Drive-by-wire system with redundancy security and control method

Abstract

The invention discloses a drive-by-wire system with redundancy safety, which is applied to engineering machinery and is characterized by comprising a redundancy steering module, a redundancy braking module and a control module, the redundant steering module is used for limiting the number of turns of a steering wheel of the vehicle through a limiting unit and carrying out simulation feedback on road feel by arranging a resistance feedback unit; and the redundant braking module is used for carrying out three-in-one combined braking of electric braking, hydraulic service braking and parking braking on a braking system of the vehicle. The device is compact in structure, safe, reliable and convenient to control, steering limiting and motor resistance torque increasing are adopted, and the steering performance of the drive-by-wire chassis can be guaranteed; meanwhile, a redundant design of an angle sensor and a displacement sensor of the steering oil cylinder is adopted, so that the steering safety is ensured; the safety redundancy design of service braking, parking braking and electric braking is adopted, and the safety of service braking and parking braking is guaranteed; and the driving safety of the drive-by-wire chassis is ensured.

Description

Technical Field

[0001] The present invention relates to a wire control system and a control method with redundant safety, belonging to the technical field of unmanned mining vehicles. Background Art

[0002] Based on the harsh environment of the current mine car, the unmanned mine car has been demonstrated in a large number of applications. The unmanned mine car can effectively improve the production efficiency of the product and effectively improve the safety of mining operations. Achieving a green and sustainable operation mode is of great significance to the demonstration application of unmanned mine cars. In the application of unmanned mine cars, problems such as signal disconnection, brake failure, steering failure, and drive failure often occur. How to ensure the safe and reliable operation of unmanned mine cars has a very important guiding significance, that is, to ensure the driving stability, braking safety, and steering reliability of the whole vehicle during driving, and to ensure the safety of braking, driving, and steering in the event of hardware and software failure.

[0003] The existing technologies have relatively one-sided considerations on braking safety and information interaction safety. Without exception, they are either considered from the perspective of unmanned driving identification or from the perspective of hardware. There is little comprehensive consideration of the two aspects. Even if there are considerations from both aspects, they are only one-sided considerations from the perspective of control logic, and do not fall into the execution components, resulting in a low safety redundancy coefficient; the existing unmanned braking system lacks control over braking safety monitoring, which affects braking safety; the existing wire-controlled chassis lacks redundant safety research, which affects driving safety. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a wire-controlled system and control method with redundant safety. The system adopts wire-controlled steering, braking and driving schemes, which are safe, reliable and easy to control. It can perform safety redundant control from multiple system levels including the unmanned system level, chassis domain level and execution layer level, thereby ensuring driving safety. The system has three braking safety functions including electric braking, hydraulic service braking and parking braking. The steering system has functions such as steering pressure storage pressure monitoring and steering execution pressure monitoring, and has a turning angle limit to ensure the safety and reliability of the driving process.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] In a first aspect, the present invention discloses a wire control system with redundant safety, which is applied to engineering machinery and includes: a redundant steering module, a redundant braking module and a control module; The redundant steering module is used to limit the number of turns of the vehicle's steering wheel through a limit unit and to simulate feedback of the road feel by setting a resistance feedback unit; The redundant brake module is used to perform a three-in-one combined braking of electric braking, hydraulic service braking and parking braking on the vehicle's brake system.

[0007] Furthermore, the redundant steering module includes a steering column and a steering wheel, a limited angle steering gear, a steering transmission shaft and an electric angle steering gear; The steering column and the steering wheel are connected to the limited angle steering gear through splines, the limited angle steering gear is connected to the steering transmission shaft through splines, and the steering transmission shaft is connected to the electric angle steering gear through splines.

[0008] Further, the electric angle steering gear includes an angle sensor and a torque sensor; During the rotation of the steering column and the steering wheel, the angle sensor in the electric angle steering gear collects the steering wheel angle signal and sends it to the controller. The controller controls the steering valve connected to the steering cylinder according to the steering wheel angle signal, thereby controlling the oil in the steering cylinder to control the steering of the drive axle. The limit angle steering gear is used to limit the number of turns of the steering wheel; the torque sensor collects the steering wheel torque and simulates the road feel through the controller.

[0009] Furthermore, the redundant steering module further comprises a left steering cylinder, a right steering cylinder and displacement sensors respectively arranged on the left steering cylinder and the right steering cylinder, wherein the displacement sensors respectively collect cylinder displacement information of the left steering cylinder and the right steering cylinder, send the information to the controller and feedback the steering angle of the vehicle body; The left steering oil cylinder and the right steering oil cylinder are respectively connected to the knuckle arms on the sides of the bridge wheels.

[0010] Furthermore, the redundant steering module also includes a rotation angle sensor arranged at the rocker arm position of the engineering machinery, and the rotation angle sensor collects rocker arm displacement information, sends it to the controller, and feeds back the rocker arm steering angle.

[0011] Furthermore, the redundant braking module comprises: Rear axle brake, front axle brake, first proportional brake valve, first service accumulator, second service accumulator, third service accumulator, parking accumulator, main parking valve, first parking brake, second parking brake, parking switch valve, spare parking valve, second proportional brake valve, spare proportional brake valve, brake pump, safety valve, filter, stop valve, first pressure sensor MB1, second pressure sensor MB2, third pressure sensor MB3, fourth pressure sensor MB4, fifth pressure sensor MB5; The rear axle brake is respectively connected to the output port of the second proportional brake valve and the stop valve; The front axle brake is respectively connected to the output port of the first proportional brake valve and the stop valve; The input port of the first proportional brake valve is connected to the second driving accumulator, and the oil return port of the first proportional brake valve is connected to the filter and then enters the oil return tank; The input port of the second proportional brake valve is connected to the third driving accumulator, and the oil return port of the second proportional brake valve is connected to the filter and then enters the oil return tank; The stop valve is connected to the output port of the standby proportional brake valve, the input port of the standby proportional brake valve is connected to the third driving accumulator, and the oil return port of the standby proportional brake valve is connected to the filter and then enters the oil return tank; The output port of the main parking valve is communicated with the first parking brake and the second parking brake respectively, the input port of the main parking valve is communicated with the parking accumulator, and the oil return port of the main parking valve is communicated with the filter and then enters the oil return tank; The parking switch valve is communicated with the first parking brake and the second parking brake respectively; The output port of the standby parking valve is connected to the parking switch valve, the input port of the standby parking valve is connected to the parking accumulator, and the oil return port of the standby parking valve is connected to the filter and then enters the oil return tank; The first driving accumulator, the second driving accumulator, the third driving accumulator, and the parking accumulator are respectively connected to the brake pump; The first pressure sensor MB1 collects the oil pressure input to the front axle brake; The second pressure sensor MB2 collects the oil pressure input to the rear axle brake; The third pressure sensor MB3 collects the oil pressure input to the first parking brake and the second parking brake; The fourth pressure sensor MB4 collects the oil pressure of the parking accumulator; The fifth pressure sensor MB5 collects the oil pressures of the first service accumulator, the second service accumulator, and the third service accumulator.

[0012] In a second aspect, the present invention discloses a control method of a wire control system with redundant safety based on the first aspect, characterized by comprising: Obtain a braking command, perform electric braking according to the braking command, and simultaneously detect a deceleration V1 detected by a wheel speed sensor and a deceleration V2 detected by a vehicle braking deceleration sensor installed on the front side of the vehicle head; If V1≥A and V2≥A are established, the vehicle speed is monitored, and when the vehicle speed is ≤B, hydraulic service braking is performed, where A is the set deceleration threshold and B is the set vehicle speed threshold; If V1≥A and V2≥A is not true, hydraulic service braking is performed; After the hydraulic service brake, if V1≥A and V2≥A are established at this time, the vehicle will drive normally, otherwise, the parking brake will be applied; After parking brake, if V1≥A and V2≥A are established at this time, parking check is performed, otherwise electric braking and hydraulic service braking are performed.

[0013] Furthermore, the hydraulic service brake comprises: Obtaining a service brake control instruction and performing service brake redundant control includes the following steps: When a fault is detected in the first proportional brake valve and the second proportional brake valve, the stop valve remains closed, and the oil pressure output from the brake pump is collected through the fourth pressure sensor MB4 and the fifth pressure sensor MB5; It is determined whether the oil pressure collected from the brake pump output is lower than the preset pressure threshold value. If so, the motor of the brake pump is started to drive the brake pump to charge the oil into the first service accumulator, the second service accumulator, the third service accumulator, and the parking accumulator. The oil enters the front axle brake through the second service accumulator and the first proportional brake valve to brake the front axle; the oil enters the rear axle brake through the third service accumulator and the second proportional brake valve to brake the rear axle; If not, the brake pump motor does not start; When a fault is detected in the first proportional brake valve and the second proportional brake valve, the motor of the brake pump is started, and the oil is sequentially passed through the first service accumulator, the standby proportional brake valve and the stop valve (26) by the brake pump into the rear axle brake for emergency service braking; Obtaining a service brake release control instruction and performing service brake release control includes the following steps: Control the switching of the first proportional brake valve and the second proportional brake valve to return the oil to the tank to complete the release of the service brake.

[0014] Furthermore, the parking brake comprises: Obtaining a parking release control instruction and performing parking release redundant control includes the following steps: It is detected that the main parking valve has no fault, the motor of the brake pump is started, and the oil is sequentially pumped through the parking accumulator and the main parking valve into the first parking brake and the second parking brake by the brake pump to release the parking brake, and the parking switch valve is closed and cut off; When a fault of the main parking valve is detected, the parking switch valve with a cut-off function is controlled to open, and the oil enters the first parking brake and the second parking brake in sequence through the parking switch valve and the backup parking valve to release the parking brake; Obtaining a parking control command and performing parking redundant control includes the following steps: It is detected that the main parking valve has no fault, the controller mainly controls the parking valve to change direction, the oil returns to the oil tank through the first parking brake and the second parking brake via the main control parking valve, and the parking switch valve is closed and cut off; When a fault in the main parking valve is detected, the controller controls the switching of the backup parking valve, controls the parking switch valve with its own cut-off function to open, and the oil returns to the fuel tank through the first parking brake and the second parking brake via the backup parking valve.

[0015] Furthermore, it also includes: obtaining the oil pressure of the front axle brake collected by the first driving pressure sensor MB1, the oil pressure of the rear axle brake collected by the driving pressure sensor MB2, and the parking oil pressure collected by the third pressure sensor MB3; When the oil pressure of the front axle brake and the oil pressure of the rear axle brake are lower than the first preset pressure value, an alarm is displayed, and the emergency driving brake is performed by controlling the standby proportional brake valve and the stop valve. If the pressure is still lower than the first preset pressure value, an alarm is given to stop the vehicle; When the parking oil pressure is lower than the second preset pressure value, an alarm is displayed, and the parking switch valve and the backup parking valve are controlled to park and release the parking function. If the pressure is still lower than the second preset pressure value, an alarm is issued to stop the vehicle.

[0016] The beneficial effects achieved by the present invention are: The present invention has a compact structure, is safe and reliable, and is easy to control. It adopts steering limit and motor resistance torque increase to ensure the steering performance of the wire-controlled chassis. At the same time, it adopts redundant design of angle sensors and displacement sensors of steering cylinders to ensure steering safety. It adopts safety redundant design of driving brakes, parking brakes and electric brakes to ensure the safety of driving and parking brakes; and ensures the driving safety of the wire-controlled chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the wire-controlled steering module with redundant safety Figure 1 ; Figure 2 This is a schematic diagram of the structure of the wire-controlled steering module with redundant safety Figure 2 ; Figure 3 It is a schematic diagram of the redundant structural principle of wire control brake; Figure 4 It is a flowchart of redundant control logic of brake-by-wire; Figure 5 It is a schematic diagram of the structure of redundant control of wire control steering. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0021] Embodiment 1: This embodiment provides a wire control system with redundant safety, which is applied to engineering machinery and includes: a redundant steering module, a redundant braking module and a control module; The redundant steering module is used to limit the number of turns of the vehicle's steering wheel through a limit unit and to simulate feedback of the road feel by setting a resistance feedback unit; The redundant brake module is used to perform a three-in-one combined braking of electric braking, hydraulic service braking and parking braking on the vehicle's brake system.

[0022] The redundant steering module includes a steering column and steering wheel 3, a limited angle steering gear 4, a steering transmission shaft 5 and an electric angle steering gear 6; The steering column and the steering wheel 3 are connected to the limit angle steering gear 4 through a spline, the limit angle steering gear 4 is connected to the steering transmission shaft 5 through a spline, the steering transmission shaft 5 is connected to the electric angle steering gear 6 through a spline, and the electric angle steering gear 6 includes an angle sensor and a torque sensor; During the rotation of the steering column and the steering wheel 3, the angle sensor in the electric angle steering gear 6 collects the steering wheel angle signal and sends it to the controller. The controller controls the steering valve connected to the steering cylinder according to the steering wheel angle signal, thereby controlling the oil in the steering cylinder to control the steering of the drive axle. The limit angle steering gear 4 is used to limit the number of turns of the steering wheel; the torque sensor collects the steering wheel torque and simulates the road feel through the controller.

[0023] The redundant steering module also includes a left steering cylinder 29, a right steering cylinder 27, and displacement sensors respectively arranged on the left steering cylinder 29 and the right steering cylinder 27. The displacement sensors respectively collect cylinder displacement information of the left steering cylinder 29 and the right steering cylinder 27, send it to the controller, and feedback the steering angle of the vehicle body; The left steering cylinder 29 and the right steering cylinder 27 are respectively connected to the knuckle arms on the side of the axle wheels.

[0024] The redundant steering module further includes a rotation angle sensor 28 disposed at the rocker arm position of the engineering machinery. The rotation angle sensor 28 collects rocker arm displacement information, sends it to the controller, and feeds back the rocker arm steering angle.

[0025] The redundant brake module includes: a rear axle brake 9, a front axle brake 10, a first proportional brake valve 11, a first driving accumulator 12, a second driving accumulator 13, a third driving accumulator 14, a parking accumulator 15, a main parking valve 16, a first parking brake 17, a second parking brake 18, a parking switch valve 19, a backup parking valve 20, a second proportional brake valve 21, a backup proportional brake valve 22, a brake pump 23), a safety valve 24, a filter 25, a stop valve 26, a first pressure sensor MB1, a second pressure sensor MB2, a third pressure sensor MB3, a fourth pressure sensor MB4, and a fifth pressure sensor MB5; The rear axle brake 9 is respectively connected to the output port of the second proportional brake valve 21 and the stop valve 26; The front axle brake 10 is respectively connected to the output port of the first proportional brake valve 11 and the stop valve 26; The input port of the first proportional brake valve 11 is connected to the second driving accumulator 13, and the oil return port of the first proportional brake valve 11 is connected to the filter 25 and then enters the oil return tank; The input port of the second proportional brake valve 21 is connected to the third driving accumulator 14, and the oil return port of the second proportional brake valve 21 is connected to the filter 25 and then enters the oil return tank; The stop valve 26 is connected to the output port of the standby proportional brake valve 22, the input port of the standby proportional brake valve 22 is connected to the third driving accumulator 14, and the oil return port of the standby proportional brake valve 22 is connected to the filter 25 and then enters the oil return tank; The output port of the main parking valve 16 is communicated with the first parking brake 17 and the second parking brake 18 respectively, the input port of the main parking valve 16 is communicated with the parking accumulator 15, and the oil return port of the main parking valve 16 is communicated with the filter 25 and then enters the oil return tank; The parking switch valve 19 is communicated with the first parking brake 17 and the second parking brake 18 respectively; The output port of the standby parking valve 20 is connected to the parking switch valve 19, the input port of the standby parking valve 20 is connected to the parking accumulator 15, and the oil return port of the standby parking valve 20 is connected to the filter 25 and then enters the oil return tank; The first service accumulator 12, the second service accumulator 13, the third service accumulator 14, and the parking accumulator 15 are respectively connected to the brake pump 23; The first pressure sensor MB1 collects the oil pressure input to the front axle brake 10; The second pressure sensor MB2 collects the oil pressure input to the rear axle brake 9; The third pressure sensor MB3 collects the oil pressure input to the first parking brake 17 and the second parking brake 18; The fourth pressure sensor MB4 collects the oil pressure of the parking accumulator 15; The fifth pressure sensor MB5 collects the oil pressures of the first service accumulator 12 , the second service accumulator 13 , and the third service accumulator 14 .

[0026] Embodiment 2: Based on Embodiment 1, this embodiment provides a control method of a wire control system with redundant safety, including: Get the braking command, perform electric braking according to the braking command (the whole vehicle is electrically driven by the wheel side, and when braking, advanced motor electric braking is used), and at the same time detect the deceleration V1 detected by the wheel speed sensor and the deceleration V2 detected by the vehicle braking deceleration sensor (laser radar and millimeter wave radar, etc.) installed on the front side of the vehicle; If V1≥A and V2≥A are established, the vehicle speed is monitored, and when the vehicle speed is ≤B, hydraulic service braking is performed, where A is the set deceleration threshold and B is the set vehicle speed threshold; If V1≥A and V2≥A is not true, hydraulic service braking is performed; After the hydraulic service brake, if V1≥A and V2≥A are established at this time, the vehicle will drive normally, otherwise, the parking brake will be applied; After parking brake, if V1≥A and V2≥A are established at this time, parking check is performed, otherwise electric braking and hydraulic service braking are performed.

[0027] The hydraulic service brake comprises: Obtaining a service brake control instruction and performing service brake redundant control includes the following steps: When a fault is detected in the first proportional brake valve 11 and the second proportional brake valve 21, the stop valve 26 remains closed, and the oil pressure output from the brake pump 23 is collected through the fourth pressure sensor MB4 and the fifth pressure sensor MB5; It is determined whether the oil pressure collected from the brake pump 23 is lower than the preset pressure threshold value. If so, the motor of the brake pump 23 is started to drive the brake pump 23 to charge the oil into the first service accumulator 12, the second service accumulator 13, the third service accumulator 14, and the parking accumulator 15. The oil enters the front axle brake 10 through the second service accumulator 13 and the first proportional brake valve 11 for braking; the oil enters the rear axle brake 9 through the third service accumulator 14 and the second proportional brake valve 21 for braking; If not, the motor of the brake pump 23 is not started; When a fault is detected in the first proportional brake valve 11 and the second proportional brake valve 21, the motor of the brake pump 23 is started, and the oil is sequentially pumped through the first service accumulator 12, the standby proportional brake valve 22 and the stop valve 26 into the rear axle brake 9 for emergency service braking; Obtaining a service brake release control instruction and performing service brake release control includes the following steps: The first proportional brake valve 11 and the second proportional brake valve 21 are controlled to switch directions so that the oil returns to the oil tank, thereby completing the release of the service brake.

[0028] The parking brake comprises: Obtaining a parking release control instruction and performing parking release redundant control includes the following steps: It is detected that the main parking valve 16 has no fault, and the motor of the brake pump 23 is started. The brake pump 23 sequentially passes the oil through the parking accumulator 15 and the main parking valve 16 into the first parking brake 17 and the second parking brake 18 to release the parking brake, and the parking switch valve 19 is closed and cut off; When a fault is detected in the main parking valve 16, the parking switch valve 19 with a cut-off function is controlled to open, and the oil enters the first parking brake 17 and the second parking brake 18 through the parking switch valve 19 and the backup parking valve 20 in sequence to release the parking brake; Obtaining a parking control command and performing parking redundant control includes the following steps: It is detected that the main parking valve 16 has no fault, the controller mainly controls the parking valve 16 to change direction, the oil returns to the oil tank through the first parking brake 17 and the second parking brake 18 through the main control parking valve 16, and the parking switch valve 19 is closed and cut off; When a fault is detected in the main parking valve 16 , the controller controls the backup parking valve 20 to switch direction, controls the parking switch valve 19 with its own cut-off function to open, and the oil returns to the fuel tank through the first parking brake 17 and the second parking brake 18 via the backup parking valve 20 .

[0029] The method further includes: obtaining the oil pressure of the front axle brake 10 collected by the first driving pressure sensor MB1, the oil pressure of the rear axle brake 9 collected by the driving pressure sensor MB2, and the parking oil pressure collected by the third pressure sensor MB3; When the oil pressure of the front axle brake 10 and the oil pressure of the rear axle brake 9 are lower than the first preset pressure value, an alarm is displayed, and the emergency driving brake is performed by controlling the standby proportional brake valve 22 and the stop valve 26. If the pressure is still lower than the first preset pressure value, an alarm is issued to stop the vehicle; When the parking oil pressure is lower than the second preset pressure value, an alarm is displayed, and the parking switch valve 19 and the backup parking valve 20 are controlled to park and release the parking function. When the pressure is still lower than the second preset pressure value, an alarm is issued to stop the vehicle.

[0030] Embodiment 3, this embodiment introduces that the present invention provides a wire control system with redundant safety, including an emergency stop switch 1, a parking switch 2, a steering column and a steering wheel 3, a limit angle steering gear 4, a steering transmission shaft 5, an electric angle steering gear (with an angle sensor and a torque sensor) 6, an accelerator pedal 7, a brake pedal 8, a rear axle brake 9, a front axle brake 10, a first proportional brake valve 11, a first driving accumulator 12, a second driving accumulator 13, a third driving accumulator 14, a parking accumulator 15, Main parking valve 16, first parking brake 17, second parking brake 18, parking switch valve (with cut-off function) 19, backup parking valve 20, second proportional brake valve 21, backup proportional brake valve 22, brake pump 23, safety valve 24, filter 25, left steering cylinder 29, right steering cylinder 27, steering angle sensor 28, first pressure sensor MB1, second pressure sensor MB2, third pressure sensor MB3, fourth pressure sensor MB4, fifth pressure sensor MB5.

[0031] like Figure 1 and Figure 2As shown: an emergency stop switch 1, a parking switch 2, a steering column and a steering wheel 3, a limit angle steering gear 4, a steering transmission shaft 5, an electric angle steering gear (with an angle sensor and a torque sensor) 6, an accelerator pedal 7, and a brake pedal 8 are installed inside the cab, wherein the emergency stop switch 1 and the parking switch 2 are connected to the controller through a wiring harness, the steering column and the steering wheel 3 are connected to the limit angle steering gear 4 through a spline, the limit angle steering gear 4 is connected to the steering transmission shaft 5 through a spline, and the steering transmission shaft 5 is connected to the electric angle steering gear through a spline, the limit angle steering gear 4 limits the number of turns of the steering wheel by ±2 turns to ensure that the number of turns of the steering wheel is within a certain range, during the rotation of the steering column and the steering wheel 3, the angle sensor signal in the electric angle steering gear (with an angle sensor and a torque sensor) 6 is sent to the controller, and the controller controls the steering valve to steer, and the design of the electric angle steering gear (with an angle sensor and a torque sensor) 6 has a built-in resistance effect, which can more realistically reflect the road feel, and can realize the control of the steering angle at different speeds according to the control logic; like Figure 3 As shown: the brake pump 23 charges the first service accumulator 12, the second service accumulator 13, the third service accumulator 14 and the parking accumulator 15 through the shuttle valve, and the pressure is monitored through MB4 and MB5. When the pressure is monitored within the corresponding pressure range, the motor of the brake pump 23 is not started. When the pressure is lower than the threshold, the motor is started to charge the brake pump to the first service accumulator 12, the second service accumulator 13, the third service accumulator 14 and the parking accumulator 15. The oil passes through the second service accumulator 13 and the first proportional brake valve 11 into the front axle brake 10; the oil enters the rear axle brake 9 through the second proportional brake valve 21 through the third service accumulator 14; if the first proportional brake valve 11 and the second proportional brake valve 21 fail, the controller controls the standby proportional brake valve 22 and the stop valve 26 to perform emergency service braking. This service braking has three-channel redundancy, namely the front and rear axle brake circuits and the emergency brake circuit. When service braking is not required, the controller controls the first proportional brake valve 11 and the second proportional brake valve 21 to switch directions, so that the brake oil returns to the tank and the service brake is released; like Figure 3 As shown: the oil passes through the parking accumulator 15 and then through the parking valve 16 into the parking brake 17 and the parking brake 18 to release the parking brake. If the parking brake is required, the controller controls the main parking valve 16 to change direction, and the oil returns to the oil tank through the first parking brake 17. When the main parking valve 16 fails, the controller controls the parking switch valve 19 (with a cut-off function) and the spare parking valve 20 to park and release the parking function. like Figure 3As shown: when the first driving pressure sensor MB1, the second driving pressure sensor MB2 and the third pressure sensor MB3 have low pressure, an alarm is displayed and fed back to the controller, and the controller makes a decision. For example, when the controller sends a driving brake signal, but the pressure of the first driving pressure sensor MB1 and the second driving pressure sensor MB2 is low, the controller controls the proportional brake valve 22 and the cut-off valve 26 to perform emergency driving brakes. If the pressure is still low, an alarm is issued to stop the vehicle. Similarly, when the controller sends a gear-engaging driving signal, the controller monitors the low pressure of the third pressure sensor MB3, and controls the parking switch valve 19 (with a cut-off function) and the spare parking valve 20 to park and release the parking function. If the pressure is still low, an alarm is issued to stop the vehicle. like Figure 4 As shown: the unmanned system controller sends a command to the chassis controller, and the chassis controller sends a command to perform motor braking, and the wheel speed sensor detects a deceleration ≥ A, and the unmanned sensor detects a deceleration ≥ A. If both are satisfied at the same time, speed monitoring is performed. If the speed is ≤B, hydraulic service braking is performed; if the wheel speed sensor detects a deceleration ≥ A, and the unmanned sensor detects a deceleration ≥ A, it is not established, hydraulic service braking is performed; after hydraulic service braking, the wheel speed sensor detects a deceleration ≥ A, and the unmanned sensor detects a deceleration ≥ A. If both are satisfied at the same time, normal driving is performed; if both are not satisfied, parking braking is performed, and the wheel speed sensor detects a deceleration ≥ A, and the unmanned sensor detects a deceleration ≥ A. If they are satisfied, parking inspection is performed; if not satisfied, electric braking and hydraulic service braking are performed like Figure 5 As shown: the left steering cylinder 29 and the right steering cylinder 27 of the unmanned system steering system are each equipped with a displacement sensor, and a rotation angle sensor 28 is installed at the rocker arm position, realizing a redundant design.

[0032] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0033] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0034] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0035] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A wire control system with redundant safety, applied to engineering machinery, characterized in that: include: Redundant steering modules, redundant brake modules and control modules; The redundant steering module is used to limit the number of turns of the vehicle's steering wheel through a limit unit and to simulate feedback of the road feel by setting a resistance feedback unit; The redundant brake module is used to perform a three-in-one combined braking of electric braking, hydraulic service braking and parking braking on the vehicle's brake system.

2. The wire control system with redundant safety according to claim 1, characterized in that: The redundant steering module comprises a steering column and a steering wheel (3), a limited angle steering gear (4), a steering transmission shaft (5) and an electric angle steering gear (6); The steering column and the steering wheel (3) are connected to the limit angle steering gear (4) via a spline, the limit angle steering gear (4) is connected to the steering transmission shaft (5) via a spline, and the steering transmission shaft (5) is connected to the electric angle steering gear (6) via a spline.

3. The wire control system with redundant safety according to claim 2, characterized in that: The electric angle steering gear (6) comprises an angle sensor and a torque sensor; During the rotation of the steering column and the steering wheel (3), the angle sensor in the electric angle steering gear (6) collects the steering wheel angle signal and sends it to the controller. The controller controls the steering valve connected to the steering cylinder according to the steering wheel angle signal, thereby controlling the oil in the steering cylinder to control the steering of the drive axle. The limit angle steering gear (4) is used to limit the number of turns of the steering wheel. The torque sensor collects the steering wheel torque and simulates the road feel through the controller.

4. The wire control system with redundant safety according to claim 3, characterized in that: The redundant steering module further comprises a left steering cylinder (29), a right steering cylinder (27), and displacement sensors respectively arranged on the left steering cylinder (29) and the right steering cylinder (27), wherein the displacement sensors respectively collect cylinder displacement information of the left steering cylinder (29) and the right steering cylinder (27), send the information to the controller, and provide feedback on the vehicle body steering angle; The left steering oil cylinder (29) and the right steering oil cylinder (27) are respectively connected to the knuckle arms on the side of the axle wheels.

5. The wire control system with redundant safety according to claim 3, characterized in that: The redundant steering module further comprises a rotation angle sensor (28) arranged at the rocker arm position of the engineering machinery, wherein the rotation angle sensor (28) collects rocker arm displacement information, sends it to the controller, and feeds back the rocker arm steering angle.

6. The wire control system with redundant safety according to claim 3, characterized in that: The redundant brake module comprises: Rear axle brake (9), front axle brake (10), first proportional brake valve (11), first service accumulator (12), second service accumulator (13), third service accumulator (14), parking accumulator (15), main parking valve (16), first parking brake (17), second parking brake (18), parking switch valve (19), spare parking valve (20), second proportional brake valve (21), spare proportional brake valve (22), brake pump (23), safety valve (24), filter (25), stop valve (26), first pressure sensor MB1, second pressure sensor MB2, third pressure sensor MB3, fourth pressure sensor MB4, fifth pressure sensor MB5; The rear axle brake (9) is respectively connected to the output port of the second proportional brake valve (21) and the stop valve (26); The front axle brake (10) is respectively connected to the output port of the first proportional brake valve (11) and the stop valve (26); The input port of the first proportional brake valve (11) is in communication with the second driving accumulator (13), and the oil return port of the first proportional brake valve (11) is in communication with the filter (25) and then enters the oil return tank; The input port of the second proportional brake valve (21) is in communication with the third driving accumulator (14), and the oil return port of the second proportional brake valve (21) is in communication with the filter (25) and then enters the oil return tank; The stop valve (26) is connected to the output port of the standby proportional brake valve (22), the input port of the standby proportional brake valve (22) is connected to the third driving accumulator (14), and the oil return port of the standby proportional brake valve (22) is connected to the filter (25) and then enters the oil return tank; The output port of the main parking valve (16) is respectively connected to the first parking brake (17) and the second parking brake (18), the input port of the main parking valve (16) is connected to the parking accumulator (15), and the oil return port of the main parking valve (16) is connected to the filter (25) and then enters the oil return tank; The parking switch valve (19) is respectively connected to the first parking brake (17) and the second parking brake (18); The output port of the standby parking valve (20) is connected to the parking switch valve (19), the input port of the standby parking valve (20) is connected to the parking accumulator (15), and the oil return port of the standby parking valve (20) is connected to the filter (25) and then enters the oil return tank; The first driving accumulator (12), the second driving accumulator (13), the third driving accumulator (14), and the parking accumulator (15) are respectively connected to the brake pump (23); The first pressure sensor MB1 collects the oil pressure input to the front axle brake (10); The second pressure sensor MB2 collects the oil pressure input to the rear axle brake (9); The third pressure sensor MB3 collects the oil pressure input to the first parking brake (17) and the second parking brake (18); The fourth pressure sensor MB4 collects the oil pressure of the parking accumulator (15); The fifth pressure sensor MB5 collects the oil pressure of the first service accumulator (12), the second service accumulator (13), and the third service accumulator (14).

7. A control method for a wire control system with redundant safety according to claim 6, characterized in that: include: Obtain a braking command, perform electric braking according to the braking command, and simultaneously detect a deceleration V1 detected by a wheel speed sensor and a deceleration V2 detected by a vehicle braking deceleration sensor installed on the front side of the vehicle head; If V1≥A and V2≥A are established, the vehicle speed is monitored, and when the vehicle speed is ≤B, hydraulic service braking is performed, where A is the set deceleration threshold and B is the set vehicle speed threshold; If V1≥A and V2≥A is not true, hydraulic service braking is performed; After the hydraulic service brake, if V1≥A and V2≥A are established at this time, the vehicle will drive normally, otherwise, the parking brake will be applied; After parking brake, if V1≥A and V2≥A are established at this time, parking check is performed, otherwise electric braking and hydraulic service braking are performed.

8. The control method according to claim 7, characterized in that: The hydraulic service brake comprises: Obtaining a service brake control instruction and performing service brake redundant control includes the following steps: When a fault is detected in the first proportional brake valve (11) and the second proportional brake valve (21), the stop valve (26) remains closed, and the oil pressure output from the brake pump (23) is collected through the fourth pressure sensor MB4 and the fifth pressure sensor MB5; It is determined whether the oil pressure collected from the brake pump (23) is lower than a preset pressure threshold value, and if so, the motor of the brake pump (23) is started to drive the brake pump (23) to charge the oil into the first driving accumulator (12), the second driving accumulator (13), the third driving accumulator (14), and the parking accumulator (15), and the oil sequentially passes through the second driving accumulator (13) and the first proportional brake valve (11) to enter the front axle brake (10) for braking; the oil sequentially passes through the third driving accumulator (14) and the second proportional brake valve (21) to enter the rear axle brake (9) for braking; If not, the motor of the brake pump (23) is not started; When a fault is detected in the first proportional brake valve (11) and the second proportional brake valve (21), the motor of the brake pump (23) is started, and the oil is sequentially passed through the first service accumulator (12), the standby proportional brake valve (22) and the stop valve (26) by the brake pump (23) into the rear axle brake (9) for emergency service braking; Obtaining a service brake release control instruction and performing service brake release control includes the following steps: The first proportional brake valve (11) and the second proportional brake valve (21) are controlled to switch directions so that the oil returns to the oil tank, thereby completing the release of the service brake.

9. The control method according to claim 7, characterized in that: The parking brake comprises: Obtaining a parking release control instruction and performing parking release redundant control includes the following steps: When it is detected that the main parking valve (16) has no fault, the motor of the brake pump (23) is started, and the oil is sequentially passed through the parking accumulator (15) and the main parking valve (16) by the brake pump (23) into the first parking brake (17) and the second parking brake (18) to release the parking brake, and the parking switch valve (19) is closed and cut off; When a fault of the main parking valve (16) is detected, the parking switch valve (19) with a cut-off function is controlled to open, and the oil enters the first parking brake (17) and the second parking brake (18) in sequence through the parking switch valve (19) and the backup parking valve 20 to release the parking brake; Obtaining a parking control command and performing parking redundant control includes the following steps: When it is detected that the main parking valve (16) has no fault, the controller switches the main parking valve (16), and the oil returns to the oil tank through the first parking brake (17) and the second parking brake (18) via the main parking valve (16), and the parking switch valve (19) is closed and cut off; When a fault is detected in the main parking valve (16), the controller controls the backup parking valve (20) to switch direction, controls the parking switch valve (19) with a built-in cut-off function to open, and the oil returns to the oil tank through the first parking brake (17) and the second parking brake (18) via the backup parking valve (20).

10. The control method according to claim 7, characterized in that: Also includes: Acquiring the oil pressure of the front axle brake (10) collected by the first driving pressure sensor MB1, the oil pressure of the rear axle brake (9) collected by the driving pressure sensor MB2, and the parking oil pressure collected by the third pressure sensor MB3; When the oil pressure of the front axle brake (10) and the oil pressure of the rear axle brake (9) are lower than a first preset pressure value, an alarm is displayed, and emergency driving braking is performed by controlling the standby proportional brake valve (22) and the stop valve (26). If the pressure is still lower than the first preset pressure value, an alarm is issued to stop the vehicle; When the parking oil pressure is lower than the second preset pressure value, an alarm is displayed, and the parking switch valve (19) and the backup parking valve (20) are controlled to perform parking and release the parking function. If the pressure is still lower than the second preset pressure value, an alarm is issued to stop the vehicle.

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