Mining dump truck, steer-by-wire system and steer-by-wire method

Abstract

The invention discloses a drive-by-wire steering system of a mining dump truck. The drive-by-wire steering system comprises a touch feedback device, a steering control valve, a steering mechanism, a steering angle sensor, a vehicle speed sensor and a controller. The touch feedback device is arranged on the lower portion of the steering wheel, connected with the controller through a CAN bus and used for detecting the rotation angle of the steering wheel and sending a generated rotation angle signal to the controller; the steering control valve is connected with the signal input end of the steering mechanism through a signal line and connected with the controller through a CAN bus, and an output port of the steering control valve is connected with the steering mechanism through a pipeline, receives control signals of the controller and outputs hydraulic flow to the steering mechanism. And the controller forms a control signal according to the deflection angle signal and the driving speed signal. The invention further discloses a mining dump truck and a steer-by-wire method. A hydraulic physical pipeline between the steering wheel and the steering valve is omitted, and steering is achieved in a drive-by-wire mode.

Description

Technical Field

[0001] The invention belongs to the technical field of wire-controlled steering for mining dump trucks, and in particular relates to a wire-controlled steering truck, a wire-controlled steering system and a wire-controlled steering method. Background Art

[0002] Mining dump trucks are off-road dump trucks, mainly used for large open-pit mines and the transportation of mineral materials. Electric wheel mining dump trucks are mainly composed of a frame, a power system, a travel system, an electrical system and a hydraulic system. The hydraulic steering system is an important component of the electric wheel mining dump truck, and plays a vital role in the vehicle's controllability and safety.

[0003] With the development of unmanned driving technology and intelligent construction of mining areas in recent years, the wire-controlled steering technology of mining dump trucks has become increasingly mature. Some mining truck manufacturers at home and abroad have successively released intelligent mining truck products, which have greatly improved transportation efficiency. The traditional mining truck hydraulic steering system can no longer meet the requirements of new mining trucks, and safety also needs to be greatly improved. Summary of the invention

[0004] The object of the present invention is to provide a mining dump truck, a wire-controlled steering system and a wire-controlled steering method, which eliminate the hydraulic physical pipeline between the steering wheel and the steering valve and realize steering by wire control.

[0005] To achieve the above purpose, the technical solution used in the present invention is:

[0006] A wire-controlled steering system, including: a tactile feedback device, a steering control valve, a steering mechanism, a steering angle sensor, a vehicle speed sensor, and a controller;

[0007] The tactile feedback device is arranged at the lower part of the steering wheel and is connected to the controller via the CAN bus, and is used to detect the rotation angle of the steering wheel and send the generated rotation angle signal to the controller;

[0008] The steering control valve is connected to the signal input terminal of the steering mechanism through a signal line, is connected to the controller through a CAN bus, and has an output port connected to the steering mechanism through a pipeline, receives a control signal from the controller, and outputs hydraulic flow to the steering mechanism;

[0009] A steering mechanism that generates steering action of the wheels according to the hydraulic flow;

[0010] A steering angle sensor, connected to the signal input terminal of the controller via a signal line, is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0011] A vehicle speed sensor is connected to the signal input terminal of the controller through a signal line, and is used to detect the vehicle's driving speed and send the generated driving speed signal to the controller;

[0012] The controller generates a control signal according to the deflection angle signal and the driving speed signal.

[0013] Furthermore, the controller generates a torque feedback signal according to the rotation angle, the deflection angle, and the driving speed, and the tactile feedback device generates an output torque according to the torque feedback signal and applies the output torque to the steering wheel.

[0014] Furthermore, the tactile feedback device is mechanically connected to the steering wheel, and the controller controls the steering control valve to drive the steering mechanism to achieve steering.

[0015] Furthermore, the controller controls the steering control valve to output hydraulic flow to the steering mechanism according to the rotation angle to realize the steering action; at the same time, the controller forms a torque feedback according to the deflection angle of the rotation angle sensor and the driving speed of the vehicle speed sensor, and the tactile feedback device forms an output torque according to the torque feedback, and the output torque acts on the steering wheel.

[0016] Furthermore, the steering control valve adopts an electric proportional dual-path dual-redundancy form.

[0017] Furthermore, the tactile feedback device generates output torques of different magnitudes according to different torque feedback signals, and the torque feedback signal is a current signal.

[0018] A mining dump truck comprises a steering mechanism, a steering wheel and a wire-controlled steering system for the mining dump truck. A tactile feedback device is installed below the steering wheel. An input port of the steering mechanism is connected to an output port of a steering control valve through a pipeline.

[0019] A steer-by-wire method, comprising:

[0020] The driver turns the steering wheel, and the tactile feedback device installed under the steering wheel detects the steering wheel's rotation angle and sends the generated rotation angle signal to the controller;

[0021] When the steering mechanism is in motion, the steering angle sensor detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor detects the vehicle's running speed and generates a running speed signal, and transmits the deflection angle signal and the running speed signal to the controller;

[0022] The controller forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve; the steering control valve adjusts the opening according to the control signal and outputs the hydraulic flow to the steering mechanism, and the steering mechanism generates a steering action to the steering mechanism according to the hydraulic flow.

[0023] Preferably, the controller forms a torque feedback signal according to the rotation angle signal, the deflection angle signal, and the driving speed signal, and sends the torque feedback signal to the tactile feedback device; the tactile feedback device forms an output torque according to the torque feedback signal, and applies the output torque to the steering wheel.

[0024] Preferably, the tactile feedback device is limited at the extreme position. When the vehicle speed exceeds a set value, the controller increases the steering ratio. When the vehicle speed is lower than a set value, the controller reduces the steering ratio. The tactile feedback device adjusts the output torque according to the adjusted torque feedback signal.

[0025] The technical effects of the present invention include:

[0026] 1. The present invention eliminates the traditional steering column, hydraulic steering gear and cab hydraulic pipeline, reduces cab noise, increases cab space, reduces cab parts and reduces maintenance costs.

[0027] The traditional hydraulic steering gear and hydraulic pipelines are eliminated between the steering wheel and the steering control valve, and only the hydraulic pipelines are retained between the steering control valve and the steering mechanism.

[0028] 2. The tactile feedback device of the present invention can provide a certain torque feedback according to the current signal, make automatic adjustments according to data such as vehicle speed and turning angle, and realize a variable steering ratio of the mine car.

[0029] 3. The present invention improves the maneuverability of the mine car and provides technical support for unmanned mine cars.

[0030] 4. The present invention takes into account both manned and unmanned modes. In the case of manned driving, torque feedback is provided to the driver to improve the controllability and intelligence of the mining car.

[0031] A tactile feedback device is installed under the steering wheel, which can detect the steering wheel angle signal and output the signal to the steering control valve. The steering control valve controls the steering mechanism to realize the steering action. At the same time, the tactile feedback device can provide torque feedback to the driver according to data such as vehicle speed and vehicle turning angle, and realize different steering ratios to meet different road conditions. This solution not only greatly improves the comfort and customization of steering operation, but also further improves the steering efficiency and accuracy, and effectively promotes the efficient, intelligent and unmanned operation of mining vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the wire control steering system in the present invention.

[0033] Among them: 1. Steering wheel; 2. Tactile feedback device; 3. Steering control valve; 4. Steering mechanism; 5. Angle sensor; 6. Vehicle speed sensor; 7. Controller. DETAILED DESCRIPTION

[0034] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0035] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0036] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0037] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0038] Unless otherwise stated, the term "plurality" means two or more.

[0039] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0040] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0041] It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other. The following description fully illustrates the specific embodiments of the present invention so that those skilled in the art can practice and reproduce.

[0042] like Figure 1 , which is a schematic diagram of the structure of the wire-controlled steering system of the present invention.

[0043] The wire-controlled steering system comprises: a steering wheel 1, a tactile feedback device 2, a steering control valve 3, a steering mechanism 4, a steering angle sensor 5, a vehicle speed sensor 6, and a controller 7;

[0044] The tactile feedback device 2 is arranged at the lower part of the steering wheel 1 and connected to the controller 7 via the CAN bus, and is used to detect the rotation angle of the steering wheel 1, send the generated rotation angle signal to the controller 7, form an output torque according to the torque feedback signal, and apply the output torque to the steering wheel 1;

[0045] The steering wheel 1 is a traditional steering wheel installed at the front of the cab. A tactile feedback device 2 is arranged below the steering wheel 1. The tactile feedback device 2 is used to detect the rotation angle of the steering wheel 1, generate a rotation angle signal and send it to the controller 7 to provide torque for the steering wheel 1.

[0046] The steering control valve 3 is connected to the signal input end of the steering mechanism 4 through a signal line, is connected to the controller 7 through a CAN bus, and has an output port connected to the steering mechanism 4 through a pipeline, receives a control signal from the controller 7, and outputs a hydraulic flow to the steering mechanism 4;

[0047] Steering mechanism 4, generates steering action according to hydraulic flow and sends it to the steering system;

[0048] The steering angle sensor 5 is connected to the signal input terminal of the controller 7 via a signal line, and is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0049] The vehicle speed sensor 6 is connected to the signal input terminal of the controller 7 through a signal line, and is used to detect the driving speed of the vehicle and send the generated driving speed signal to the controller 7;

[0050] The controller 7 generates a torque feedback signal and a torque feedback according to the rotation angle, the deflection angle and the driving speed; and generates a control signal according to the deflection angle signal and the driving speed signal.

[0051] When the steering wheel 1 rotates to form a rotation angle, the controller 7 will control the steering control valve 3 to output hydraulic flow to the steering mechanism 4 according to the rotation angle to realize the steering action; at the same time, the controller 7 forms a torque feedback according to the deflection angle of the angle sensor 5 and the driving speed of the vehicle speed sensor 6, and the tactile feedback device 2 forms an output torque according to the torque feedback, and the output torque acts on the steering wheel 1 to remind the driver of the steering degree.

[0052] The steering wheel 1 and the tactile feedback device 2 are mechanically connected, and the traditional hydraulic steering gear and hydraulic pipeline are eliminated in the front of the cab. A tactile feedback device is installed under the steering wheel 1, which can detect the angle signal of the steering wheel and control the steering control valve 3 through the controller 7 to drive the steering mechanism to achieve steering.

[0053] The steering control valve 3 is of electric proportional dual-circuit dual-redundancy type to ensure operational safety.

[0054] The tactile feedback device 2 can form output torques of different magnitudes according to different torque feedbacks (current signals), thereby improving the controllability of the mining vehicle.

[0055] The steering mechanism 4 is provided with a steering angle sensor 5 and a vehicle speed sensor 6 to provide signal basis for the controller 1 .

[0056] The steps of the wire steering method are as follows:

[0057] Step 1: The driver turns the steering wheel 1, and the tactile feedback device 2 installed under the steering wheel detects the rotation angle of the steering wheel 1 and sends the generated rotation angle signal to the controller 7;

[0058] Step 2: When the steering mechanism 4 is in motion, the steering angle sensor 5 detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor 6 detects the vehicle speed and generates a driving speed signal, and transmits the deflection angle signal and the driving speed signal to the controller 7;

[0059] Step 3: The controller 7 generates a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve 3; the steering control valve 3 adjusts the opening according to the control signal, outputs the hydraulic flow to the steering mechanism 4, and the steering mechanism 4 generates a steering action according to the hydraulic flow.

[0060] Step 4: The controller 7 forms a torque feedback signal according to the rotation angle signal, the deflection angle signal, and the driving speed signal, and sends the torque feedback signal to the tactile feedback device 2; the tactile feedback device 2 forms an output torque according to the torque feedback signal, and applies the output torque to the steering wheel 1.

[0061] The tactile feedback device 2 provides an output torque for the steering wheel 1 to adapt to different drivers, or to limit the position at the extreme position.

[0062] In addition, when the vehicle speed exceeds a certain value, the tactile feedback device 2 is controlled according to the torque feedback signal to increase the steering ratio, adjust the output torque, and improve the driving stability of the mine car; when the vehicle speed is lower than a certain value, the steering ratio is reduced to improve the driving stability of the mine car and increase the turning controllability; when no one is driving, the controller 7 directly controls the steering control valve 3 to perform steering action without feeding back the output torque to the steering wheel 1.

[0063] Example 1: Unmanned driving mode

[0064] The wire-controlled steering system comprises: a steering wheel 1, a tactile feedback device 2, a steering control valve 3, a steering mechanism 4, a steering angle sensor 5, a vehicle speed sensor 6, and a controller 7;

[0065] The steering wheel 1 is a traditional steering wheel installed at the front of the cab. A tactile feedback device 2 is arranged below the steering wheel 1 . The tactile feedback device 2 is used to detect the rotation angle of the steering wheel 1 , generate a rotation angle signal and send it to the controller 7 .

[0066] The tactile feedback device 2 is disposed at the lower part of the steering wheel 1 and connected to the controller 7 via a CAN bus. The device is used for detecting a rotation angle signal of the steering wheel 1 and sending the generated rotation angle signal to the controller 7 .

[0067] The steering control valve 3 is connected to the signal input end of the steering mechanism 4 through a signal line, is connected to the controller 7 through a CAN bus, and has an output port connected to the steering mechanism 4 through a pipeline, receives a control signal from the controller 7, and outputs a hydraulic flow to the steering mechanism 4;

[0068] A steering mechanism 4 generates a steering action according to the hydraulic flow;

[0069] The steering angle sensor 5 is connected to the signal input terminal of the controller 7 via a signal line, and is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0070] The vehicle speed sensor 6 is connected to the signal input terminal of the controller 7 through a signal line, and is used to detect the driving speed of the vehicle and send the generated driving speed signal to the controller 7;

[0071] The controller 7 generates a control signal according to the deflection angle signal and the driving speed signal.

[0072] When the steering wheel 1 rotates to form a rotation angle, the controller 7 controls the steering control valve 3 to output hydraulic flow to the steering mechanism 4 according to the rotation angle to achieve the steering action.

[0073] The steering wheel 1 and the tactile feedback device 2 are mechanically connected, and the traditional hydraulic steering gear and hydraulic pipeline are eliminated at the front of the cab.

[0074] The steering control valve 3 is of electric proportional dual-circuit dual-redundancy type to ensure operational safety.

[0075] The steering mechanism 4 is provided with a steering angle sensor 5 and a vehicle speed sensor 6 to provide signal basis for the controller 1 .

[0076] The steps of the wire steering method are as follows:

[0077] Step 1: The driver turns the steering wheel 1, and the tactile feedback device 2 installed under the steering wheel detects the rotation angle of the steering wheel 1 and sends the generated rotation angle signal to the controller 7;

[0078] Step 2: When the steering mechanism 4 is in motion, the steering angle sensor 5 detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor 6 detects the vehicle speed and generates a driving speed signal, and transmits the deflection angle signal and the driving speed signal to the controller 7;

[0079] Step 3: The controller 7 forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve 3; the steering control valve 3 adjusts the opening according to the control signal, outputs the hydraulic flow to the steering mechanism 4, and the steering mechanism 4 generates a steering action according to the hydraulic flow.

[0080] Embodiment 2: In manned driving mode, the vehicle speed exceeds 30 km / h.

[0081] The wire-controlled steering system comprises: a steering wheel 1, a tactile feedback device 2, a steering control valve 3, a steering mechanism 4, a steering angle sensor 5, a vehicle speed sensor 6, and a controller 7;

[0082] The tactile feedback device 2 is arranged at the lower part of the steering wheel 1 and connected to the controller 7 via the CAN bus, and is used to detect the rotation angle signal of the steering wheel 1 and send the generated rotation angle signal to the controller 7; form an output torque according to the torque feedback signal, and apply the output torque to the steering wheel 1;

[0083] The steering control valve 3 is connected to the signal input end of the steering mechanism 4 through a signal line, is connected to the controller 7 through a CAN bus, and has an output port connected to the steering mechanism 4 through a pipeline, receives a control signal from the controller 7, and outputs a hydraulic flow to the steering mechanism 4;

[0084] A steering mechanism 4 generates a steering action according to the hydraulic flow;

[0085] The steering angle sensor 5 is connected to the signal input terminal of the controller 7 via a signal line, and is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0086] The vehicle speed sensor 6 is connected to the signal input terminal of the controller 7 through a signal line, and is used to detect the driving speed of the vehicle and send the generated driving speed signal to the controller 7;

[0087] The controller 7 generates a torque feedback signal according to the rotation angle, the deflection angle and the driving speed, controls the tactile feedback device 2 to increase the steering ratio, and generates a control signal according to the deflection angle signal and the driving speed signal.

[0088] When the vehicle speed exceeds 30 km / h, the controller 7 controls the tactile feedback device 2 to increase the steering ratio and adjust the output torque according to the torque feedback signal to improve the driving stability of the mining vehicle.

[0089] The steering ratio refers to the ratio of the steering wheel 1 turning angle to the wheel's deflection angle. For example, if the steering wheel is turned 60° to the left and the wheel is turned 30° to the left, the steering ratio is 2:1. The larger the steering ratio, the greater the steering wheel 1 needs to be turned to achieve a specified distance. The larger the steering ratio, the less effort is required to turn the steering wheel, and the more effort is saved.

[0090] When the steering wheel 1 rotates to form a rotation angle, the controller 7 will control the steering control valve 3 to output hydraulic flow to the steering mechanism 4 according to the rotation angle to achieve the steering action; at the same time, the controller 7 forms a torque feedback according to the deflection angle of the angle sensor 5 and the driving speed of the vehicle speed sensor 6 to increase the steering ratio. The steering ratio refers to the ratio of the steering angle of the steering wheel 1 to the deflection angle of the wheel. The tactile feedback device 2 forms an output torque according to the torque feedback, and the output torque acts on the steering wheel 1 to remind the driver of the steering degree.

[0091] The steering wheel 1 and the tactile feedback device 2 are mechanically connected, and the traditional hydraulic steering gear and hydraulic pipeline are eliminated in the front of the cab. A tactile feedback device is installed under the steering wheel 1, which can detect the angle signal of the steering wheel and control the steering control valve 3 through the controller 7 to drive the steering mechanism to achieve steering.

[0092] The steering control valve 3 is of electric proportional dual-circuit dual-redundancy type to ensure operational safety.

[0093] The tactile feedback device 2 can form output torques of different magnitudes according to different torque feedbacks (current signals), thereby improving the controllability of the mining vehicle.

[0094] The steering mechanism 4 is provided with a steering angle sensor 5 and a vehicle speed sensor 6 to provide signal basis for the controller 1 .

[0095] The steps of the wire steering method are as follows:

[0096] Step 1: The driver turns the steering wheel 1, and the tactile feedback device 2 installed under the steering wheel detects the rotation angle of the steering wheel 1 and sends the generated rotation angle signal to the controller 7;

[0097] Step 2: When the steering mechanism 4 is in motion, the steering angle sensor 5 detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor 6 detects the vehicle speed and generates a driving speed signal, and transmits the deflection angle signal and the driving speed signal to the controller 7;

[0098] Step 3: The controller 7 forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve 3; the steering control valve 3 adjusts the opening according to the control signal, outputs the hydraulic flow to the steering mechanism 4, and the steering mechanism 4 generates a steering action according to the hydraulic flow.

[0099] Step 4: The controller 7 forms a torque feedback signal according to the rotation angle signal, the deflection angle signal, and the driving speed signal, controls the tactile feedback device 2 to increase the steering ratio, and sends the torque feedback signal to the tactile feedback device 2; the tactile feedback device 2 forms an output torque according to the torque feedback signal, and applies the output torque to the steering wheel 1.

[0100] The tactile feedback device 2 provides an output torque for the steering wheel 1 to adapt to different drivers, or to limit the position at the extreme position.

[0101] Embodiment 3: Manned driving mode, the vehicle speed is lower than 30km / h.

[0102] The wire-controlled steering system comprises: a steering wheel 1, a tactile feedback device 2, a steering control valve 3, a steering mechanism 4, a steering angle sensor 5, a vehicle speed sensor 6, and a controller 7;

[0103] The steering wheel 1 is a traditional steering wheel installed at the front of the cab. A tactile feedback device 2 is arranged under the steering wheel 1. The tactile feedback device 2 is used to detect the rotation angle of the steering wheel 1, generate a rotation angle signal and send it to the controller 7; provide torque for the steering wheel 1, and provide the rotation angle for the controller 7.

[0104] The tactile feedback device 2 is arranged at the lower part of the steering wheel 1 and connected to the controller 7 via the CAN bus, and is used to detect the rotation angle signal of the steering wheel 1, send the generated rotation angle signal to the controller 7, form an output torque according to the torque feedback signal, and apply the output torque to the steering wheel 1;

[0105] The steering control valve 3 is connected to the signal input end of the steering mechanism 4 through a signal line, is connected to the controller 7 through a CAN bus, and has an output port connected to the steering mechanism 4 through a pipeline, receives a control signal from the controller 7, and outputs a hydraulic flow to the steering mechanism 4;

[0106] A steering mechanism 4 generates a steering action according to the hydraulic flow;

[0107] The steering angle sensor 5 is connected to the signal input terminal of the controller 7 via a signal line, and is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0108] The vehicle speed sensor 6 is connected to the signal input terminal of the controller 7 through a signal line, and is used to detect the driving speed of the vehicle and send the generated driving speed signal to the controller 7;

[0109] The controller 7 generates a torque feedback signal according to the rotation angle, the deflection angle and the driving speed, controls the tactile feedback device 2 to reduce the steering ratio, and generates a control signal according to the deflection angle signal and the driving speed signal.

[0110] When the vehicle speed is lower than 30km / h, the steering ratio is reduced to improve the driving stability of the mine car and increase the turning maneuverability; the steering ratio refers to the ratio of the steering wheel 1 turning angle to the wheel deflection angle. When the steering wheel 1 turns to form a turning angle, the controller 7 will control the steering control valve 3 to output the hydraulic flow to the steering mechanism 4 according to the turning angle to achieve the steering action; at the same time, the controller 7 forms a torque feedback according to the deflection angle of the turning angle sensor 5 and the driving speed of the vehicle speed sensor 6, reducing the steering ratio, and the tactile feedback device 2 forms an output torque according to the torque feedback, and the output torque acts on the steering wheel 1 to remind the driver of the steering degree.

[0111] The steering wheel 1 and the tactile feedback device 2 are mechanically connected, and the traditional hydraulic steering gear and hydraulic pipeline are eliminated in the front of the cab. A tactile feedback device is installed under the steering wheel 1, which can detect the angle signal of the steering wheel and control the steering control valve 3 through the controller 7 to drive the steering mechanism to achieve steering.

[0112] The steering control valve 3 is of electric proportional dual-circuit dual-redundancy type to ensure operational safety.

[0113] The tactile feedback device 2 can form output torques of different magnitudes according to different torque feedbacks (current signals), thereby improving the controllability of the mining vehicle.

[0114] The steering mechanism 4 is provided with a steering angle sensor 5 and a vehicle speed sensor 6 to provide signal basis for the controller 1 .

[0115] The steps of the wire steering method are as follows:

[0116] Step 1: The driver turns the steering wheel 1, and the tactile feedback device 2 installed under the steering wheel detects the rotation angle of the steering wheel 1 and sends the generated rotation angle signal to the controller 7;

[0117] Step 2: When the steering mechanism 4 is in motion, the steering angle sensor 5 detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor 6 detects the vehicle speed and generates a driving speed signal, and transmits the deflection angle signal and the driving speed signal to the controller 7;

[0118] Step 3: The controller 7 forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve 3; the steering control valve 3 adjusts the opening according to the control signal, outputs the hydraulic flow to the steering mechanism 4, and the steering mechanism 4 generates a steering action according to the hydraulic flow.

[0119] Step 4: The controller 7 forms a torque feedback signal according to the rotation angle signal, the deflection angle signal, and the driving speed signal, controls the tactile feedback device 2 to reduce the steering ratio, and sends the torque feedback signal to the tactile feedback device 2; the tactile feedback device 2 forms an output torque according to the torque feedback signal, and applies the output torque to the steering wheel 1.

[0120] The tactile feedback device 2 provides an output torque for the steering wheel 1 to adapt to different drivers, or to limit the position at the extreme position.

[0121] Embodiment 4: In manned driving mode, the steering wheel 1 is rotated to the maximum left turn position.

[0122] The wire-controlled steering system comprises: a steering wheel 1, a tactile feedback device 2, a steering control valve 3, a steering mechanism 4, a steering angle sensor 5, a vehicle speed sensor 6, and a controller 7;

[0123] The tactile feedback device 2 is arranged at the lower part of the steering wheel 1 and is connected to the controller 7 via the CAN bus, and is used to detect the rotation angle signal of the steering wheel 1; when the steering wheel 1 is rotated to the maximum left turn position, the tactile feedback device 2 locks the rotation angle and generates a rotation angle locking signal to the controller 7; at the same time, a locking output torque is formed according to the torque feedback locking signal, and the output torque is applied to the steering wheel 1;

[0124] The steering control valve 3 is connected to the signal input end of the steering mechanism 4 through a signal line, is connected to the controller 7 through a CAN bus, and has an output port connected to the steering mechanism 4 through a pipeline, receives a left locking control signal from the controller 7, and outputs a set hydraulic flow to the steering mechanism 4;

[0125] The steering mechanism 4 generates a steering action according to a set hydraulic flow; the hydraulic flow is set to avoid damage to the steering mechanism 4.

[0126] The steering angle sensor 5 is connected to the signal input terminal of the controller 7 via a signal line, and is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0127] The vehicle speed sensor 6 is connected to the signal input terminal of the controller 7 through a signal line, and is used to detect the driving speed of the vehicle and send the generated driving speed signal to the controller 7;

[0128] The controller 7 generates a torque feedback locking signal according to the angle locking signal and sends it to the tactile feedback device 2 , and generates a left locking control signal and sends it to the steering control valve 3 .

[0129] When the steering wheel 1 rotates to form a rotation angle, the controller 7 controls the steering control valve 3 to output the set hydraulic flow to the steering mechanism 4 according to the angle locking signal, so as to lock the steering action; at the same time, the tactile feedback device 2 forms a locking output torque according to the torque feedback locking signal, and the locking output torque acts on the steering wheel 1 to remind the driver of the steering degree.

[0130] The steering wheel 1 and the tactile feedback device 2 are mechanically connected, and the traditional hydraulic steering gear and hydraulic pipeline are eliminated in the front of the cab. A tactile feedback device is installed under the steering wheel 1, which can detect the angle signal of the steering wheel and control the steering control valve 3 through the controller 7 to drive the steering mechanism to achieve steering.

[0131] The steering control valve 3 is of electric proportional dual-circuit dual-redundancy type to ensure operational safety.

[0132] The tactile feedback device 2 can form output torques of different magnitudes according to different torque feedbacks (current signals), thereby improving the controllability of the mining vehicle.

[0133] The steering mechanism 4 is provided with a steering angle sensor 5 and a vehicle speed sensor 6 to provide signal basis for the controller 1 .

[0134] The steps of the wire steering method are as follows:

[0135] Step 1: The driver turns the steering wheel 1 to the maximum left turn position, and the tactile feedback device 2 installed under the steering wheel detects the rotation angle of the steering wheel 1 and sends the generated rotation angle signal to the controller 7;

[0136] Step 2: When the steering mechanism 4 is in motion, the steering angle sensor 5 detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor 6 detects the vehicle speed and generates a driving speed signal, and transmits the deflection angle signal and the driving speed signal to the controller 7;

[0137] Step 3: The controller 7 forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve 3;

[0138] The controller 7 forms a torque feedback locking signal according to the angle locking signal and sends it to the tactile feedback device 2, generates a left locking control signal and sends it to the steering control valve 3, the steering control valve 3 locks the opening according to the left locking control signal, outputs the hydraulic flow to the steering mechanism 4, and the steering mechanism 4 generates a steering action according to the set hydraulic flow.

[0139] Step 4: the controller 7 forms a torque feedback signal according to the torque feedback locking signal, and sends the torque feedback signal to the tactile feedback device 2 ; the tactile feedback device 2 forms a locking output torque according to the torque feedback signal, and applies the locking output torque to the steering wheel 1 .

[0140] Embodiment 5: In manned driving mode, the steering wheel 1 is rotated to the maximum right turn position.

[0141] The wire-controlled steering system comprises: a steering wheel 1, a tactile feedback device 2, a steering control valve 3, a steering mechanism 4, a steering angle sensor 5, a vehicle speed sensor 6, and a controller 7;

[0142] The tactile feedback device 2 is arranged at the lower part of the steering wheel 1 and is connected to the controller 7 via the CAN bus, and is used to detect the rotation angle signal of the steering wheel 1; when the steering wheel 1 is rotated to the maximum right turn position, the tactile feedback device 2 locks the rotation angle and generates a rotation angle locking signal to the controller 7; at the same time, a locking output torque is formed according to the torque feedback locking signal, and the output torque is applied to the steering wheel 1;

[0143] The steering control valve 3 is connected to the signal input end of the steering mechanism 4 through a signal line, is connected to the controller 7 through a CAN bus, and has an output port connected to the steering mechanism 4 through a pipeline, receives a right locking control signal from the controller 7, and outputs a set hydraulic flow to the steering mechanism 4;

[0144] The steering mechanism 4 generates a steering action according to a set hydraulic flow; the hydraulic flow is set to avoid damage to the steering mechanism 4.

[0145] The steering angle sensor 5 is connected to the signal input terminal of the controller 7 via a signal line, and is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7;

[0146] The vehicle speed sensor 6 is connected to the signal input terminal of the controller 7 through a signal line, and is used to detect the driving speed of the vehicle and send the generated driving speed signal to the controller 7;

[0147] The controller 7 generates a torque feedback locking signal according to the angle locking signal and sends it to the tactile feedback device 2 , and generates a right locking control signal and sends it to the steering control valve 3 .

[0148] The steering wheel 1 and the tactile feedback device 2 are mechanically connected, and the traditional hydraulic steering gear and hydraulic pipeline are eliminated in the front of the cab. A tactile feedback device is installed under the steering wheel 1. This device can detect the angle signal of the steering wheel and control the steering control valve 3 through the controller 7 to drive the steering mechanism to achieve steering. When the steering wheel 1 rotates to form a rotation angle, the controller 7 controls the steering control valve 3 to output the set hydraulic flow to the steering mechanism 4 according to the angle locking signal to achieve steering action locking; at the same time, the tactile feedback device 2 forms a locking output torque according to the torque feedback locking signal, and the locking output torque acts on the steering wheel 1 to remind the driver of the steering degree.

[0149] The steering control valve 3 is of electric proportional dual-circuit dual-redundancy type to ensure operational safety.

[0150] The tactile feedback device 2 can form output torques of different magnitudes according to different torque feedbacks (current signals), thereby improving the controllability of the mining vehicle.

[0151] The steering mechanism 4 is provided with a steering angle sensor 5 and a vehicle speed sensor 6 to provide signal basis for the controller 1 .

[0152] The steps of the wire steering method are as follows:

[0153] Step 1: The driver turns the steering wheel 1 to the maximum right turn position, and the tactile feedback device 2 installed under the steering wheel detects the rotation angle of the steering wheel 1 and sends the generated rotation angle signal to the controller 7;

[0154] Step 2: When the steering mechanism 4 is in motion, the steering angle sensor 5 detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor 6 detects the vehicle speed and generates a driving speed signal, and transmits the deflection angle signal and the driving speed signal to the controller 7;

[0155] Step 3: The controller 7 forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve 3;

[0156] The controller 7 forms a torque feedback locking signal according to the angle locking signal and sends it to the tactile feedback device 2, generates a right locking control signal and sends it to the steering control valve 3, the steering control valve 3 locks the opening according to the right locking control signal, outputs the hydraulic flow to the steering mechanism 4, and the steering mechanism 4 generates a steering action according to the set hydraulic flow.

[0157] Step 4: the controller 7 forms a torque feedback signal according to the torque feedback locking signal, and sends the torque feedback signal to the tactile feedback device 2 ; the tactile feedback device 2 forms a locking output torque according to the torque feedback signal, and applies the locking output torque to the steering wheel 1 .

[0158] The terms used in the present invention are illustrative and exemplary, rather than restrictive. Since the present invention can be implemented in various forms without departing from the spirit or essence of the technical solution, it should be understood that the above embodiments are not limited to any of the aforementioned details, but should be widely interpreted within the spirit and scope defined by the attached claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the attached claims.

Claims

1. A steer-by-wire system, characterized in that: include: Tactile feedback device, steering control valve, steering mechanism, steering angle sensor, vehicle speed sensor, controller; The tactile feedback device is arranged at the lower part of the steering wheel and is connected to the controller via the CAN bus, and is used to detect the rotation angle of the steering wheel and send the generated rotation angle signal to the controller; The steering control valve is connected to the signal input terminal of the steering mechanism through a signal line, is connected to the controller through a CAN bus, and has an output port connected to the steering mechanism through a pipeline, receives a control signal from the controller, and outputs hydraulic flow to the steering mechanism; A steering mechanism that generates steering movement of the wheels according to the hydraulic flow; A steering angle sensor, connected to the signal input terminal of the controller via a signal line, is used to detect the deflection angle of the wheel and send the generated deflection angle signal to the controller 7; A vehicle speed sensor is connected to the signal input terminal of the controller through a signal line, and is used to detect the vehicle's driving speed and send the generated driving speed signal to the controller; The controller generates a control signal according to the deflection angle signal and the driving speed signal.

2. The steer-by-wire system according to claim 1, wherein: The controller generates a torque feedback signal according to the rotation angle, the deflection angle and the driving speed. The tactile feedback device generates an output torque according to the torque feedback signal and applies the output torque to the steering wheel.

3. The steer-by-wire system according to claim 1, wherein: The tactile feedback device is mechanically connected to the steering wheel, and controls the steering control valve through a controller to drive the steering mechanism to achieve steering.

4. The steer-by-wire system according to claim 1, wherein: The controller controls the steering control valve to output hydraulic flow to the steering mechanism according to the rotation angle to realize the steering action; at the same time, the controller forms torque feedback according to the deflection angle of the rotation angle sensor and the driving speed of the vehicle speed sensor, and the tactile feedback device forms output torque according to the torque feedback, and the output torque acts on the steering wheel.

5. The steer-by-wire system according to claim 1, wherein: The steering control valve adopts an electric proportional dual-circuit dual-redundancy form.

6. The steer-by-wire system according to claim 1, wherein: The tactile feedback device generates output torques of different magnitudes according to different torque feedback signals, and the torque feedback signal is a current signal.

7. A mining dump truck, comprising: A steering mechanism and a steering wheel, characterized in that it comprises: a wire-controlled steering system as described in any one of claims 1 to 6, a tactile feedback device installed below the steering wheel, and an input port of the steering mechanism is connected to an output port of a steering control valve through a pipeline.

8. The wire-controlled steering method for a mining dump truck according to claim 7, characterized in that: include: The driver turns the steering wheel, and the tactile feedback device installed under the steering wheel detects the steering wheel's rotation angle and sends the generated rotation angle signal to the controller; When the steering mechanism is in motion, the steering angle sensor detects the deflection angle of the wheel and generates a deflection angle signal; the vehicle speed sensor detects the vehicle's running speed and generates a running speed signal, and transmits the deflection angle signal and the running speed signal to the controller; The controller forms a control signal according to the deflection angle signal and the driving speed signal, and sends the control signal to the steering control valve; the steering control valve adjusts the opening according to the control signal and outputs the hydraulic flow to the steering mechanism, and the steering mechanism generates a steering action to the steering mechanism according to the hydraulic flow.

9. The steer-by-wire method according to claim 8, wherein: The controller forms a torque feedback signal according to the rotation angle signal, the deflection angle signal and the driving speed signal, and sends the torque feedback signal to the tactile feedback device; The tactile feedback device forms an output torque according to the torque feedback signal and applies the output torque to the steering wheel.

10. The steer-by-wire method according to claim 9, wherein: The tactile feedback device is limited at the extreme position. When the vehicle speed exceeds the set value, the controller increases the steering ratio. When the vehicle speed is lower than the set value, the controller reduces the steering ratio. The tactile feedback device adjusts the output torque according to the adjusted torque feedback signal.

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