Electric emergency steering system, control method and engineering vehicle

Abstract

The invention relates to the technical field of engineering vehicles, and discloses an electric emergency steering system, a control method and an engineering vehicle. The electric emergency steering system comprises a power-assisted steering module, a power supply module, a signal detection module and a control module. The power-assisted steering module comprises an electric steering gear box and an electric power-assisted cylinder; the power supply module comprises a generator, an electric emergency brake and an emergency energy storage power supply, the electric emergency brake is electrically connected with the electric steering gear, the power supply end of the generator and the power supply end of the emergency energy storage power supply, and the emergency energy storage power supply is electrically connected with the generator; and the control module is configured to control the electric emergency brake to be switched to the emergency energy storage power supply for power supply when the working signal of the engine detected by the signal detection module is an abnormal stop signal, the working signal of the generator is an abnormal stop signal and the pressure of the vertical oil cylinder is lower than a preset pressure value. The electric emergency steering system is good in stability, simple in layout, small in occupied space, free of energy waste and high in adaptability.

Description

Technical Field

[0001] This application belongs to the technical field of engineering vehicles, and specifically relates to an electric emergency steering system, a control method, and an engineering vehicle. Background Art

[0002] In the existing crane steering system, a hydraulically driven steering emergency system is usually adopted. Its main structure includes a mechanical steering gear, an angular displacement sensor, an emergency steering valve, a chassis steering pump, and an emergency steering pump. The mechanical steering gear is connected to the steering wheel and the angular displacement sensor, and the hydraulic part is connected to the emergency steering valve and is connected to the chassis steering pump and the emergency steering pump. When driving normally, the chassis steering pump provides high-pressure oil to flow to the emergency steering valve, and the flow direction of the high-pressure oil is controlled through the mechanical steering gear, thereby controlling the telescopic direction of the steering assist cylinder to achieve the left or right turn of the vehicle. At the same time, the emergency steering pump is continuously driven by the gearbox or power take-off box, and the high-pressure hydraulic oil from the emergency steering pump flows back to the fuel tank through the emergency steering valve.

[0003] However, this traditional hydraulic steering emergency system has the following problems:

[0004] 1. Energy waste and large heat generation: The emergency steering pump is always in a working state when the crane is driving normally, and the output pressure oil directly flows back to the fuel tank, resulting in waste of hydraulic energy and increasing the heat generation of the hydraulic system;

[0005] 2. High installation and maintenance costs: The emergency steering pump usually needs to be installed at the power take-off port of the gearbox or power take-off box, which not only limits the installation position, increases the complexity of the hydraulic pipeline, but also causes a significant increase in installation and maintenance costs;

[0006] 3. Space limitation and appearance impact: Due to the fixed and unique installation position, the hydraulic system requires more hydraulic pipelines, the pipeline layout is chaotic, increasing costs, and at the same time affecting the overall aesthetics of the vehicle;

[0007] 4. Performance problems in low-temperature environments: In extremely cold regions, the low-temperature performance of the hydraulic oil is limited, and the pressure loss is large at low temperatures, resulting in an increase in hydraulic power loss and fuel consumption.

[0008] Thus, the above defects lead to problems such as energy waste and large heat generation, high installation and maintenance costs, space limitation and appearance impact, and poor working performance and high energy consumption in low-temperature environments for the traditional hydraulic steering emergency system. Summary of the Invention

[0009] The purpose of this application is to provide an electric emergency steering system, a control method, and an engineering vehicle, which are used to solve the problems of energy waste and large heat generation, high installation and maintenance costs, space limitation and appearance impact, and poor working performance and high energy consumption in low-temperature environments existing in the traditional hydraulic steering emergency system.

[0010] To achieve the above object, a first aspect of the present application provides an electric emergency steering system applied to an engineering vehicle, where the engineering vehicle includes a vertical oil cylinder for controlling the telescopic movement of outriggers, and the electric emergency steering system includes:

[0011] A steering assist module, including an electric steering gear and an electric assist cylinder communicatively connected to the electric steering gear;

[0012] A power supply module, including a generator, an electric emergency brake, and an emergency energy storage power supply. The driving end of the generator is configured to be power-taken from the engine of the engineering vehicle. The electric emergency brake is electrically connected to the electric steering gear, the power supply end of the generator, and the power supply end of the emergency energy storage power supply, and the emergency energy storage power supply is electrically connected to the generator;

[0013] A signal detection module for detecting the working signal of the engine, the working signal of the generator, and the pressure signal of the vertical oil cylinder;

[0014] A control module, electrically connected to the power supply module and the signal detection module, and the control module is configured as:

[0015] When the working signal of the engine is an abnormal stop signal, the working signal of the generator is an abnormal stop signal, and the pressure of the vertical oil cylinder is lower than a preset pressure value, control the electric emergency brake to switch to the emergency energy storage power supply for power supply.

[0016] As a further improvement of the above technical solution:

[0017] In some embodiments, the signal detection module includes a first detection sensor, a second detection sensor, and a third detection sensor electrically connected to the control module;

[0018] The first detection sensor is used to detect the working signal of the engine;

[0019] The second detection sensor is used to detect the working signal of the generator;

[0020] The third detection sensor is used to detect the pressure signal of the vertical oil cylinder.

[0021] In some embodiments, the first detection sensor is a first rotational speed sensor; where:

[0022] When the rotational speed of the engine changes suddenly and decreases, the first rotational speed sensor feeds back a first rotational speed change signal to the control module, and the control module is configured to determine that the first rotational speed change signal is an abnormal stop signal of the engine when the sudden change duration is T1 and T1 is less than or equal to a first preset duration;

[0023] When the speed of the engine decreases from high speed to low speed, the first speed sensor feeds back a second speed change signal to the control module, and the control module is configured to determine that the second speed change signal is a normal operation signal of the engine when the deceleration duration is T2 and T2 is greater than the first preset duration;

[0024] When the engine is in a shutdown state, the first speed sensor does not feed back a signal.

[0025] In some embodiments, the second detection sensor is a second speed sensor; wherein:

[0026] When the speed of the generator changes suddenly and becomes smaller, the second speed sensor feeds back a third speed change signal to the control module, and the control module is configured to determine that the third speed change signal is an abnormal stop signal of the generator when the mutation duration is T3 and T3 is less than or equal to the second preset duration;

[0027] When the speed of the generator decreases from high speed to low speed, the second speed sensor feeds back a fourth speed change signal to the control module, and the control module is configured to determine that the fourth speed change signal is a normal operation signal of the generator when the deceleration duration is T4 and T4 is greater than the second preset duration;

[0028] When the generator is in a shutdown state, the second speed sensor does not feed back a signal.

[0029] In some embodiments, the second detection sensor is a flow sensor; wherein:

[0030] When the current of the generator changes suddenly and becomes smaller, the flow sensor feeds back a first flow change signal to the control module, and the control module is configured to determine that the first flow change signal is an abnormal stop signal of the generator when the mutation duration is T5 and T5 is less than or equal to the third preset duration;

[0031] When the current of the generator decreases from high current to low current, the flow sensor feeds back a second flow change signal to the control module, and the control module is configured to determine that the second flow change signal is a normal operation signal of the generator when the decrease duration is T6 and T6 is greater than the third preset duration;

[0032] When the generator is in a shutdown state, the flow sensor does not feed back a signal.

[0033] In some embodiments, the third detection sensor is a pressure sensor; wherein:

[0034] When the pressure sensor feeds back a first pressure signal to the control module, the control module is configured to determine that the outrigger is in the extended state when the first pressure signal is greater than a preset pressure value;

[0035] When the pressure sensor feeds back a second pressure signal to the control module, the control module is configured to determine that the outrigger is in the retracted state when the second pressure signal is less than or equal to the preset pressure value.

[0036] In some embodiments, the electric emergency steering system further includes a mechanical switch, and the mechanical switch is electrically connected to the electric emergency brake;

[0037] Wherein, when the signal detection module fails to feedback a signal, the electric emergency brake can be controlled by the mechanical switch to switch to the emergency energy storage power supply for power supply.

[0038] In some embodiments, the electric steering gear is used to output electric energy of corresponding magnitude according to the traveling speed and steering angle information of the engineering vehicle to adjust the action speed of the electric power assist cylinder.

[0039] In a second aspect of the present application, there is also provided an electric emergency steering control method, which is applied to the electric emergency steering system provided in the first aspect above. The electric emergency steering control method includes:

[0040] S100: Obtain the working signal of the engine, the working signal of the generator, and the pressure signal of the vertical oil cylinder;

[0041] S200: When the working signal of the engine is an abnormal stop signal, the working signal of the generator is an abnormal stop signal, and the pressure of the vertical oil cylinder is lower than a preset pressure value, control the electric emergency brake to switch to the emergency energy storage power supply for power supply and start emergency steering.

[0042] In a third aspect, the present application also provides an engineering vehicle, which includes an engine, outriggers, and the electric emergency steering system provided in the first aspect above.

[0043] Compared with the prior art, the present application provides an electric emergency steering system, a control method, and an engineering vehicle, which have the following technical effects:

[0044] The electric emergency steering system provided by this application generates electricity by taking power from the engine through a generator, and then supplies power to the electric emergency brake and the emergency energy storage power supply. The emergency energy storage power supply can store electrical energy. In the normal working state, the emergency energy storage power supply does not participate in the work. The generator provides electrical energy to the electric emergency brake, which then drives the electric steering gear and the electric assist cylinder. When the working signal of the engine in the signals feedback by the signal detection module is an abnormal stop signal, the working signal of the generator is an abnormal stop signal, and the pressure of the vertical cylinder is lower than the preset pressure value, the control electric emergency brake is switched to the emergency energy storage power supply for power supply to perform emergency steering.

[0045] Thus, compared with the traditional hydraulically driven steering emergency system, the electric emergency steering system provided by this application has the following advantages:

[0046] (1) Emergency steering requires the control module to receive three control signals simultaneously (the working signal of the engine is an abnormal stop signal, the working signal of the generator is an abnormal stop signal, and the pressure of the vertical cylinder is lower than the preset pressure value) to start emergency steering, which can effectively avoid mis-starting and frequent starting of the electric emergency brake, resulting in damage to the electric emergency brake, and is safer and more reliable;

[0047] (2) The entire electric emergency steering system does not have hydraulic components and does not require hydraulic pipelines. The layout is more concise, the energy supply cost is lower without using hydraulic oil, and the overall aesthetics of the vehicle is improved, and at the same time the response speed is faster;

[0048] (3) There is no need to install an emergency steering oil pump, which reduces the PTO interface of the engine or transmission, reduces the limitation of the installation space, only needs to be connected by wires, occupies a small space, and is easy to install and maintain;

[0049] (4) There is no need to install an emergency steering oil pump, and the emergency energy storage power supply is only turned on when needed, without energy waste;

[0050] (5) The circuit system can effectively cope with low-temperature environments, has strong adaptability, and can ensure the safe and stable operation of the system.

[0051] Other features and advantages of the embodiments of this application will be described in detail in the subsequent specific embodiments section. Brief Description of the Drawings

[0052] The drawings are used to provide a further understanding of the embodiments of this application, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts. In the drawings:

[0053] Figure 1Schematic diagram of an electric emergency steering system module provided by an embodiment of the present application;

[0054] Figure 2 Another schematic diagram of an electric emergency steering system module provided by an embodiment of the present application.

[0055] Explanation of reference numerals

[0056] 100, steering assist module; 110, electric steering gear; 120, electric assist cylinder;

[0057] 200, power supply module; 210, generator; 220, emergency energy storage power supply; 230, electric emergency brake;

[0058] 300, signal detection module; 310, first detection sensor; 320, second detection sensor; 330, third detection sensor;

[0059] 400, control module;

[0060] 500, mechanical switch;

[0061] 600, engine. Detailed implementation manners

[0062] The following will describe in detail the specific implementation manners of the present application with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only for explaining and illustrating the present application, and are not used to limit the present application.

[0063] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0064] Embodiment

[0065] Please refer to Figure 1 and Figure 2 , this embodiment provides an electric emergency steering system, which can be applied to engineering vehicles. Among them, the engineering vehicle can be selected as a crane or a truck crane, etc. The engineering vehicle includes a vertical oil cylinder for controlling the telescopic movement of the outriggers.

[0066] In this embodiment, the electric emergency steering system includes a steering assist module 100, a power supply module 200, a signal detection module 300, and a control module 400.

[0067] The power steering module 100 includes an electric steering gear 110 and an electric power cylinder 120 communicatively connected to the electric steering gear 110. The electric steering gear 110 is connected to the steering wheel of the engineering vehicle and can detect the rotation angle (or torque) of the steering wheel and the driving speed of the engineering vehicle. The electric steering gear 110 can output electric energy of corresponding magnitude according to the driving speed and steering angle information of the engineering vehicle to adjust the action speed of the electric power cylinder 120, that is, the telescopic speed of the piston of the electric power cylinder 120, so as to perform power steering. Among them, the greater the electric energy, the faster the telescopic speed of the piston of the electric power cylinder 120.

[0068] The power supply module 200 includes a generator 210, an electric emergency brake 230 and an emergency energy storage power supply 220. The driving end of the generator 210 is used for power take-off connection with the engine 600 of the engineering vehicle. Specifically, the driving end of the generator 210 takes power from the PTO port of the engine 600. The electric emergency brake 230 is electrically connected to the power supply ends of the electric steering gear 110, the generator 210 and the emergency energy storage power supply 220 respectively. The electric emergency brake 230 can select the generator 210 or the emergency energy storage power supply 220 to supply power to the electric steering gear 110 and the electric power cylinder 120. The emergency energy storage power supply 220 is electrically connected to the generator 210, and the emergency energy storage power supply 220 can store the electric energy generated by the generator 210 for emergency needs.

[0069] The signal detection module 300 is used to detect the working signal of the engine 600, the working signal of the generator 210 and the pressure signal of the vertical oil cylinder.

[0070] The control module 400 is built-in with an electronic control unit module, and the control module 400 is electrically connected to the power supply module 200 and the signal detection module 300.

[0071] For the electric emergency steering system provided in this embodiment, the generator 210 takes power from the engine 600 to generate electricity, and then supplies power to the electric emergency brake 230 and the emergency energy storage power supply 220. The emergency energy storage power supply 220 can store electric energy. In the normal working state, the emergency energy storage power supply 220 does not participate in the work. The generator 210 supplies electric energy to the electric emergency brake 230, and then drives the electric steering gear 110 and the electric power cylinder 120. When the working signal of the engine 600 in the signals fed back by the signal detection module 300 is an abnormal stop signal, the working signal of the generator 210 is an abnormal stop signal, and the pressure of the vertical oil cylinder is lower than the preset pressure value, the electric emergency brake 230 is controlled to switch to the emergency energy storage power supply 220 for power supply to perform emergency steering.

[0072] In this embodiment, the signal detection module 300 includes a first detection sensor 310, a second detection sensor 320, and a third detection sensor 330 that are electrically connected to the control module 400. Among them, the first detection sensor 310 is used to detect the operating signal of the engine 600; the second detection sensor 320 is used to detect the operating signal of the generator 210; the third detection sensor 330 is used to detect the pressure signal of the vertical oil cylinder.

[0073] The above-mentioned first detection sensor 310 is a first rotational speed sensor; where:

[0074] When the rotational speed of the engine 600 changes suddenly and decreases, the first rotational speed sensor feeds back a first rotational speed change signal to the control module 400. The control module 400 is configured to determine that the first rotational speed change signal is an abnormal stop signal of the engine 600 when the sudden change duration is T1 and T1 is less than or equal to the first preset duration.

[0075] When the rotational speed of the engine 600 drops from high speed to low speed, the first rotational speed sensor feeds back a second rotational speed change signal to the control module 400. The control module 400 is configured to determine that the second rotational speed change signal is a normal operation signal of the engine 600 when the deceleration duration is T2 and T2 is greater than the first preset duration.

[0076] When the engine 600 is in a shutdown state, the first rotational speed sensor does not feed back a signal.

[0077] It can be understood that when the engine 600 stops abnormally, its rotational speed drops suddenly and finally approaches 0. The duration of this sudden change is shorter than the time required for the engine 600 to decelerate normally. Therefore, T1 is less than T2. Thus, by comparing T1, T2 with the set first preset duration, it is possible to distinguish whether the engine 600 is operating normally or has stopped abnormally.

[0078] The above-mentioned second detection sensor 320 is a second rotational speed sensor; where:

[0079] When the rotational speed of the generator 210 changes suddenly and decreases, the second rotational speed sensor feeds back a third rotational speed change signal to the control module 400. The control module 400 is configured to determine that the third rotational speed change signal is an abnormal stop signal of the generator 210 when the sudden change duration is T3 and T3 is less than or equal to the second preset duration.

[0080] When the rotational speed of the generator 210 drops from high speed to low speed, the second rotational speed sensor feeds back a fourth rotational speed change signal to the control module 400. The control module 400 is configured to determine that the fourth rotational speed change signal is a normal operation signal of the generator 210 when the deceleration duration is T4 and T4 is greater than the second preset duration.

[0081] When the generator 210 is in a stopped state, the second rotational speed sensor does not feedback a signal.

[0082] It can be understood that when the generator 210 stops abnormally, its rotational speed suddenly changes and drops rapidly and finally approaches 0. The duration of this sudden change is shorter than the time required for the generator 210 to decelerate normally. Therefore, T3 is less than T4. Thus, by comparing T3 and T4 with the set second preset duration, it is possible to distinguish whether the generator 210 is operating normally or has stopped abnormally.

[0083] In some embodiments, the second detection sensor 320 can be selected as a flow sensor; where:

[0084] When the current of the generator 210 suddenly becomes smaller, the flow sensor feedbacks a first flow change signal to the control module 400. The control module 400 is configured to determine that the first flow change signal is an abnormal stop signal of the generator 210 when the sudden change duration is T5 and T5 is less than or equal to the third preset duration.

[0085] When the current of the generator 210 drops from a high current to a low current, the flow sensor feedbacks a second flow change signal to the control module 400. The control module 400 is configured to determine that the second flow change signal is a normal operation signal of the generator 210 when the drop duration is T6 and T6 is greater than the third preset duration.

[0086] When the generator 210 is in a stopped state, the flow sensor does not feedback a signal.

[0087] It can be understood that when the generator 210 stops abnormally, its current also suddenly changes and drops rapidly and finally approaches 0. The duration of this current sudden change is shorter than the time required for the change of the current when the generator 210 decelerates normally. Therefore, T5 is less than T6. Thus, by comparing T5 and T6 with the set third preset duration, it is possible to distinguish whether the generator 210 is operating normally or has stopped abnormally.

[0088] The above-mentioned third detection sensor 330 is a pressure sensor; where:

[0089] When the pressure sensor feedbacks a first pressure signal to the control module 400, the control module 400 is configured to determine that the outrigger is in an extended state when the first pressure signal is greater than the preset pressure value. In the outrigger extended state, the entire construction vehicle is in an operating state. For example, when a crane is in a hoisting operation condition, steering is not required at this time, but the engine 600 is operating normally to provide power for the load.

[0090] When the pressure sensor feedbacks a second pressure signal to the control module 400, the control module 400 is configured to determine that the outrigger is in a retracted state when the second pressure signal is less than or equal to the preset pressure value.

[0091] Further, when the engineering vehicle is a crane, the retracted state of the outriggers can be divided into two cases:

[0092] The first is the operating state of the crane. In this operating state, the outriggers are retracted, the crane is traveling under load, the engine 600 runs at a low speed, the crane is traveling at a low speed, and it cannot travel at a high speed with a load. There cannot be a sudden change signal from high speed to low speed for the engine 600. In this case, the pressure signal fed back by the pressure sensor is less than or equal to the preset pressure value, but it cannot be used as one of the judgment conditions for starting emergency steering.

[0093] The second case is when the crane is in a non-operating state. In this state, the outriggers are retracted, and when the engine 600 suddenly stops running while the crane is traveling at a high speed, at this time, the pressure signal fed back by the pressure sensor is less than or equal to the preset pressure value, which can be used as one of the judgment conditions for starting emergency steering.

[0094] Of course, when the crane is in a stationary shutdown state and the outriggers are retracted, the pressure sensor does not feed back a signal at this time.

[0095] In some embodiments, in order to cope with emergencies, when the signal detection module 300 fails to feed back a signal or the driver directly feels that the steering wheel is out of control, it is necessary to manually start emergency steering to improve driving safety.

[0096] For this reason, the electric emergency steering system further includes a mechanical switch 500, and the mechanical switch 500 is electrically connected to the electric emergency brake 230. Among them, in the case where the signal detection module 300 fails to feed back a signal, the electric emergency brake 230 can be controlled by the mechanical switch 500 to switch to the emergency energy storage power supply 220 for power supply.

[0097] Optionally, the mechanical switch 500 can be selected as a manual toggle switch, and of course, it can also be selected as a switch with other structures.

[0098] This embodiment also provides an electric emergency steering control method, which is applied to the electric emergency steering system provided above. The electric emergency steering control method includes:

[0099] S100: Obtain the working signal of the engine 600, the working signal of the generator 210, and the pressure signal of the vertical oil cylinder;

[0100] S200: When the working signal of the engine 600 is an abnormal stop signal, the working signal of the generator 210 is an abnormal stop signal, and the pressure of the vertical oil cylinder is lower than the preset pressure value, control the electric emergency brake 230 to switch to the emergency energy storage power supply 220 for power supply and start emergency steering.

[0101] Further, this embodiment also provides an engineering vehicle. The engineering vehicle includes an engine 600, outriggers, and the above-provided electric emergency steering system. The engineering vehicle can be a crane, a truck crane, or the like.

[0102] Compared with the traditional hydraulically-driven steering emergency system, the electric emergency steering system provided in this application has the following advantages:

[0103] (1) Emergency steering requires the control module 400 to receive three control signals simultaneously (the operating signal of the engine 600 is an abnormal stop signal, the operating signal of the generator 210 is an abnormal stop signal, and the pressure of the vertical cylinder is lower than the preset pressure value) to activate the emergency steering, which can effectively prevent the electric emergency brake 230 from being misactivated and damaged due to frequent activation, making it safer and more reliable;

[0104] (2) The entire electric emergency steering system does not have hydraulic components. The entire system uses green electric energy instead of hydraulic energy. Electric energy does not leak, the wiring is convenient, and the cable routing does not take up space.

[0105] (3) The entire electric emergency steering system does not have hydraulic components and does not require hydraulic pipelines. The layout is more concise, the energy supply cost without using hydraulic oil is lower, and the overall aesthetics of the vehicle is improved, while the response speed is faster;

[0106] (4) There is no need to install an emergency steering oil pump, which reduces the engine 600 or the PTO interface of the transmission, reduces the limitation of the installation space, and only needs to be connected by wires, taking up little space and being easy to install, maintain, and repair;

[0107] (5) There is no need to install an emergency steering oil pump, and the emergency energy storage power supply 220 is only turned on when needed, without energy waste;

[0108] (6) The circuit system can effectively cope with low-temperature environments, has strong adaptability, and can ensure the safe and stable operation of the system;

[0109] (7) The electric emergency brake 230 can be powered by the generator 210 or the emergency energy storage power supply 220. Among them, the excess electric energy generated by the generator 210 can be stored in the emergency energy storage power supply 220 to improve energy utilization efficiency.

[0110] It should be noted that in this application, unless otherwise stated, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application 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 thus should not be construed as a limitation to this application.

[0111] In the description of this application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0112] In this application, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0113] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0114] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An electric emergency steering system, characterized in that: Applied to an engineering vehicle, the engineering vehicle includes a vertical oil cylinder for controlling the extension and retraction of the outriggers, and the electric emergency steering system includes: A power steering module (100) comprising an electric steering machine (110) and an electric power steering cylinder (120) communicatively connected to the electric steering machine (110); A power supply module (200) comprises a generator (210), an electric emergency brake (230) and an emergency energy storage power supply (220), wherein the driving end of the generator (210) is used to be connected to the engine (600) of the engineering vehicle for power extraction, the electric emergency brake (230) is electrically connected to the electric steering gear (110), the power supply end of the generator (210) and the power supply end of the emergency energy storage power supply (220), respectively, and the emergency energy storage power supply (220) is electrically connected to the generator (210); A signal detection module (300) for detecting a working signal of the engine (600), a working signal of the generator (210), and a pressure signal of the vertical cylinder; A control module (400) is electrically connected to the power supply module (200) and the signal detection module (300), and the control module (400) is configured as follows: When the working signal of the engine (600) is an abnormal stop signal, the working signal of the generator (210) is an abnormal stop signal, and the pressure of the vertical oil cylinder is lower than a preset pressure value, the electric emergency brake (230) is controlled to switch to the emergency energy storage power supply (220) for power supply.

2. The electric emergency steering system according to claim 1, characterized in that: The signal detection module (300) comprises a first detection sensor (310), a second detection sensor (320) and a third detection sensor (330) electrically connected to the control module (400); The first detection sensor (310) is used to detect a working signal of the engine (600); The second detection sensor (320) is used to detect the working signal of the generator (210); The third detection sensor (330) is used to detect the pressure signal of the vertical cylinder.

3. The electric emergency steering system according to claim 2, characterized in that: The first detection sensor (310) is a first rotation speed sensor; wherein: When the speed change of the engine (600) is a sudden change, the first speed sensor feeds back a first speed change signal to the control module (400), and the control module (400) is configured to determine that the first speed change signal is an abnormal stop signal of the engine (600) when the sudden change duration is T1 and T1 is less than or equal to a first preset duration; When the speed of the engine (600) decreases from a high speed to a low speed, the first speed sensor feeds back a second speed change signal to the control module (400), and the control module (400) is configured to determine that the second speed change signal is a normal operation signal of the engine (600) when the deceleration time is T2 and T2 is greater than the first preset time; When the engine (600) is in a stopped state, the first rotation speed sensor does not feed back a signal.

4. The electric emergency steering system according to claim 2, characterized in that: The second detection sensor (320) is a second rotation speed sensor; wherein: When the speed change of the generator (210) is a sudden change, the second speed sensor feeds back a third speed change signal to the control module (400), and the control module (400) is configured to determine that the third speed change signal is an abnormal stop signal of the generator (210) when the sudden change duration is T3 and T3 is less than or equal to the second preset duration; When the speed of the generator (210) decreases from a high speed to a low speed, the second speed sensor feeds back a fourth speed change signal to the control module (400), and the control module (400) is configured to determine that the fourth speed change signal is a normal operation signal of the generator (210) when the deceleration time is T4 and T4 is greater than the second preset time; When the generator (210) is in a stopped state, the second rotation speed sensor does not feed back a signal.

5. The electric emergency steering system according to claim 2, characterized in that: The second detection sensor (320) is a flow sensor; wherein: When the current of the generator (210) suddenly decreases, the flow sensor feeds back a first flow change signal to the control module (400), and the control module (400) is configured to determine that the first flow change signal is an abnormal stop signal of the generator (210) when the duration of the sudden change is T5 and T5 is less than or equal to a third preset duration; When the current of the generator (210) decreases from a high current to a low current, the flow sensor feeds back a second flow change signal to the control module (400), and the control module (400) is configured to determine that the second flow change signal is a normal operation signal of the generator (210) when the decrease time is T6 and T6 is greater than the third preset time; When the generator (210) is in a shutdown state, the flow sensor does not feed back a signal.

6. The electric emergency steering system according to claim 2, characterized in that: The third detection sensor (330) is a pressure sensor; wherein: When the pressure sensor feeds back a first pressure signal to the control module (400), the control module (400) is configured to determine that the leg is in an extended state when the first pressure signal is greater than a preset pressure value; When the pressure sensor feeds back a second pressure signal to the control module (400), the control module (400) is configured to determine that the supporting leg is in a retracted state when the second pressure signal is less than or equal to a preset pressure value.

7. The electric emergency steering system according to claim 1, characterized in that: The electric emergency steering system further comprises a mechanical switch (500), wherein the mechanical switch (500) is electrically connected to the electric emergency brake (230); Wherein, in the event that the feedback signal of the signal detection module (300) fails, the electric emergency brake (230) can be controlled by the mechanical switch (500) to switch to the emergency energy storage power supply (220) for power supply.

8. The electric emergency steering system according to any one of claims 1 to 7, characterized in that: The electric steering machine (110) is used to output electric energy of corresponding magnitude according to the driving speed and steering angle information of the engineering vehicle, so as to adjust the action speed of the electric booster cylinder (120).

9. An electric emergency steering control method, characterized in that: Applied to the electric emergency steering system according to any one of claims 1 to 8, the electric emergency steering control method comprises: S100: Acquiring a working signal of the engine (600), a working signal of the generator (210), and a pressure signal of the vertical oil cylinder; S200: When the working signal of the engine (600) is an abnormal stop signal, the working signal of the generator (210) is an abnormal stop signal, and the pressure of the vertical cylinder is lower than a preset pressure value, the electric emergency brake (230) is controlled to switch to the emergency energy storage power supply (220) for power supply, and the emergency steering is started.

10. An engineering vehicle, characterized in that: The invention comprises an engine (600), a support leg and an electric emergency steering system according to any one of claims 1 to 8.

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