to the steering wheel wire-controlled subsystem and the steering wheel assembly. The steering wheel wire-controlled subsystem is respectively connected to the steering wheel assembly and the steering wheel assembly. To facilitate understanding of the wire-controlled steering system for a forklift steering wheel, an embodiment of the present invention provides a structural schematic diagram of a wire-controlled steering system for a forklift steering wheel, as shown in FIG. Figure 1 As shown, the steering wheel wire control subsystem includes a full hydraulic steering gear and a steering cylinder assembly. The full hydraulic steering gear is connected to the steering wheel assembly and each steering cylinder in the steering cylinder assembly respectively. The steering wheel wire control subsystem is used to receive the rotation information of the steering wheel assembly when the forklift is in the power-on state, and adjust the working state of the full hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder, so that the steering wheel corresponding to the steering cylinder in the steering wheel assembly is rotated to the target steering angle.

[0030] The vehicle controller is used to detect the steering angle of each steering wheel in the steering wheel assembly, and enter the delayed power-off state when the forklift is in the power-off state. Within the preset delayed power-off time threshold range, the offset of the steering wheel is detected. If it is detected that the steering wheel is offset from the middle position, a wire control steering command is sent to the steering wheel wire control subsystem to return the steering wheel that is offset from the middle position to the straight position.

[0031] In one embodiment, see Figure 2The schematic diagram of the specific structure of a wire-controlled steering system of a forklift steering wheel is shown. The steering wheel wire-controlled subsystem also includes: a wire-controlled steering column assembly, a lifting motor and an oil pump. The wire-controlled steering column assembly includes: a wire-controlled steering column and a steering column motor. The wire-controlled steering column is connected to the steering column motor and the full hydraulic steering gear respectively. The steering column motor is also connected to the steering wheel assembly. The lifting motor is connected to the oil pump, and the oil pump is connected to the steering cylinder through the full hydraulic steering gear. The wire-controlled steering column is used to drive the steering column motor to rotate to zero position when receiving a wire-controlled steering command, so as to drive the steering wheel assembly to automatically return to zero position (that is, the steering wheel automatically returns to zero position after the engine is turned off). The lifting motor is used to start when receiving a wire-controlled steering command, and drive the oil pump to run and supply oil to the steering cylinder to make the steering wheel that is offset from the middle position return to the center position (that is, the steering wheel automatically returns to zero position after the engine is turned off). The wire-controlled steering column has the function of receiving and executing instructions from the vehicle controller, and the steering wheels of the electric counterbalanced forklift are all equipped with angle sensors, which can directly feedback the steering wheel angle state.

[0032] That is to say, the wire-controlled electric steering column assembly has a wire-controlled function, that is, it can execute relevant actions after receiving a message instruction. The vehicle controller has computing power, makes judgments based on preset conditions, and issues relevant instructions to relevant actuators, such as the wire-controlled steering column and the lifting motor. The instrument assembly has the ability to display relevant information. The present invention utilizes the wire-controlled function of the wire-controlled steering column and cooperates with the vehicle controller. After the driver turns off the engine, a strategy of delaying power-off of the vehicle controller is adopted. The vehicle controller judges whether the current steering wheel is in a neutral state and actively intervenes based on the result. If the steering wheel is not in a neutral position, the vehicle controller inputs a target 0 turning angle instruction to the wire-controlled steering column controller and starts the lifting motor at the same time to drive the oil pump to supply oil to the steering cylinder to return the wheel to the center.

[0033] In addition, the system also includes: an instrument assembly, which is connected to the vehicle controller. The vehicle controller is also used to send the steering angle of each steering wheel in the steering wheel assembly to the instrument assembly for system wheel angle display when the forklift is in a powered-on state. In one embodiment, the instrument assembly can also add a parking assist prompt function so that the driver can always understand the wheel status during parking.

[0034] based on Figure 1 A schematic diagram of the structure of a wire-controlled steering system for a forklift steering wheel is shown in FIG. Figure 2 The specific structural diagram of a wire-controlled steering system for a forklift steering wheel is shown in FIG. 1 , and the steering method of the steering wheel is described in detail in an embodiment of the present invention. Figure 3 The flowchart of a wire-controlled steering method for a forklift steering wheel is shown in FIG. 1 , and the method mainly includes the following steps S302 to S306:

[0035] Step S302, real-time acquisition of the working status information of the forklift, and detection of the steering angle of each steering wheel in the forklift steering wheel assembly to determine the steering angle of the steering wheel, wherein the working status information includes: power-on state and power-off state, and the steering angle includes a first steering angle and a second steering angle. In one embodiment, after the vehicle is started, the information collected by the steering wheel angle sensor can be transmitted to the vehicle controller through the CAN line for information processing to determine the steering angle of the steering wheel. The rear wheel angle can be displayed on the instrument in a certain form of graphics or data, so that the driver can understand the current wheel status during parking and increase driving confidence.

[0036] Step S304, when it is detected that the forklift is in the power-on state, the first steering angle is sent to the instrument assembly for system wheel angle display, wherein the first steering angle is the angle at which the steering wheel is controlled to rotate by the steering wheel when the forklift is working. In one embodiment, the first steering angle of the rear wheel of the forklift can be displayed on the instrument in the form of a graph or data, so that the driver can understand the current wheel status during parking and increase driving confidence.

[0037] Step S306, when it is detected that the forklift is in the power-off state, an offset detection process is performed on the second steering angle, and when the offset detection result shows that the steering wheel is offset to the middle position, a wire-controlled steering instruction is sent to the steering wheel wire-controlled subsystem to make the steering wheel offset to the middle position return to the center, wherein the second steering angle is the steering angle of each steering wheel when the forklift is in the power-off state. In one embodiment, after the vehicle is turned off, the vehicle controller is set to delay power-off for one minute through the vehicle strategy, and the vehicle controller monitors and judges the rear wheel steering angle. If the judgment result is that the rear wheel steering angle is within (0±5°), no processing is performed, the vehicle controller is powered off normally, and other vehicle control strategies are followed; if the judgment result is that the steering wheel angle exceeds the set range, the controller sends an execution instruction with a target angle of 0 to the wire-controlled steering column controller, and the wire-controlled steering column controller receives the instruction and executes it, driving the motor part of the wire-controlled steering column assembly to rotate to the zero position, and at the same time starting the lifting motor to drive the oil pump to supply oil to the steering cylinder, thereby achieving the goal of wheel return.

[0038] The above-mentioned forklift steering wheel wire control system, method and device provided by the embodiments of the present invention can display the steering wheel angle status when the driver is parking, allowing the driver to understand the steering wheel status, and automatically check the steering wheel angle after parking and turning off the engine. If the steering wheel is in a non-centering state, the system can automatically center the steering wheel, thereby solving the driver's parking pain points and significantly improving the safety of forklift driving.

[0039] Furthermore, the present invention also provides an oil compensation scheme, which obtains the steering wheel angle of the steering wheel assembly when the rotation of the steering wheel assembly is detected, and compares the steering wheel angle with the first steering angle. If the comparison results are different, it is determined that the rotation of the steering wheel and the steering wheel are not synchronized. At this time, the angle difference between the steering wheel angle and the first steering angle is compensated and calculated through a preset wire control calculation model, the oil compensation amount is determined, and the steering cylinder is subjected to oil compensation processing according to the oil compensation amount, so that the steering wheel and the steering wheel rotate synchronously. This scheme can effectively solve the problem of asynchronous movement of the steering wheel when the driver manually turns the steering wheel.

[0040] See also Figure 4 The specific process diagram of a wire-controlled steering method for a forklift steering wheel is shown. The embodiment of the present invention also provides an implementation method for displaying the wheel angle and automatically returning the steering wheel to the center position. For details, see (1) to (3) below:

[0041] (1) If the angle difference between the second steering angle and the median angle is within the preset angle range threshold, the offset detection is passed and the vehicle is powered off; if the angle difference between the second steering angle and the median angle is not within the preset angle range threshold, the offset detection is failed, and the steering wheel at the offset median is returned to the center by wire control. In actual applications, the preset angle range threshold can be set to (0±5°). If the second steering angle is within (0±5°), the vehicle controller is powered off normally; if it is not within (0±5°), the vehicle controller is returned to the center by wire control.

[0042] (2) Through the preset wire control calculation model, the angle difference between the second steering angle and the median angle is compensated and calculated to determine the first motor compensation amount and the second motor compensation amount, and the first motor compensation amount and the second motor compensation amount are determined as the wire control steering instruction, wherein the preset wire control calculation model is the wire control calculation algorithm of the digital signal processing chip in the controller, which is used to calculate the angle information that needs to be compensated, and generate control signals of the motor and the cylinder according to the angle information to perform oil compensation or motor compensation to make the steering wheel return to the normal state.

[0043] (3) The first motor compensation amount is sent to the steering column motor to control the steering column motor to rotate to the zero position, so that the steering column motor drives the steering wheel assembly to automatically return to the zero position, that is, the steering wheel automatically returns to the zero position after the engine is turned off; the second motor compensation amount is sent to the lifting motor to control the lifting motor to start and drive the oil pump to supply oil to the steering cylinder, so that the steering wheel that is offset from the center position returns to the center position, that is, the steering wheel automatically returns to the zero position after the engine is turned off.

[0044] To sum up, the present invention can adopt the inherent parts of existing vehicles. It only needs to replace the traditional steering column with a wire-controlled steering column to realize the function of the system. The signal used is also the original vehicle component signal. The wire-controlled steering column signal is added to the vehicle controller, and the control strategy is written synchronously. The communication protocols of other related parts do not need to be adjusted. When the vehicle is parked, the steering wheel angle can be displayed on the instrument panel to intuitively display the current steering wheel status. In addition, after the vehicle is turned off, the steering wheel status is automatically detected. If the steering wheel is not returned to the center, the system will return the steering wheel to the center to ensure that the steering wheel is in the centering state before the next ignition.

[0045] For the forklift steering wheel steer-by-wire method provided in the above embodiment, the present invention provides a forklift steering wheel steer-by-wire device, which is applied to the forklift steering wheel steer-by-wire system, see Figure 5 The schematic diagram of the structure of a wire-controlled steering device for a forklift steering wheel is shown, and the device includes the following parts:

[0046] The information acquisition module 502 acquires the working state information of the forklift in real time, and detects the steering angle of each steering wheel in the steering wheel assembly of the forklift to determine the steering angle of the steering wheel, wherein the working state information includes: power-on state and power-off state, and the steering angle includes a first steering angle and a second steering angle;

[0047] The power-on control module 504, when detecting that the forklift is in the power-on state, sends the first steering angle to the instrument assembly for system wheel angle display, wherein the first steering angle is the angle at which the steering wheel is controlled to rotate by the steering wheel when the forklift is working;

[0048] The power-off control module 506 performs an offset detection process on the second steering angle when it is detected that the forklift is in the power-off state, and when the offset detection result shows that the steering wheel is offset to the middle position, sends a wire control steering instruction to the steering wheel wire control subsystem to return the steering wheel in the offset middle position to the straight position, wherein the second steering angle is the steering angle of each steering wheel when the forklift is in the power-off state.

[0049] The above-mentioned forklift steering wheel wire control device provided in the embodiment of the present application can display the steering wheel angle status when the driver is parking, allowing the driver to understand the steering wheel status, and automatically check the steering wheel angle after parking and turning off the engine. If the steering wheel is in a non-centering state, the system can automatically center the steering wheel, thereby solving the driver's parking pain points and significantly improving the safety of forklift driving.

[0050] In one embodiment, before performing the step of sending the first steering angle to the instrument assembly for displaying the system wheel angle, the power-on control module 504 is also used to: when the rotation of the steering wheel assembly is detected, obtain the steering wheel angle of the steering wheel assembly, and compare the steering wheel angle with the first steering angle; if the comparison results are different, it is determined that the rotation of the steering wheel and the steering wheel is not synchronized.

[0051] In one embodiment, after performing the step of determining that the steering wheel and the steering wheel rotate asynchronously, the power-on control module 504 is further used to: perform compensation calculation processing on the angle difference between the steering wheel angle and the first steering angle through a preset wire control calculation model, determine the oil compensation amount, and perform oil compensation processing on the steering cylinder according to the oil compensation amount, so that the steering wheel and the steering wheel rotate synchronously.

[0052] In one embodiment, when performing the step of performing offset detection processing on the second steering angle, the power-off control module 506 is also used for: if the angle difference between the second steering angle and the median angle is within the preset angle range threshold, the offset detection passes and the vehicle is powered off; if the angle difference between the second steering angle and the median angle is not within the preset angle range threshold, the offset detection fails, and the steering wheel that is offset from the median is controlled by wire to return to the center.

[0053] In one embodiment, when performing the step of performing a wire-controlled return-to-center processing on the steering wheel that is offset from the center, the above-mentioned power-off control module 506 is also used to: perform compensation calculation processing on the angle difference between the second steering angle and the center angle through a preset wire-controlled calculation model, determine the first motor compensation amount and the second motor compensation amount, and determine the first motor compensation amount and the second motor compensation amount as a wire-controlled steering instruction; send the first motor compensation amount to the steering column motor to control the steering column motor to rotate to the zero position, so that the steering column motor drives the steering wheel assembly to automatically return to the zero position; send the second motor compensation amount to the lifting motor to control the lifting motor to start, and drive the oil pump to supply oil to the steering cylinder, so that the steering wheel that is offset from the center is returned to the center.

[0054] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0055] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned implementation methods.

[0056] Figure 6A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 100 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0057] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0058] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0059] Among them, the memory 61 is used to store programs, and the processor 60 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0060] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0061] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0062] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0063] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A wire control steering system for a forklift steering wheel, characterized in that: The system comprises: a steering wheel assembly, a vehicle controller, a steering wheel wire control subsystem and a steering wheel assembly, wherein the vehicle controller is connected to the steering wheel wire control subsystem and the steering wheel assembly respectively, and the steering wheel wire control subsystem is connected to the steering wheel assembly and the steering wheel assembly respectively; wherein, The steering wheel wire control subsystem includes a full hydraulic steering gear and a steering cylinder assembly, wherein the full hydraulic steering gear is respectively connected to the steering wheel assembly and each steering cylinder in the steering cylinder assembly, and the steering wheel wire control subsystem is used to receive the rotation information of the steering wheel assembly when the forklift is in a powered-on state, and adjust the working state of the full hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder, so that the steering wheel corresponding to the steering cylinder in the steering wheel assembly is rotated to a target steering angle; The vehicle controller is used to detect the steering angle of each steering wheel in the steering wheel assembly, and enter a delayed power-off state when the forklift is in a power-off state. Within a preset delayed power-off time threshold range, the offset of the steering wheel is detected. If it is detected that the steering wheel is offset to a mid-position, a wire-controlled steering instruction is sent to the steering wheel wire-controlled subsystem to return the steering wheel that is offset to a mid-position to the straight position.

2. The steer-by-wire system for a forklift steering wheel according to claim 1, characterized in that: The steering wheel control-by-wire subsystem further includes: a control-by-wire steering column assembly, which includes: a control-by-wire steering column and a steering column motor, wherein the control-by-wire steering column is connected to the steering column motor and the full hydraulic steering gear respectively, and the steering column motor is also connected to the steering wheel assembly; wherein, The wire-controlled steering column is used to drive the steering column motor to rotate to the zero position when receiving the wire-controlled steering instruction, so as to drive the steering wheel assembly to automatically return to the zero position.

3. The steer-by-wire system for a forklift steering wheel according to claim 2, characterized in that: The steering wheel wire control subsystem also includes: a lifting motor and an oil pump, wherein the lifting motor is connected to the oil pump, and the oil pump is connected to the steering cylinder through the full hydraulic steering gear; wherein, The lifting motor is used to start when receiving the wire-controlled steering instruction, and supply oil to the steering cylinder by driving the oil pump to make the steering wheel that is offset from the middle position return to the correct position.

4. The steer-by-wire system for a forklift steering wheel according to claim 1, characterized in that: The system further comprises: an instrument assembly, wherein the instrument assembly is connected to the vehicle controller; wherein, The vehicle controller is also used to send the steering angle of each steering wheel in the steering wheel assembly to the instrument assembly for system wheel angle display when the forklift is in a powered-on state.

5. A wire-controlled steering method for a forklift steering wheel, characterized in that: The method is applied to a steer-by-wire system for a forklift steering wheel according to any one of claims 1 to 4, and the method comprises: Acquire the working state information of the forklift in real time, and detect the steering angle of each steering wheel in the steering wheel assembly of the forklift to determine the steering angle of the steering wheel, wherein the working state information includes: a power-on state and a power-off state, and the steering angle includes a first steering angle and a second steering angle; When it is detected that the forklift is in the power-on state, the first steering angle is sent to the instrument assembly for system wheel angle display, wherein the first steering angle is the angle at which the steering wheel is controlled to rotate by the steering wheel when the forklift is working; When it is detected that the forklift is in the power-off state, an offset detection process is performed on the second steering angle, and when the offset detection result shows that the steering wheel is offset to a middle position, a wire control steering instruction is sent to the steering wheel wire control subsystem to return the steering wheel offset to the middle position, wherein the second steering angle is the steering angle of each steering wheel when the forklift is in the power-off state.

6. The steer-by-wire method for a forklift steering wheel according to claim 5, characterized in that: Before the step of sending the first steering angle to the instrument assembly for displaying the system wheel angle, the method includes: When the steering wheel assembly is detected to rotate, obtaining a steering wheel angle of the steering wheel assembly, and comparing the steering wheel angle with the first steering angle; If the comparison results are different, it is determined that the steering wheel and the steering wheel rotate asynchronously.

7. The steer-by-wire method for a forklift steering wheel according to claim 6, characterized in that: After the step of determining that the steering wheel and the steering wheel rotate out of sync, the method further comprises: Through a preset wire control calculation model, a compensation calculation is performed on the angle difference between the steering wheel angle and the first steering angle, an oil compensation amount is determined, and an oil compensation process is performed on the steering cylinder according to the oil compensation amount, so that the steering wheel and the steering wheel rotate synchronously.

8. The steer-by-wire method for a forklift steering wheel according to claim 5, characterized in that: The step of performing offset detection processing on the second steering angle includes: If the angle difference between the second steering angle and the median angle is within the preset angle range threshold, the offset detection is passed and the vehicle is powered off; If the angle difference between the second steering angle and the mid-position angle is not within the preset angle range threshold, the offset detection fails, and the steering wheel offset from the mid-position is subjected to a wire-controlled return-to-center processing.

9. The steer-by-wire method for a forklift steering wheel according to claim 8, characterized in that: The step of performing a wire-controlled return-to-center process on the steering wheel that is offset from the middle position comprises: By using a preset wire control calculation model, a compensation calculation process is performed on the angle difference between the second steering angle and the neutral angle to determine a first motor compensation amount and a second motor compensation amount, and the first motor compensation amount and the second motor compensation amount are determined as a wire control steering instruction; Sending the first motor compensation amount to the steering column motor to control the steering column motor to rotate to a zero position, so that the steering column motor drives the steering wheel assembly to automatically return to the zero position; The second motor compensation amount is sent to the lifting motor to control the lifting motor to start, and drive the oil pump to supply oil to the steering cylinder, so that the steering wheel that is offset from the middle position returns to the normal position.

10. A wire-controlled steering device for a forklift steering wheel, characterized in that: The device is applied to a wire-controlled steering system of a forklift steering wheel according to any one of claims 1 to 4, and the device comprises: An information acquisition module acquires the working state information of the forklift in real time, and detects the steering angle of each steering wheel in the steering wheel assembly of the forklift to determine the steering angle of the steering wheel, wherein the working state information includes: a power-on state and a power-off state, and the steering angle includes a first steering angle and a second steering angle; A power-on control module, when detecting that the forklift is in the power-on state, sends the first steering angle to the instrument assembly for system wheel angle display, wherein the first steering angle is an angle at which the steering wheel is controlled to rotate by the steering wheel when the forklift is working; The power-off control module, when detecting that the forklift is in the power-off state, performs an offset detection process on the second steering angle, and when the offset detection result shows that the steering wheel is offset to a middle position, sends a wire control steering instruction to the steering wheel wire control subsystem to return the steering wheel in the offset middle position to the straight position, wherein the second steering angle is the steering angle of each steering wheel when the forklift is in the power-off state.

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 5 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 5 to 9.

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