Steer-by-wire system, method and device for a forklift truck

Abstract

The application provides a steer-by-wire system, method and device for a forklift steering wheel, and relates to the technical field of forklifts, and comprises a steering wheel assembly, a vehicle controller, a steering wheel steer-by-wire subsystem and a steering wheel assembly, the steering wheel steer-by-wire subsystem is used for adjusting the working state of a full hydraulic steering gear according to rotation information when the forklift is in a powered state, so as to control the oil supply of each steering cylinder and make the steering wheel rotate to a target steering angle; the vehicle controller is used for detecting the steering angle of each steering wheel in the steering wheel assembly, and when the forklift is in a powered-off state, entering a delayed powered-off state, detecting the offset of the steering wheel within a preset delay powered-off time threshold range, and if it is detected that there is a steering wheel offset midpoint, sending a steer-by-wire instruction to the steering wheel steer-by-wire subsystem to make the steering wheel offset midpoint return to normal. The application can monitor and automatically return the steering angle of the forklift steering wheel, and significantly improve the safety of forklift driving.

Description

Technical Field

[0001] This invention relates to the field of forklift technology, and in particular to a forklift steering system, method and device with steer-by-wire. Background Technology

[0002] Currently, related technologies propose that hydraulic oil can be delivered to the steering cylinder when the forklift is turning. The movement of the piston rod of the steering cylinder drives the steering wheel of the rear axle of the forklift to turn the forklift. This structure can significantly reduce the steering force, making the steering process more convenient and stable. However, in complex parking or driving scenarios, forklift drivers without good driving habits often cannot grasp the status of the steering wheel when parking electric counterbalance forklifts. They are also prone to situations where the steering wheel does not return to the center after the vehicle is parked and the engine is turned off. This will cause the steering wheel to encroach on the external space of the vehicle body, and the tires to be exposed, which can easily cause collisions and other accidents. At the same time, when the driver drives the vehicle again, there is a problem of not being able to find out the status of the steering wheel, which increases the risk of collisions when starting. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a forklift steering system, method and device that can significantly improve the safety of forklift driving by monitoring the steering angle of the forklift steering wheel and automatically returning it to center.

[0004] In a first aspect, embodiments of the present invention provide a steer-by-wire system for a forklift steering wheel. The system includes: a steering wheel assembly, a vehicle controller, a steering wheel steer-by-wire subsystem, and the steering wheel assembly. The vehicle controller is connected to both the steering wheel steer-by-wire subsystem and the steering wheel assembly. The steering wheel steer-by-wire subsystem is connected to both the steering wheel assembly and the steering wheel assembly. The steering wheel steer-by-wire subsystem includes a fully hydraulic steering gear and a set of steering cylinders. The fully hydraulic steering gear is connected to each steering cylinder in both the steering wheel assembly and the steering cylinder set. The steering wheel steer-by-wire subsystem is used to connect to the steering wheel assembly when the forklift is powered on. The system receives rotation information from the steering wheel assembly and adjusts the working state of the fully hydraulic steering system based on this information to control the oil supply to each steering cylinder, so that the steering wheels in the steering wheel assembly corresponding to the steering cylinders rotate to the target steering angle. The vehicle controller detects the steering angle of each steering wheel in the steering wheel assembly and enters a delayed power-off state when the forklift is powered off. Within a preset delayed power-off time threshold range, it detects the offset of the steering wheels. If a steering wheel offset is detected, it sends a steer-by-wire command to the steering wheel steer-by-wire subsystem to straighten the offset steering wheel.

[0005] In one embodiment, the steering wheel steer-by-wire subsystem further includes a steer-by-wire column assembly, which includes a steer-by-wire column and a steering column motor. The steer-by-wire column is connected to the steering column motor and the fully hydraulic steering gear, respectively. The steering column motor is also connected to the steering wheel assembly. The steer-by-wire column is used to drive the steering column motor to rotate to the zero position when a steer-by-wire command is received, so as to drive the steering wheel assembly to automatically return to the zero position.

[0006] In one embodiment, the steering wheel steer-by-wire subsystem further 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 via a fully hydraulic steering gear; wherein the lifting motor is used to start when a steer-by-wire command is received, and drives the oil pump to run, supplying oil to the steering cylinder so that the steering wheel, which is offset from the center position, returns to the center position.

[0007] In one embodiment, the system further includes an instrument assembly 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 powered on.

[0008] Secondly, embodiments of the present invention also provide a steer-by-wire method for a forklift steering wheel, the method being applied to a steer-by-wire system for a forklift steering wheel as described in any of the first aspects, the method comprising: acquiring real-time working status information of the forklift, detecting the steering angle of each steering wheel in the forklift steering wheel assembly, and determining 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; when the forklift is detected to be in a 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 rotates under the control of the steering wheel when the forklift is working; when the forklift is detected to be in a power-off state, performing offset detection processing on the second steering angle, and when the offset detection result indicates that there is a steering wheel offset from the center position, sending a steer-by-wire command to the steering wheel steer-by-wire subsystem to return the offset steering wheel to the center 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 sending the first steering angle to the instrument cluster for display of the system wheel angle, the method includes: when the steering wheel assembly is detected to be rotating, acquiring 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, determining that the rotation of the steering wheel and the steering wheel is not synchronized.

[0010] In one embodiment, after determining that the steering wheel and steering wheel are rotating out of sync, the process includes: using a preset drive-by-wire calculation model to perform compensation calculation on the angle difference between the steering wheel angle and the first steering angle, determining the hydraulic compensation amount, and performing hydraulic compensation on the steering cylinder according to the hydraulic compensation amount, so that the steering wheel and steering wheel rotate synchronously.

[0011] In one embodiment, the step of performing offset detection processing on the second steering angle includes: if the angle difference between the second steering angle and the center 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 center angle is not within the preset angle range threshold, the offset detection fails and the steering wheel that is offset from the center position is steered back to center by steer-by-wire.

[0012] In one embodiment, the step of performing steerable wheel return-to-center processing on a steering wheel that is off-center includes: performing compensation calculation on the angle difference between the second steering angle and the center angle using a preset steerable wheel return-to-center calculation model, determining the first motor compensation amount and the second motor compensation amount, and determining the first motor compensation amount and the second motor compensation amount as steerable wheel return-to-center commands; 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 driving the oil pump to run to supply oil to the steering cylinder, so that the steering wheel that is off-center returns to center.

[0013] Thirdly, embodiments of the present invention also provide a steer-by-wire device for a forklift steering wheel. The device is applied to a steer-by-wire system for a forklift steering wheel as described in any of the first aspects. The device includes: an information acquisition module, which acquires the working status information of the forklift in real time and detects the steering angle of each steering wheel in the forklift steering wheel assembly to determine the steering angle of the steering wheel. The working status 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, which sends the first steering angle to the instrument assembly for system wheel angle display when the forklift is detected to be in a power-on state. The first steering angle is the angle at which the steering wheel rotates under the control of the steering wheel when the forklift is working. A power-off control module, which performs offset detection processing on the second steering angle when the forklift is detected to be in a power-off state. When the offset detection result indicates that there is a steering wheel offset from the center position, it sends a steer-by-wire command to the steering wheel steer-by-wire subsystem to return the offset steering wheel to the center position. The second steering angle is the steering angle of each steering wheel when the forklift is in a power-off state.

[0014] Fourthly, embodiments of the present invention also provide an electronic device, including a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement any of the methods provided in the second aspect.

[0015] Fifthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement any of the methods provided in the second aspect.

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

[0017] This invention provides a forklift steering system, method, and apparatus for a steering wheel. The system includes a steering wheel assembly, a vehicle controller, a steering wheel steering subsystem, and a steering wheel assembly. The vehicle controller is connected to both the steering wheel steering subsystem and the steering wheel assembly. The steering wheel steering subsystem is connected to both the steering wheel assembly and the steering wheel assembly. The steering wheel steering subsystem includes a fully hydraulic steering gear and a set of steering cylinders. The fully hydraulic steering gear is connected to each steering cylinder in both the steering wheel assembly and the set of steering cylinders. The aforementioned system, through the steering wheel drive-by-wire subsystem, receives rotation information from the steering wheel assembly when the forklift is powered on, 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 wheels in the steering wheel assembly corresponding to the steering cylinders rotate to the target steering angle. The system also detects the steering angle of each steering wheel in the steering wheel assembly through the vehicle controller, and enters a delayed power-off state when the forklift is powered off. Within a preset delayed power-off time threshold, it detects the steering wheel offset. If a steering wheel offset is detected, a drive-by-wire steering command is sent to the steering wheel drive-by-wire subsystem to straighten the offset steering wheel. This embodiment of the invention can display the steering wheel angle status when the driver is parking, allowing the driver to monitor the steering wheel status. After parking and turning off the engine, the system automatically checks the steering wheel angle. If the steering wheel is not straight, the system can automatically straighten it, thereby solving the driver's parking pain points and significantly improving forklift driving safety.

[0018] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic 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 forklift steering wheel steerable system provided in an embodiment of the present invention;

[0023] Figure 3 A schematic flowchart illustrating a forklift steering method for a forklift steering wheel according to an embodiment of the present invention;

[0024] Figure 4 A schematic diagram illustrating the specific process of a forklift steering wheel steer method provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of a forklift steering wheel control device provided in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Currently, related technologies propose that when a forklift is turning, hydraulic oil can be delivered to the steering cylinder. The movement of the steering cylinder piston rod drives the steering wheel of the forklift's rear axle to steer the forklift. This structure can significantly reduce steering effort, making the steering process more convenient and stable. However, in complex parking or driving scenarios, forklift drivers without good driving habits often cannot grasp the status of the steering wheels when parking electric counterbalance forklifts. Furthermore, the steering wheels may not return to center after the vehicle is stopped and the engine is turned off. This results in the steering wheels encroaching on the vehicle's external space, exposing the tires, and increasing the risk of collisions. Additionally, when the driver restarts the vehicle, they may not be able to discern the steering wheel status, increasing the risk of starting collisions. Therefore, the forklift steering wheel steer-by-wire system, method, and device provided in this invention can display the steering wheel angle status when the driver is parking, allowing the driver to grasp the steering wheel status. After stopping and turning off the engine, the system automatically checks the steering wheel angle. If the steering wheel is not returning to center, the system can automatically return it to center, thus solving the driver's parking problems and significantly improving forklift driving safety.

[0029] To facilitate understanding of this embodiment, a steer-by-wire method for a forklift steering wheel disclosed in this embodiment will first be described in detail. This method is applied to a steer-by-wire system for a forklift steering wheel. The system includes: a steering wheel assembly, a vehicle controller, a steer-by-wire subsystem, and a steering wheel assembly. The vehicle controller is connected to both the steer-by-wire subsystem and the steering wheel assembly. The steer-by-wire subsystem is connected to both the steering wheel assembly and the steering wheel assembly. To facilitate understanding of the steer-by-wire system for a forklift steering wheel, this embodiment provides a schematic diagram of the steer-by-wire system, as shown below. Figure 1 As shown, the steering wheel steerable subsystem includes a fully hydraulic steering gear and a set of steering cylinders. The fully hydraulic steering gear is connected to each steering cylinder in the steering wheel assembly and the set of steering cylinders. When the forklift is powered on, the steering wheel steerable subsystem receives rotation information from the steering wheel assembly and adjusts the working state of the fully hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder, so that the steering wheel in the steering wheel assembly corresponding to the steering cylinder rotates 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. When the forklift is powered off, it enters a delayed power-off state. Within a preset delayed power-off time threshold, it detects the offset of the steering wheels. If a steering wheel is detected to be off-center, it sends a steer-by-wire command to the steering wheel steer-by-wire subsystem to make the off-center steering wheel return to center.

[0031] In one implementation, see Figure 2The diagram shows a specific structural schematic of a steer-by-wire system for a forklift steering wheel. The steer-by-wire subsystem further includes: a steer-by-wire column assembly, a lifting motor, and an oil pump. The steer-by-wire column assembly includes: a steer-by-wire column and a steering column motor. The steer-by-wire column is connected to the steering column motor and the fully 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, which is connected to the steering cylinder through the fully hydraulic steering gear. The steer-by-wire column, upon receiving a steer-by-wire command, drives the steering column motor to rotate to the zero position, thereby automatically returning the steering wheel assembly to the zero position (i.e., automatically returning to its original position after the steering wheel is turned off). The lifting motor, upon receiving a steer-by-wire command, starts and drives the oil pump to supply oil to the steering cylinder, thereby returning the steering wheel, which has deviated from its neutral position, to the correct position (i.e., automatically returning to its original position after the steering wheel is turned off). The steer-by-wire column has the function of receiving and executing commands from the vehicle controller, and the steering wheels of the electric counterbalance forklift are equipped with angle sensors that can directly provide feedback on the steering wheel angle status.

[0032] In other words, the steerable electric steering column assembly has a steerable function, meaning it can execute relevant actions after receiving a message command. The vehicle controller has computing power, makes judgments based on preset conditions, and issues relevant commands to relevant actuators, such as the steerable steering column and the lifting motor. The instrument assembly has the ability to display relevant information. This invention utilizes the steerable function of the steerable steering column in conjunction with the vehicle controller. After the driver turns off the engine, the vehicle controller adopts a strategy of delaying power-off. The vehicle controller judges whether the steering wheels are currently in the neutral position and actively intervenes based on the result. If the steering wheels are not in the neutral position, the vehicle controller inputs a target 0-turn command to the steerable steering column controller and simultaneously starts the lifting motor, driving the oil pump to run and supply oil to the steering cylinder, causing the wheels to return to center.

[0033] In addition, the system also includes an instrument cluster 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 cluster for system wheel angle display when the forklift is powered on. In one embodiment, the instrument cluster can also include a parking assist prompt function so that the driver can be aware of the wheel status at all times during parking.

[0034] based on Figure 1 The diagram shows a structural schematic of a forklift steering system with steer-by-wire. Figure 2 The diagram shows a specific structural schematic of a steer-by-wire system for a forklift steering wheel. This invention provides a detailed description of the steering method for the steering wheel. (See also...) Figure 3 The diagram shows a steer-by-wire method for a forklift steering wheel, which mainly includes the following steps S302 to S306:

[0035] Step S302: The forklift's operating status information is acquired in real time, and the steering angles of each steering wheel in the forklift's steering wheel assembly are detected to determine the steering angles. The operating status information includes power-on and power-off states, and the steering angles include a first steering angle and a second steering angle. In one embodiment, after the vehicle starts, the information collected by the steering wheel angle sensors can be transmitted to the vehicle controller via the CAN bus for information processing to determine the steering wheel angles. The rear wheel angles can be displayed on the instrument panel in a graphical or data format, allowing the driver to understand the current wheel status during parking and increasing driving confidence.

[0036] Step S304: When the forklift is detected to be powered on, the first steering angle is sent to the instrument assembly for system wheel angle display. The first steering angle is the angle at which the steering wheels are controlled to rotate by the steering wheel when the forklift is working. In one embodiment, the first steering angle of the forklift's rear wheels can be displayed on the instrument in the form of graphics or data, so that the driver can understand the current wheel status during parking and increase driving confidence.

[0037] Step S306: When the forklift is detected to be in a power-off state, the second steering angle is processed for offset detection. If the offset detection result indicates that the steering wheel is offset from the center position, a steerable wheel steerable command is sent to the steering wheel steerable subsystem to straighten the offset steering wheel. In one embodiment, the steering angle of each steering wheel when the forklift is powered off is the second steering angle. After the vehicle is turned off, the vehicle controller is set to power off after a one-minute delay through the vehicle strategy. The vehicle controller monitors and judges the rear wheel angle. If the judgment result is that the rear wheel angle is within (0±5°), no processing is performed, the vehicle controller powers off normally, and follows other vehicle control strategies. If the judgment result is that the steering wheel angle exceeds the set range, the controller sends an execution command with a target angle of 0 to the steerable wheel steerable column controller. The steerable wheel steerable column controller receives and executes the command, driving the motor part of the steerable wheel steerable column assembly to rotate to the zero position, and simultaneously starting the lifting motor to drive the oil pump to supply oil to the steering cylinder, thereby achieving the goal of straightening the wheels.

[0038] The forklift steering system, method, and device provided in this embodiment of the invention can display the steering wheel angle status when the driver is parking, allowing the driver to monitor the steering wheel status. After parking and turning off the engine, the system automatically checks the steering wheel angle. If the steering wheel is not in a straightened state, the system can automatically straighten the steering wheel, thereby solving the driver's parking pain point and significantly improving the safety of forklift driving.

[0039] Furthermore, the present invention also provides an oil compensation scheme. When the rotation of the steering wheel assembly is detected, the steering wheel angle of the steering wheel assembly is obtained and compared with a 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. At this time, the angle difference between the steering wheel angle and the first steering angle is compensated by a preset drive-by-wire calculation model to determine the oil compensation amount. The steering cylinder is then compensated according to the oil compensation amount to make 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 Figure 4 The diagram shows a specific flow chart of a forklift steering wheel steer-by-wire method. This embodiment of the invention also provides an implementation method that displays the wheel angle and automatically returns the steering wheel to center, as detailed in (1) to (3) below:

[0041] (1) If the angle difference between the second steering angle and the center 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 center angle is not within the preset angle range threshold, the offset detection fails and the steering wheel that is offset from the center position is rectified by wire. In practical 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 rectified by wire is rectified.

[0042] (2) By using a preset drive-by-wire calculation model, the angle difference between the second steering angle and the center angle is compensated and calculated to determine the compensation amount of the first motor and the compensation amount of the second motor. The compensation amount of the first motor and the compensation amount of the second motor are then determined as drive-by-wire steering commands. The preset drive-by-wire calculation model is the drive-by-wire calculation algorithm of the digital signal processing chip in the controller. It is used to calculate the angle information that needs to be compensated and to generate control signals for the motor and cylinder based on the angle information to perform oil quantity compensation or motor compensation so that the steering wheel returns to the correct position.

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

[0044] In summary, this invention can utilize existing vehicle components. The system's functionality can be achieved simply by replacing the traditional steering column with a steer-by-wire column. The signals used are also those from the original vehicle components. The steer-by-wire column signal is added to the vehicle controller, and the control strategy is programmed synchronously. The communication protocols of other related components do not require adjustment. Furthermore, when the vehicle is parked, the steering wheel angle can be displayed on the instrument panel, providing a clear view of the current steering wheel status. Additionally, after the vehicle is turned off, the steering wheel status is automatically detected. If the steering wheels are not straightened, the system straightens them, ensuring they are in the straightened state before the next ignition.

[0045] Regarding the forklift steering wheel steer-by-wire method provided in the foregoing embodiments, this invention provides a forklift steering wheel steer-by-wire device, which is applied to the forklift steering wheel steer-by-wire system. See [link to relevant documentation]. Figure 5 The diagram shows a steer-by-wire device for a forklift steering wheel, which includes the following components:

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

[0047] The power-on control module 504, when detecting that the forklift is powered on, sends the first steering angle to the instrument assembly for system wheel angle display. The first steering angle is the angle at which the steering wheels rotate under the control of the steering wheel when the forklift is working.

[0048] The power-down control module 506, when detecting that the forklift is in a power-down state, performs offset detection processing on the second steering angle, and when the offset detection result shows that there is a steering wheel offset from the center position, sends a steer-by-wire command to the steering wheel steer-by-wire subsystem to make the steering wheel offset from the center position return to the center position. The second steering angle is the steering angle of each steering wheel when the forklift is in a power-down state.

[0049] The forklift steering wheel control device provided in this application embodiment can display the steering wheel angle status when the driver is parking, allowing the driver to monitor the steering wheel status. After parking and turning off the engine, the system automatically checks the steering wheel angle. If the steering wheel is not in a straight position, the system can automatically straighten the steering wheel, thereby solving the driver's parking pain point and significantly improving the safety of forklift driving.

[0050] In one embodiment, before sending the first steering angle to the instrument cluster for display of the system wheel angle, the power-on control module 504 is further configured to: when the steering wheel assembly is detected to be rotating, acquire 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, determine that the rotation of the steering wheel and the steering wheel is not synchronized.

[0051] In one embodiment, after determining that the steering wheel and steering wheel are not rotating synchronously, the power-on control module 504 is further configured to: perform compensation calculation on the angle difference between the steering wheel angle and the first steering angle using a preset drive-by-wire calculation model, determine the hydraulic compensation amount, and perform hydraulic compensation on the steering cylinder according to the hydraulic compensation amount, so that the steering wheel and steering wheel rotate synchronously.

[0052] In one embodiment, when performing the offset detection process for the second steering angle, the power-down control module 506 is further configured to: if the angle difference between the second steering angle and the center angle is within a preset angle range threshold, the offset detection passes and the vehicle is powered down; if the angle difference between the second steering angle and the center angle is not within the preset angle range threshold, the offset detection fails and the steering wheel that is offset from the center position is steered back to center by wire.

[0053] In one embodiment, during the step of performing steerable wheel return-to-center processing for the off-center steering wheel, the power-down control module 506 is further configured to: perform compensation calculation processing on the angle difference between the second steering angle and the center angle using a preset steerable wheel return-to-center 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 steerable wheel return-to-center commands; 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 run to supply oil to the steering cylinder, so that the off-center steering wheel returns to center.

[0054] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0055] This invention provides an electronic device, specifically, the electronic device includes a processor and a storage device; the storage device stores a computer program, and the computer program, when run by the processor, executes the method described in any of the above embodiments.

[0056] Figure 6This is a schematic diagram of the structure 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. The processor 60, the communication interface 63, and the memory 61 are connected through the bus 62. The processor 60 is used to execute executable modules, such as computer programs, stored in the memory 61.

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

[0058] Bus 62 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0059] The memory 61 is used to store programs. After receiving an execution instruction, the processor 60 executes the program. The method executed by the device for defining the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0060] Processor 60 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 60 or by instructions in software form. 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 gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 61. Processor 60 reads the information in memory 61 and, in conjunction with its hardware, completes the steps of the above method.

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

[0062] If the aforementioned functions are implemented as 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 this invention, essentially, or the part that contributes to the prior art, or a portion 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, electronic device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this 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.

[0063] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, 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, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A forklift steering method with steer-by-wire, characterized in that, The method is applied to a steer-by-wire system for a forklift steering wheel. The system includes: a steering wheel assembly, a vehicle controller, a steering wheel steer-by-wire subsystem, a steering wheel assembly, and an instrument cluster. The vehicle controller is connected to both the steering wheel steer-by-wire subsystem and the steering wheel assembly. The steering wheel steer-by-wire subsystem is connected to both the steering wheel assembly and the steering wheel assembly. The instrument cluster is connected to the vehicle controller. The steering wheel steer-by-wire subsystem includes a fully hydraulic steering gear and a set of steering cylinders. The fully hydraulic steering gear is connected to both the steering wheel assembly and the steering cylinder set. The steering cylinders in the assembly are connected. The steering wheel drive-by-wire subsystem receives rotation information from the steering wheel assembly when the forklift is powered on and adjusts the working state of the fully hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder, so that the steering wheels in the steering wheel assembly corresponding to the steering cylinders rotate to the target steering angle. The vehicle controller detects the steering angle of each steering wheel in the steering wheel assembly and enters a delayed power-off state when the forklift is powered off. Within a preset delayed power-off time threshold range, it detects the steering wheel deflection. If a steering wheel offset is detected, a steerable steering command is sent to the steering wheel steerable subsystem to return the offset steering wheel to center. The vehicle controller is also used to send the steering angle of each steering wheel in the steering wheel assembly to the instrument cluster for system wheel angle display when the forklift is powered on. The steering wheel steerable subsystem further includes a steerable steering column assembly, a lifting motor, and an oil pump. The steerable steering column assembly includes a steerable steering column and a steering column motor, with the steerable steering column connected to the steering column motor and the oil pump respectively. The fully hydraulic steering system is connected, 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 fully hydraulic steering system; wherein, the steer-by-wire column is used to drive the steering column motor to rotate to the zero position when receiving the steer-by-wire command, so as to automatically return the steering wheel assembly to the zero position; the lifting motor is used to start when receiving the steer-by-wire command, and by driving the oil pump to run, supply oil to the steering cylinder, so as to return the steering wheel that is offset from the center position to the center position, the method includes: The system acquires the working status information of the forklift in real time and detects the steering angle of each steering wheel in the forklift steering wheel assembly to determine the steering angle of the steering wheel. The working status information includes power-on status and power-off status, and the steering angle includes a first steering angle and a second steering angle. When the forklift is detected to be in the power-on state, the first steering angle is sent to the instrument assembly for system wheel angle display. The first steering angle is the angle at which the steering wheels are controlled to rotate by the steering wheel when the forklift is working. When the forklift is detected to be in the power-off state, the second steering angle is processed by offset detection. When the offset detection result shows that there is a steering wheel offset from the center position, a steering command is sent to the steering wheel steerable subsystem to make the steering wheel that is offset from the center position return to the center position. The second steering angle is the steering angle of each steering wheel when the forklift is in the power-off state. The step of performing offset detection processing on the second steering angle includes: if the angle difference between the second steering angle and the center 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 center angle is not within the preset angle range threshold, the offset detection fails and the steering wheel that is offset from the center position is steered back to center by steer-by-wire. The step of performing steerable wheel alignment processing for the offset center position includes: using a preset steerable wheel alignment calculation model to perform compensation calculation on the angle difference between the second steering angle and the center position angle, determining the first motor compensation amount and the second motor compensation amount, and defining the first motor compensation amount and the second motor compensation amount as steerable wheel alignment commands; sending the first motor compensation amount to the steering column motor to control the steering column motor to rotate to the zero position, causing the steering column motor to automatically return the steering wheel assembly to the zero position; sending the second motor compensation amount to the lifting motor to control the lifting motor to start, and driving the oil pump to supply oil to the steering cylinder, so that the offset center position steering wheel is aligned; wherein, the preset steerable wheel alignment calculation model is a steerable wheel alignment calculation algorithm of the digital signal processing chip in the controller, used to calculate the angle information that needs to be compensated, and generate control signals for the motor and cylinder based on the angle information, so as to perform oil quantity compensation or motor compensation, so that the steering wheel is aligned; The step prior to sending the first steering angle to the instrument cluster for system wheel angle display includes: when the steering wheel assembly is detected to be rotating, acquiring 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. The step of determining that the steering wheel and steering wheel are not rotating synchronously includes: using a preset drive-by-wire calculation model to perform compensation calculation on the angle difference between the steering wheel angle and the first steering angle, determining the amount of hydraulic compensation, and performing hydraulic compensation on the steering cylinder according to the amount of hydraulic compensation, so that the steering wheel and steering wheel rotate synchronously.

2. A forklift steering system with steer-by-wire, characterized in that, The device is applied to the steer-by-wire system of a forklift steering wheel. The system includes: a steering wheel assembly, a vehicle controller, a steering wheel steer-by-wire subsystem, a steering wheel assembly, and an instrument cluster. The vehicle controller is connected to both the steering wheel steer-by-wire subsystem and the steering wheel assembly. The steering wheel steer-by-wire subsystem is connected to both the steering wheel assembly and the steering wheel assembly. The instrument cluster is connected to the vehicle controller. The steering wheel steer-by-wire subsystem includes a fully hydraulic steering gear and a steering cylinder assembly. The fully hydraulic steering gear is connected to both the steering wheel assembly and the steering cylinder assembly. The steering cylinders in the assembly are connected. The steering wheel drive-by-wire subsystem receives rotation information from the steering wheel assembly when the forklift is powered on and adjusts the working state of the fully hydraulic steering gear according to the rotation information to control the oil supply of each steering cylinder, so that the steering wheels in the steering wheel assembly corresponding to the steering cylinders rotate to the target steering angle. The vehicle controller detects the steering angle of each steering wheel in the steering wheel assembly and enters a delayed power-off state when the forklift is powered off. Within a preset delayed power-off time threshold range, it detects the steering wheel deflection. If a steering wheel offset is detected, a steerable steering command is sent to the steering wheel steerable subsystem to return the offset steering wheel to center. The vehicle controller is also used to send the steering angle of each steering wheel in the steering wheel assembly to the instrument cluster for system wheel angle display when the forklift is powered on. The steering wheel steerable subsystem further includes a steerable steering column assembly, a lifting motor, and an oil pump. The steerable steering column assembly includes a steerable steering column and a steering column motor, with the steerable steering column connected to the steering column motor and the oil pump respectively. The device includes a fully hydraulic steering gear connection, a steering column motor connected to the steering wheel assembly, a lifting motor connected to the oil pump, and the oil pump connected to the steering cylinder via the fully hydraulic steering gear. The steer-by-wire column, upon receiving a steer-by-wire command, drives the steering column motor to rotate to the zero position, thereby automatically returning the steering wheel assembly to the zero position. The lifting motor, upon receiving the steer-by-wire command, starts and drives the oil pump to supply oil to the steering cylinder, thereby returning the steering wheel, which has deviated from its neutral position, to the center position. The device comprises: The information acquisition module acquires the working status information of the forklift in real time and detects the steering angle of each steering wheel in the forklift steering wheel assembly to determine the steering angle of the steering wheel. The working status information includes power-on status and power-off status, and the steering angle includes a first steering angle and a second steering angle. The 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. The first steering angle is the angle at which the steering wheels rotate under the control of the steering wheel when the forklift is working. The power-down control module, when detecting that the forklift is in the power-down state, performs offset detection processing on the second steering angle, and when the offset detection result shows that there is a steering wheel offset from the center position, sends a steer-by-wire command to the steering wheel steer-by-wire subsystem to make the steering wheel that is offset from the center position return to the center position. The second steering angle is the steering angle of each steering wheel when the forklift is in the power-down state. The step of performing offset detection processing on the second steering angle includes: if the angle difference between the second steering angle and the center 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 center angle is not within the preset angle range threshold, the offset detection fails and the steering wheel that is offset from the center position is steered back to center by steer-by-wire. The step of performing steerable wheel alignment processing for the offset center position includes: using a preset steerable wheel alignment calculation model to perform compensation calculation on the angle difference between the second steering angle and the center position angle, determining the first motor compensation amount and the second motor compensation amount, and defining the first motor compensation amount and the second motor compensation amount as steerable wheel alignment commands; sending the first motor compensation amount to the steering column motor to control the steering column motor to rotate to the zero position, causing the steering column motor to automatically return the steering wheel assembly to the zero position; sending the second motor compensation amount to the lifting motor to control the lifting motor to start, and driving the oil pump to supply oil to the steering cylinder, so that the offset center position steering wheel is aligned; wherein, the preset steerable wheel alignment calculation model is a steerable wheel alignment calculation algorithm of the digital signal processing chip in the controller, used to calculate the angle information that needs to be compensated, and generate control signals for the motor and cylinder based on the angle information, so as to perform oil quantity compensation or motor compensation, so that the steering wheel is aligned; The step prior to sending the first steering angle to the instrument cluster for system wheel angle display includes: when the steering wheel assembly is detected to be rotating, acquiring 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. The step of determining that the steering wheel and steering wheel are not rotating synchronously includes: using a preset drive-by-wire calculation model to perform compensation calculation on the angle difference between the steering wheel angle and the first steering angle, determining the amount of hydraulic compensation, and performing hydraulic compensation on the steering cylinder according to the amount of hydraulic compensation, so that the steering wheel and steering wheel rotate synchronously.

3. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the method of claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of claim 1.

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