Electric emergency steering system, control method and engineering vehicle

Abstract

The application 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 steering assistance module, a power supply module, a signal detection module and a control module; the steering assistance module comprises an electric steering engine and an electric power 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 engine, a power supply end of the generator and a power supply end of the emergency energy storage power supply respectively, and the emergency energy storage power supply is electrically connected with the generator; the control module is configured to control the electric emergency brake to switch to the emergency energy storage power supply for power supply when working signals of an engine and a generator detected by the signal detection module are abnormal stop signals and the pressure of a vertical oil cylinder is lower than a preset pressure value. The electric emergency steering system disclosed by the application is stable, simple in layout, small in occupied space, free of energy waste and high in adaptability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engineering vehicles, and particularly relates to an electric emergency steering system, a control method and an engineering vehicle. BACKGROUND

[0002] In the existing crane steering system, a hydraulic drive emergency steering system is usually adopted, which mainly comprises a mechanical steering gear, an angle displacement sensor, an emergency steering valve, a chassis steering pump and an emergency steering pump. The mechanical steering gear is connected with a steering wheel and the angle displacement sensor, and the hydraulic part is connected with the emergency steering valve and the chassis steering pump and the emergency steering pump. During normal driving, the chassis steering pump provides high-pressure oil flow to the emergency steering valve, and the flow direction of the high-pressure oil is controlled through the mechanical steering gear, so as to control the extension direction of the steering assist cylinder, thereby realizing left or right turning of the vehicle. At the same time, the emergency steering pump is continuously driven to work by the gearbox or the transfer case, and the high-pressure hydraulic oil of the emergency steering pump flows back to the oil tank through the emergency steering valve.

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

[0004] 1. Energy waste and large heat generation: the emergency steering pump is in a working state all the time during normal driving of the crane, and the output pressure oil directly flows back to the oil tank, resulting in waste of hydraulic energy and increase of heat generation of the hydraulic system;

[0005] 2. High installation and maintenance cost: the emergency steering pump usually needs to be installed at the power take-off port of the gearbox or the transfer case, which not only limits the installation position, increases the complexity of the hydraulic pipeline, but also greatly increases the installation and maintenance cost;

[0006] 3. Space limitation and appearance influence: due to the fixed and unique installation position, the hydraulic system needs more hydraulic pipelines, the pipeline layout is chaotic, the cost is increased, and the overall appearance of the vehicle is affected;

[0007] 4. Performance problem in low-temperature environment: in extremely cold areas, the low-temperature performance of the hydraulic oil is limited, and the pressure loss is large at low temperature, resulting in increased hydraulic power loss and increased fuel consumption.

[0008] Therefore, the above defects result in the problems of energy waste and large heat generation, high installation and maintenance cost, space limitation and appearance influence, and poor working performance in low-temperature environment and high energy consumption of the traditional hydraulic emergency steering system. SUMMARY

[0009] The purpose of the present 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 cost, space limitation and appearance influence, and poor working performance in low-temperature environment and high energy consumption of the traditional hydraulic emergency steering system.

[0010] To achieve the above object, the first aspect of the present application provides an electric emergency steering system applied to an engineering vehicle, wherein the engineering vehicle comprises a vertical cylinder for controlling the extension and retraction of outriggers, and the electric emergency steering system comprises:

[0011] a steering assist module, comprising an electric steering engine and an electric assist cylinder in communication connection with the electric steering engine;

[0012] a power supply module, comprising a generator, an electric emergency brake and an emergency energy storage power supply, wherein the driving end of the generator is connected to the power take-off of the engine of the engineering vehicle, the electric emergency brake is electrically connected to the electric steering engine, 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 cylinder;

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

[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 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 comprises a first detection sensor, a second detection sensor and a third detection sensor in electrical connection with 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 cylinder.

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

[0022] when the rotation speed of the engine changes suddenly and becomes smaller, the first rotation speed sensor feeds back a first rotation speed change signal to the control module, and the control module is configured to judge that the first rotation speed change signal is an abnormal stop signal of the engine when the sudden change duration T1 is less than or equal to a first preset duration.

[0023] In the case that the rotation speed of the engine is reduced from high speed to low speed, the first rotation speed sensor feeds back a second rotation speed change signal to the control module, and the control module is configured to judge the second rotation speed change signal as a normal operation signal of the engine in the case that the deceleration time length is T2 and T2 is greater than the first preset time length;

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

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

[0026] In the case that the rotation speed of the generator is suddenly reduced, the second rotation speed sensor feeds back a third rotation speed change signal to the control module, and the control module is configured to judge the third rotation speed change signal as an abnormal stop signal of the generator in the case that the sudden change time length is T3 and T3 is less than or equal to a second preset time length;

[0027] In the case that the rotation speed of the generator is reduced from high speed to low speed, the second rotation speed sensor feeds back a fourth rotation speed change signal to the control module, and the control module is configured to judge the fourth rotation speed change signal as a normal operation signal of the generator in the case that the deceleration time length is T4 and T4 is greater than the second preset time length;

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

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

[0030] In the case that the current of the generator is suddenly reduced, the flow sensor feeds back a first flow change signal to the control module, and the control module is configured to judge the first flow change signal as an abnormal stop signal of the generator in the case that the sudden change time length is T5 and T5 is less than or equal to a third preset time length;

[0031] In the case that the current of the generator is reduced 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 judge the second flow change signal as a normal operation signal of the generator in the case that the deceleration time length is T6 and T6 is greater than the third preset time length;

[0032] In the case that the generator is in the 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] The pressure sensor feeds back a first pressure signal to the control module, and 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] The pressure sensor feeds back a second pressure signal to the control module, and 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 comprises a mechanical switch electrically connected to the electric emergency brake.

[0037] When the signal detection module fails to feed back a signal, the mechanical switch can be used to control the electric emergency brake to switch to the emergency energy storage power supply for power supply.

[0038] In some embodiments, the electric steering engine is used to output electric energy of a corresponding size according to the driving speed and the steering angle information of the engineering vehicle, so as to adjust the action speed of the electric power-assisted cylinder.

[0039] The second aspect of the present application also provides an electric emergency steering control method, which is applied to the electric emergency steering system provided in the first aspect and comprises the following steps:

[0040] S100: obtaining 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, controlling the electric emergency brake to switch to the emergency energy storage power supply for power supply and starting emergency steering.

[0042] Thirdly, the present application provides an engineering vehicle comprising an engine, an outrigger and the electric emergency steering system provided in the first aspect.

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

[0044] The electric emergency steering system provided by the application is powered by a generator to generate electricity, and then supplies power to an electric emergency brake and an emergency energy storage power supply. The emergency energy storage power supply can store electric energy. In a normal working state, the emergency energy storage power supply does not participate in work. The generator provides electric energy to the electric emergency brake, which in turn drives an electric steering engine and an electric power-assisted cylinder. When the working signal of the engine in the signal 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 oil cylinder is lower than a preset pressure value, the electric emergency brake is switched to the emergency energy storage power supply for power supply, and emergency steering is performed.

[0045] Therefore, compared with the traditional hydraulic drive emergency steering system, the electric emergency steering system provided by the application has the following advantages:

[0046] (1) The emergency steering needs three control signals (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) to start the emergency steering, which can effectively avoid the misstart and frequent start of the electric emergency brake, and is more safe and reliable;

[0047] (2) The entire electric emergency steering system does not set hydraulic elements and does not need hydraulic pipelines, and has a more simple layout, does not need to use hydraulic oil, has a lower power supply cost, and improves the overall appearance of the vehicle, and has a faster response speed;

[0048] (3) No emergency steering oil pump needs to be installed, the engine or transmission PTO interface is reduced, the installation space is limited, only an electric wire needs to be connected, the space occupation is small, and the installation and maintenance are easy;

[0049] (4) No emergency steering oil pump needs to be installed, and the emergency energy storage power supply is only started when needed, and there is no energy waste;

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

[0051] Other features and advantages of the embodiments of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings are included to provide a further understanding of the embodiments of the application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the application, but do not constitute a limitation on the embodiments of the application. For those skilled in the art, other drawings can be obtained from the structures shown in the drawings without creative labor. In the drawings:

[0053] Figure 1A schematic diagram of an electric emergency steering system module provided in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of another electric emergency steering system module provided in an embodiment of this application.

[0055] Explanation of reference numerals in the attached figures

[0056] 100. Power steering module; 110. Electric power steering system; 120. Electric power steering cylinder;

[0057] 200. Power supply module; 210. Generator; 220. Emergency energy storage power supply; 230. Electric emergency switch;

[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

[0062] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

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

[0064] Example

[0065] Please see Figure 1 and Figure 2 This embodiment provides an electric emergency steering system applicable to engineering vehicles. The engineering vehicle can be a crane or a truck crane, etc. The engineering vehicle includes a vertical hydraulic cylinder for controlling the extension and retraction 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 steering assist module 100 comprises an electric steering engine 110 and an electric assist cylinder 120 in communication connection with the electric steering engine 110. The electric steering engine 110 is connected with a steering wheel of the engineering vehicle, can detect a rotation angle (or torque) of the steering wheel and a running speed of the engineering vehicle, and can output electric energy of a corresponding size according to the running speed of the engineering vehicle and the steering angle information, so as to adjust a movement speed of the electric assist cylinder 120, i.e. an extension and retraction speed of a piston of the electric assist cylinder 120, thereby performing steering assist. The greater the electric energy is, the faster the extension and retraction speed of the piston of the electric assist cylinder 120 is.

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

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

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

[0071] The electric emergency steering system provided by the embodiment can take power from the engine 600 to generate electricity by the generator 210, and then supply 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 a normal working state, the emergency energy storage power supply 220 does not participate in work, the generator 210 provides electric energy to the electric emergency brake 230, and then drives the electric steering engine 110 and the electric assist cylinder 120. When the working signal of the engine 600 in the signal feedback 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 a preset pressure value, the electric emergency brake 230 is controlled to switch to the emergency energy storage power supply 220 for power supply, thereby performing emergency steering.

[0072] In the embodiment, the signal detection module 300 includes a first detection sensor 310, a second detection sensor 320 and a third detection sensor 330 electrically connected with the control module 400. The first detection sensor 310 is configured to detect a working signal of the engine 600; the second detection sensor 320 is configured to detect a working signal of the generator 210; and the third detection sensor 330 is configured to detect a pressure signal of the vertical oil cylinder.

[0073] The first detection sensor 310 is a first rotation speed sensor.

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

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

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

[0077] It can be understood that when the engine 600 abnormally stops, its rotation speed suddenly decreases and finally approaches 0. The sudden change time is shorter than the time required for the engine 600 to normally decelerate. Therefore, T1 is less than T2. Thus, by comparing T1, T2 and the first preset time, it can be determined whether the engine 600 is normally operating or abnormally stopping.

[0078] The second detection sensor 320 is a second rotation speed sensor.

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

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

[0081] In the case of the generator 210 being in the shutdown state, the second rotation speed sensor does not feed back a signal.

[0082] It can be understood that when the generator 210 is abnormally stopped, the rotation speed thereof suddenly drops and finally tends to 0. The time length of this sudden change is shorter than the time required for the normal deceleration of the generator 210. Therefore, T3 is less than T4. Thus, by comparing T3, T4 with the set second preset time length, it can be determined whether the generator 210 is normally running or abnormally stopped.

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

[0084] In the case of the current of the generator 210 suddenly becoming small, 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 in the case of the time length of the sudden change being T5 and T5 being less than or equal to the third preset time length.

[0085] In the case of the current of the generator 210 decreasing 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 running signal of the generator 210 in the case of the time length of the decrease being T6 and T6 being greater than the third preset time length.

[0086] In the case of the generator 210 being in the shutdown state, the flow sensor does not feed back a signal.

[0087] It can be understood that when the generator 210 is abnormally stopped, the current thereof also suddenly drops and finally tends to 0. The time length of this current sudden change is shorter than the time required for the current change during the normal deceleration of the generator 210. Therefore, T5 is less than T6. Thus, by comparing T5, T6 with the set third preset time length, it can be determined whether the generator 210 is normally running or abnormally stopped.

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

[0089] In the case of the pressure sensor feeding back a first pressure signal to the control module 400, the control module 400 is configured to determine that the outrigger is in the extended state in the case of the first pressure signal being greater than a preset pressure value. In the extended state of the outrigger, the entire engineering vehicle belongs to the working state, for example, the crane is in the hoisting working condition, at which time the steering is not required to be started, but the engine 600 is in the normal running to provide power for the hoisting.

[0090] In the case of the pressure sensor feeding back a second pressure signal to the control module 400, the control module 400 is configured to determine that the outrigger is in the retracted state in the case of the second pressure signal being less than or equal to the preset pressure value.

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

[0092] The first case is a crane operating state, in which the outrigger is retracted, the crane is in a load lifting driving state, the engine 600 has a low speed, the crane is in a low speed driving state, the load cannot be high speed, the engine 600 cannot have a sudden change signal from high speed to low speed, and the pressure signal fed back by the pressure sensor is less than or equal to the preset pressure value, but cannot be used as one of the judgment conditions for starting the emergency steering.

[0093] The second case is a crane non-operating state, in which the outrigger is retracted, the crane is in a high speed driving state, and the engine 600 suddenly stops running. 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 the emergency steering.

[0094] Of course, when the crane is in a static stop state and the outrigger is retracted, the pressure sensor does not feed back a signal.

[0095] In some embodiments, in order to deal with sudden situations, when the signal detection module 300 feeds back a signal failure or the driver directly feels that the steering wheel is not controlled, the emergency steering needs to be manually started to improve the safety of driving.

[0096] Therefore, the electric emergency steering system further comprises a mechanical switch 500 electrically connected to the electric emergency brake 230. In the case that the signal detection module 300 feeds back a signal failure, the mechanical switch 500 can be used to control the electric emergency brake 230 to switch to the emergency energy storage power supply 220 for power supply.

[0097] Optionally, the mechanical switch 500 can be a manual rocker switch, and of course can also be other structure switches.

[0098] The embodiment also provides an electric emergency steering control method applied to the electric emergency steering system provided above. The electric emergency steering control method comprises:

[0099] 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;

[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, controlling the electric emergency brake 230 to switch to the emergency energy storage power supply 220 for power supply, and starting the emergency steering.

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

[0102] Compared with the traditional hydraulic drive emergency steering system, the electric emergency steering system provided by the application has the following advantages:

[0103] (1) The emergency steering needs to control module 400 to receive three control signals (the working signal of the engine 600 is the abnormal stop signal, the working signal of the generator 210 is the abnormal stop signal and the pressure of the vertical oil cylinder is lower than the preset pressure value) to start the emergency steering, which can effectively avoid the damage of the electric emergency brake 230 caused by the misoperation and frequent operation, and is more safe and reliable;

[0104] (2) The entire electric emergency steering system does not set hydraulic elements, and the entire system uses green electric energy instead of hydraulic energy. The electric energy has no leakage, the wiring is convenient, and the wiring does not occupy space.

[0105] (3) The entire electric emergency steering system does not set hydraulic elements, and does not need hydraulic pipeline, so the layout is more simple, the cost is lower without using hydraulic oil for energy supply, and the overall appearance of the vehicle is improved, and the response speed is faster;

[0106] (4) Without installing the emergency steering oil pump, the engine 600 or the PTO interface of the gearbox is reduced, the installation space is reduced, only the electric wire is needed to be connected, the space is small, and the installation and maintenance are easy;

[0107] (5) Without installing the emergency steering oil pump, the emergency energy storage power supply 220 is only started when needed, and there is no energy waste;

[0108] (6) The circuit system can effectively cope with low temperature environment, 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, wherein the excess electric energy generated by the generator 210 can be stored in the emergency energy storage power supply 220, and the energy utilization rate is improved.

[0110] It should be noted that, in the present application, the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, unless otherwise specified, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0111] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0112] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0113] In the description of the present application, the description of the terms "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 the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0114] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary, and are not to be interpreted as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An electrically powered emergency steering system, characterized in that The application is applied to an engineering vehicle including a vertical oil cylinder for controlling outrigger retraction, and the electric emergency steering system includes: A steering assistance module (100) includes an electric steering engine (110) and an electric assistance cylinder (120) in communication connection with the electric steering engine (110); A power supply module (200) includes a generator (210), an electric emergency brake (230) and an emergency energy storage power supply (220), a driving end of the generator (210) is used for power take-off connection with an engine (600) of the engineering vehicle, the electric emergency brake (230) is electrically connected with the electric steering engine (110), a power supply end of the generator (210) and a power supply end of the emergency energy storage power supply (220) respectively, and the emergency energy storage power supply (220) is electrically connected with the generator (210); A signal detection module (300) is used for detecting a working signal of the engine (600), a working signal of the generator (210) and a pressure signal of the vertical oil cylinder; A control module (400) is electrically connected with the power supply module (200) and the signal detection module (300), and the control module (400) is configured to: 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 electrically powered emergency steering system of claim 1, wherein, The signal detection module (300) includes a first detection sensor (310), a second detection sensor (320) and a third detection sensor (330) electrically connected with the control module (400); The first detection sensor (310) is used for detecting the working signal of the engine (600); The second detection sensor (320) is used for detecting the working signal of the generator (210); The third detection sensor (330) is used for detecting the pressure signal of the vertical oil cylinder.

3. The electrically powered emergency steering system of claim 2, wherein, The first detection sensor (310) is a first rotation speed sensor; wherein: When the rotation speed change of the engine (600) is suddenly small, the first rotation speed sensor feeds back a first rotation speed change signal to the control module (400), and the control module (400) is configured to judge that the first rotation speed change signal is an abnormal stop signal of the engine (600) when a sudden change duration T1 is less than or equal to a first preset duration; When the rotation speed of the engine (600) is reduced from high speed to low speed, the first rotation speed sensor feeds back a second rotation speed change signal to the control module (400), and the control module (400) is configured to judge that the second rotation speed change signal is a normal operation signal of the engine (600) when a deceleration duration T2 is greater than the first preset duration; In the case of the engine (600) stop state, the first rotation speed sensor does not feed back a signal.

4. The electrically powered emergency steering system of claim 2, wherein, The second detection sensor (320) is a second rotation speed sensor; wherein: In the case that the rotation speed of the generator (210) changes suddenly and becomes smaller, the second rotation speed sensor feeds back a third rotation speed change signal to the control module (400), and the control module (400) is configured to judge that the third rotation speed change signal is an abnormal stop signal of the generator (210) in the case that the sudden change time length is T3 and T3 is less than or equal to a second preset time length. In the case that the rotation speed of the generator (210) decreases from high speed to low speed, the second rotation speed sensor feeds back a fourth rotation speed change signal to the control module (400), and the control module (400) is configured to judge that the fourth rotation speed change signal is a normal operation signal of the generator (210) in the case that the deceleration time length is T4 and T4 is greater than the second preset time length. In the case that the generator (210) is in a shutdown state, the second rotation speed sensor does not feed back a signal.

5. The electrically powered emergency steering system of claim 2, wherein, The second detection sensor (320) is a flow sensor; wherein: In the case that the current of the generator (210) changes suddenly and becomes smaller, the flow sensor feeds back a first flow change signal to the control module (400), and the control module (400) is configured to judge that the first flow change signal is an abnormal stop signal of the generator (210) in the case that the sudden change time length is T5 and T5 is less than or equal to a third preset time length. In the case that the current of the generator (210) decreases from high current to 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 judge that the second flow change signal is a normal operation signal of the generator (210) in the case that the decrease time length is T6 and T6 is greater than the third preset time length. In the case that the generator (210) is in a shutdown state, the flow sensor does not feed back a signal.

6. The electrically powered emergency steering system of claim 2, wherein, The third detection sensor (330) is a pressure sensor; wherein: In the case that the pressure sensor feeds back a first pressure signal to the control module (400), the control module (400) is configured to judge that the outrigger is in an extended state in the case that the first pressure signal is greater than a preset pressure value. In the case that the pressure sensor feeds back a second pressure signal to the control module (400), the control module (400) is configured to judge that the outrigger is in a retracted state in the case that the second pressure signal is less than or equal to a preset pressure value.

7. The electrically powered emergency steering system of claim 1, wherein, The electric emergency steering system further comprises a mechanical switch (500) electrically connected to the electric emergency brake (230). In the case that the signal detection module (300) feeds back a signal failure, the mechanical switch (500) can be used to control the electric emergency brake (230) to switch to the emergency energy storage power supply (220) for power supply.

8. The electrically powered emergency steering system of any one of claims 1-7, wherein, The electric steering engine (110) is used to output electric energy of a corresponding size according to the running speed and the steering angle information of the engineering vehicle, so as to adjust the action speed of the electric power cylinder (120).

9. An electric emergency steering control method characterized by, The electric emergency steering control method is applied to the electric emergency steering system according to any one of claims 1-8, and the electric emergency steering control method comprises: S100: acquiring the working signal of the engine (600), the working signal of the generator (210) and the 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 oil cylinder is lower than a preset pressure value, controlling the electric emergency brake (230) to switch to the emergency energy storage power supply (220) for power supply, and starting emergency steering.

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

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