Multi-vision perception signal steering control system
By using a multi-vision perception module and a hydraulic steering control system, the problem of inaccurate steering control of unmanned wide-body vehicles in open-pit mines has been solved, achieving precise steering and improved safety, and adapting to the harsh environment of the mining area.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHANGZHOU INST OF LIGHT IND TECH
- Filing Date
- 2025-07-10
- Publication Date
- 2026-07-14
AI Technical Summary
In existing autonomous wide-body vehicles operating in open-pit mines, the single vision sensor in the steering system is insufficient to accurately reflect real-time road conditions and cannot correct steering in real time, resulting in inaccurate steering control and affecting safety and efficiency.
It employs a multi-vision perception module (LiDAR, millimeter-wave radar, ultrasonic radar, and camera) combined with an image processor and vehicle controller. Through the hydraulic steering execution module and pressure control module, it realizes multi-vision signal conversion and real-time feedback correction, dynamically adjusts the steering curve, and uses a steering angle sensor for real-time attitude adjustment.
It improves steering precision and safety, reduces the rate of skidding accidents, enhances the safety and production efficiency of unmanned driving, and adapts to mining operations in harsh environments.
Smart Images
Figure CN224491205U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of steering control technology, and in particular to a multi-visual perception signal steering control system. Background Technology
[0002] Open-pit mines use unmanned wide-body vehicles. Unlike ordinary roads with road signs and driving lines that can be marked in real time, mine pit roads have no such markings. Unmanned driving is achieved solely through self-tracking. Real-time correction of the steering system during the tracking process is particularly important for the tracking effect. The actual operating conditions in open-pit mines are dusty, with engineering machinery operating in an interactive manner, and the environment is relatively harsh. Image information from a single visual sensor is insufficient to accurately determine road conditions.
[0003] Therefore, by integrating multiple visual perception signals and intervening and controlling the steering system in real time, a high degree of matching between steering and transport speed can be achieved, increasing the adoption rate and safety of autonomous driving. This technology will drive the industry to leap from "perception assistance" to "cognitive control." Utility Model Content
[0004] In view of this, the purpose of this utility model is to propose a multi-visual perception signal steering control system to solve the problems of inaccurate information from existing single sensors, which cannot accurately reflect real road conditions, and the difficulty in initializing steering actions in advance, dynamically adjusting steering curves, and providing real-time feedback correction through steering angle sensors.
[0005] Based on the above objectives, this utility model provides a multi-vision perception signal steering control system, including a multi-vision perception module, an image processor, a vehicle controller, a hydraulic oil tank, a steering cylinder, and an angle sensor for detecting the steering posture of the steering cylinder. The steering cylinder has a C1 port and a C2 port. The multi-vision perception module is used to collect road condition information in the mining area. The image processor converts the image signal into an electrical signal and outputs it to the vehicle controller. It also includes a hydraulic steering execution module and a pressure control module. The hydraulic steering execution module includes a constant speed motor, a fixed displacement pump, a three-position three-way hydraulic control valve, an accumulator, and a three-position four-way servo valve.
[0006] The drive shaft of the fixed-displacement pump is connected to the shaft of the constant-speed motor via a clutch. The fixed-displacement pump has an inlet and an A1 port. The inlet of the fixed-displacement pump is connected to the hydraulic oil tank. The three-position three-way hydraulic control valve has ports A3, A4, and B5, as well as ports K4 and K5 located on both sides. The three-position three-way hydraulic control valve also has a check valve. Port A3 is connected to port K4, and port A4 is connected to port K5. The rated pressure of the accumulator is set to 15.5 MPa. The accumulator has port A5. The three-position four-way servo valve has ports P1, T7, A7, and B7. Ports B5 and A3 of the three-position three-way hydraulic control valve are connected to ports A1 of the fixed-displacement pump and A5 of the accumulator, respectively. Ports A7 and B7 of the three-position four-way servo valve are connected to ports C1 and C5 of the steering cylinder, respectively. The C2 port is connected, and the T7 and P1 ports of the three-position four-way servo valve are connected to the hydraulic oil tank and the A5 port of the accumulator, respectively. The pressure control module includes units Z1, Z2, and Z3, which are connected to the A1 port of the fixed displacement pump, the A4 port of the three-position three-way hydraulic control valve, and the A5 port of the accumulator, respectively, enabling graded pressure control when charging the accumulator. The vehicle controller receives electrical signals from the multi-vision perception module and feedback signals from the angle sensor. It controls the amount of high-pressure oil entering the steering cylinder through the upper or lower position control of the three-position four-way servo valve to adjust the vehicle's steering posture during driving. The angle sensor provides real-time feedback correction to achieve real-time dynamic adjustment of the vehicle's posture.
[0007] Preferably, the multi-vision perception module includes a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera, wherein the lidar covers a range of 10-15 meters, the millimeter-wave radar covers a range of 5-10 meters, and the ultrasonic radar and camera cover a range of 0-5 meters.
[0008] Preferably, the image processor receives image signals from lidar, millimeter-wave radar, ultrasonic radar, and camera, converts the image signals into electrical signals, and outputs them to the vehicle controller. The vehicle controller initializes the steering action in advance, dynamically adjusts the steering curve, and provides real-time feedback correction through the steering angle sensor.
[0009] Preferably, the Z3 unit includes a proportional valve with a pressure range of 0-15.5 MPa. The proportional valve has ports T2, B2, and K2. Ports T2 and B2 of the proportional valve are connected to the hydraulic oil tank and port A5 of the accumulator, respectively. When the pressure of the accumulator is lower than the rated pressure, the constant speed motor drives the quantitative pump to deliver hydraulic oil to the accumulator for pressurization until the pressure in the accumulator rises to the maximum set pressure of the proportional valve. When the pressure in the accumulator exceeds the maximum set pressure of the proportional valve, the high-pressure oil flows from port A5 of the accumulator to ports B2 and T2 of the proportional valve, and then flows back to the hydraulic oil tank from port T2 for unloading.
[0010] Preferably, the Z2 unit includes a proportional relief valve with a pressure range of 0.5-16 MPa. The proportional relief valve has ports B3, K3, and T3. Ports B3 and T3 of the proportional relief valve are connected to port A4 of the three-position three-way hydraulic control valve and the hydraulic oil tank, respectively. When pressurizing the accumulator with hydraulic oil, if the pressure in the accumulator exceeds the maximum set pressure of the proportional valve, while the proportional valve is depressurizing, the high-pressure oil in the three-position three-way hydraulic control valve will flow from port A3 to port K4. The valve core in the three-position three-way hydraulic control valve moves from left to right, causing port B5 on the three-position three-way hydraulic control valve to disconnect from port A3 and connect to port A4. This allows the high-pressure oil exceeding the maximum set pressure of the proportional relief valve to flow through port A4 on the three-position three-way hydraulic control valve to ports B3 and T3 on the proportional relief valve, and then from port T3 to the hydraulic oil tank.
[0011] Preferably, the Z1 unit includes an electrically controlled relief valve with a pressure range of 1-16.5 MPa. The electrically controlled relief valve has a B1 port, a K1 port, and a T1 port. The B1 port and T1 port of the electrically controlled relief valve are respectively connected to the A1 port of the fixed displacement pump and the hydraulic oil tank. When the accumulator is continuously charged due to the jamming of the three-position three-way hydraulic control valve, causing the pressure to exceed the maximum set pressure of the electrically controlled relief valve, the high-pressure oil flows through the A1 port of the fixed displacement pump to the B1 port and T1 port of the electrically controlled relief valve, and then flows from the T1 port to the hydraulic oil tank for unloading.
[0012] The beneficial effects of this invention are as follows: Multiple visual perception signals provide accurate road condition information for steering and transport speed, laying the foundation for safe operation and improving production efficiency. These signals further enable precise steering control, making unmanned driving technology more mature and aligned with safer production requirements. The vehicle controller receives electrical signals from the multiple visual perception modules and feedback signals from the angle sensors, pre-initializing steering actions and dynamically adjusting the steering curve. This improves cornering smoothness and reduces energy consumption during wide-body vehicle transport. Furthermore, the high-pressure oil volume entering the steering cylinder is controlled by a three-position four-way servo valve, adjusting the vehicle's steering posture during travel. Real-time feedback correction from the angle sensors enables real-time dynamic adjustment of the vehicle's posture. Precise steering compensation facilitates vehicle control by transport management personnel, enhancing safety, reducing the rate of skidding accidents, improving lane departure prevention, and increasing the success rate of emergency collision avoidance during transport. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0014] Figure 1 This is a schematic diagram of the structure of this utility model;
[0015] Figure 2 This is a schematic diagram of the structure of the multi-vision perception module of this utility model.
[0016] In the diagram: 1. Constant speed motor; 2. Fixed displacement pump; 3. Three-position three-way hydraulic control valve; 4. Proportional valve; 5. Accumulator; 6. Three-position four-way servo valve; 7. Steering cylinder; 8. Proportional relief valve; 9. Electrically controlled relief valve; 11. Angle sensor. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.
[0018] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this utility model should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0019] like Figure 1 , Figure 2As shown, the multi-vision perception signal steering control system includes a multi-vision perception module, an image processor, a vehicle controller, a hydraulic oil tank, a steering cylinder 7, and an angle sensor 11 for detecting the steering posture of the steering cylinder 7. The steering cylinder 7 has ports C1 and C2. The multi-vision perception module is used to collect road condition information in the mining area, and the image processor converts the image signals into electrical signals and outputs them to the vehicle controller. The system is characterized by further including a hydraulic steering execution module and a pressure control module. The hydraulic steering execution module includes a constant-speed motor 1 and a fixed-displacement pump. 2. A three-position three-way hydraulic control valve 3, an accumulator 5, and a three-position four-way servo valve 6; the drive shaft of the fixed-displacement pump 2 is connected to the rotating shaft of the constant-speed motor 1 via a clutch, and the fixed-displacement pump 2 has an oil inlet and an oil outlet A1. The oil inlet of the fixed-displacement pump 2 is connected to the hydraulic oil tank. The three-position three-way hydraulic control valve 3 has ports A3, A4, and B5, as well as ports K4 and K5 located on both sides. Port A3 is connected to port K4, and port A4 is connected to port K5. A check valve is also installed inside the three-position three-way hydraulic control valve 3. The rated pressure of the accumulator 5 is set to 15.5 MPa. Accumulator 5 has port A5; three-position four-way servo valve 6 has ports P1, T7, A7, and B7; ports B5 and A3 of three-position three-way hydraulic control valve 3 are connected to ports A1 of fixed displacement pump 2 and A5 of accumulator 5, respectively; ports A7 and B7 of three-position four-way servo valve 6 are connected to ports C1 and C2 of steering cylinder 7, respectively; ports T7 and P1 of three-position four-way servo valve 6 are connected to hydraulic oil tank and port A5 of accumulator 5, respectively; the pressure control module includes units Z1, Z2, and Z3. Unit Z3 is connected to the oil outlet A1 of the fixed displacement pump 2, the A4 port of the three-position three-way hydraulic control valve 3, and the A5 port of the accumulator 5, respectively, so as to realize pressure graded control when the accumulator 5 is charged and pressurized. The vehicle controller receives the electrical signal from the multi-vision perception module and the feedback signal from the angle sensor 11, and controls the amount of high pressure oil entering the steering cylinder 7 through the upper or lower position of the three-position four-way servo valve 6 to adjust the steering posture of the vehicle during driving, and corrects it in real time through the angle sensor 11, so as to realize the real-time dynamic adjustment of the vehicle posture.
[0020] In a preferred embodiment of this utility model, the multi-vision perception module includes a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera, wherein the lidar covers a range of 10-15 meters, the millimeter-wave radar covers a range of 5-10 meters, and the ultrasonic radar and camera cover a range of 0-5 meters.
[0021] The image processor receives image signals from lidar, millimeter-wave radar, ultrasonic radar, and cameras, converts the image signals into electrical signals, and outputs them to the vehicle controller. The vehicle controller initializes the steering action in advance, dynamically adjusts the steering curve, and provides real-time feedback and correction through the steering angle sensor 11.
[0022] In another preferred embodiment of this utility model, the Z3 unit includes a proportional valve 4, the pressure range of which is set to 0-15.5 MPa. The proportional valve 4 has a T2 port, a B2 port, and a K2 port. The T2 port and B2 port of the proportional valve 4 are respectively connected to the hydraulic oil tank and the A5 port of the accumulator 5. When the pressure of the accumulator 5 is lower than the rated pressure, the constant speed motor 1 drives the fixed displacement pump 2 to deliver hydraulic oil into the accumulator 5 for pressurization, that is, to draw the hydraulic oil in the hydraulic oil tank into the fixed displacement pump 2. The oil is delivered to the three-position three-way hydraulic control valve 3 through the outlet A1 of the metering pump 2. The high-pressure oil flows in from port B5 and out from port A3 of the three-position three-way hydraulic control valve 3, and flows into the accumulator 5 through port A5 until the pressure in the accumulator 5 rises to the maximum set pressure of the proportional valve 4. When the pressure in the accumulator 5 exceeds the maximum set pressure of the proportional valve 4, the high-pressure oil flows from port A5 of the accumulator 5 to ports B2 and T2 of the proportional valve 4, and flows back to the hydraulic oil tank from port T2 for unloading.
[0023] When the pressure in accumulator 5 is 0, proportional valve 4 opens the passage, allowing high-pressure oil to enter accumulator 5 through port B5-A3 of three-position three-way hydraulic control valve 3 until the pressure reaches the set value of unit Z3 of 15.5MPa.
[0024] When the accumulator pressure exceeds 15.5MPa, the Z3 unit triggers unloading, and the high-pressure oil flows back to the hydraulic oil tank through the A5-B2-T2 passage to prevent the accumulator 5 from being overcharged. At the same time, in coordination with the pressure setting of the Z2 unit, the three-position three-way hydraulic control valve 3 is ensured to operate synchronously to complete the closed-loop control of charging.
[0025] When the vehicle stops, the pressure of the Z3 unit returns to 0, and the pressure oil in the accumulator 5 is released through the unloading passage to avoid safety hazards caused by the system shutting down under pressure.
[0026] In another preferred embodiment of this utility model, the Z2 unit includes a proportional relief valve 8. The pressure range of the proportional relief valve 8 is set to 0.5-16MPa. The proportional relief valve 8 has a B3 port, a K3 port, and a T3 port. The B3 port and the T3 port of the proportional relief valve 8 are respectively connected to the A4 port of the three-position three-way hydraulic control valve 3 and the hydraulic oil tank. When the accumulator 5 is pressurized with hydraulic oil, when the pressure in the accumulator 5 exceeds the maximum set pressure of the proportional valve 4, while the proportional valve 4 is depressurizing, the high-pressure oil of the three-position three-way hydraulic control valve 3 will flow from the A3 port to the K4 port. The three-way hydraulic control valve 3 is equipped with a check valve. When the hydraulic oil from port A3 flows to port K4, it can prevent the hydraulic oil in the accumulator 5 from flowing back. Since there is a spring on the right side of the three-way hydraulic control valve 3, the valve core inside the three-way hydraulic control valve 3 moves from left to right. The spring promotes the movement of the valve core, so that port B5 on the three-way hydraulic control valve 3 is disconnected from port A3 and port B5 is connected to port A4. This allows high-pressure oil exceeding the maximum set pressure of the proportional relief valve 8 to flow through port A4 on the three-way hydraulic control valve 3 to ports B3 and T3 on the proportional relief valve 8, and then flow from port T3 to the hydraulic oil tank.
[0027] During the charging process of accumulator 5, the pressure setting of unit Z2 ensures that the valve core of the three-position three-way hydraulic control valve 3 only moves from left to right through the high-pressure oil "B5 port-A4 port" to the proportional relief valve 8 to unload back to the hydraulic oil tank when the pressure of accumulator 5 reaches 16MPa, thus avoiding premature valve core movement that would lead to insufficient charging.
[0028] A pressure difference of 0.5 MPa provides sufficient driving force for the movement of the valve core of the three-position three-way hydraulic control valve 3, ensuring that the accumulator 5 can be stably charged to the preset pressure, and ensuring that the subsequent steering cylinder 7 has sufficient power output.
[0029] It should be noted that the Z1 unit includes an electrically controlled relief valve 9, the pressure range of which is set to 1-16.5MPa. The electrically controlled relief valve 9 has ports B1, K1, and T1. Ports B1 and T1 of the electrically controlled relief valve 9 are connected to port A1 of the fixed displacement pump 2 and the hydraulic oil tank, respectively. When the accumulator 5 is continuously charged due to the jamming of the three-position three-way hydraulic control valve 3, causing the pressure to exceed the maximum set pressure of the electrically controlled relief valve 9, the high-pressure oil flows through port A1 of the fixed displacement pump 2 to ports B1 and T1 of the electrically controlled relief valve 9, and then flows from port T1 to the hydraulic oil tank for unloading.
[0030] When the accumulator 5 continues to charge due to faults such as jamming of the three-position three-way hydraulic control valve 3, and the pressure exceeds the safety threshold, the electrically controlled relief valve 9 of the Z1 unit unloads the pressure back to the hydraulic oil tank through the A1-B1-T1 passage, forcibly controlling the system pressure within 16.5MPa, and preventing hydraulic components such as pumps, valves and cylinders from rupturing due to overpressure.
[0031] As a "backup protection" for the hydraulic system, it compensates for the response lag of other modules. Due to the lag of oil in the hydraulic system, the Z1 unit can quickly trigger unloading to prevent pressure runaway.
[0032] This invention utilizes the coordinated operation of an electronically controlled overflow valve 9, a proportional overflow valve 8, and a proportional valve 4 to charge the accumulator 5, ensuring that the accumulator 5 has sufficient energy to output to the steering cylinder 7 in a timely and adequate manner. When the accumulator 5 is fully charged to 15.5 MPa, the vehicle controller controls the three-position four-way servo valve 6 to move up or down, controlling the amount of high-pressure oil entering the steering cylinder 7 to adjust the vehicle's steering posture during driving. The steering angle sensor 11 performs physical measurements and provides feedback until the steering angle information meets the requirements for tracking driving.
[0033] Taking the collaborative working logic of units Z1, Z2, and Z3 as an example, energy storage charging is an example.
[0034] Initial stage: The pressure of accumulator 5 is 0, and the pressures of Z1 unit 16.5MPa, Z2 unit 16MPa, and Z3 unit 15.5MPa are set according to the preset pressure. The constant speed motor 1 drives the quantitative pump 2 to output high pressure oil.
[0035] Charging process: High-pressure oil enters the accumulator 5 through the three-position three-way hydraulic control valve 3, and the pressure gradually increases to the unit set value of 15.5MPaZ3.
[0036] Unloading trigger: Z3 unit acts first, and high-pressure oil is unloaded from port A5-B2-T2; at the same time, the pressure of accumulator 5 pushes the valve core of three-position three-way hydraulic control valve 3 to move to the right, and high-pressure oil is unloaded from port B5-A4 to the proportional relief valve 8 of Z2 unit. Because the pressure of Z2 unit is 16MPa, it ensures that the valve core is fully activated.
[0037] Abnormal protection: If the three-position three-way hydraulic control valve 3 becomes stuck, causing the pressure to rise continuously, the electrically controlled relief valve 9 of unit Z1 will be forcibly unloaded when the pressure reaches 16.5MPa to ensure system safety.
[0038] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention is limited to these examples; within the framework of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in the details for the sake of brevity.
[0039] The embodiments of this utility model are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A multi-vision perception signal steering control system, comprising a multi-vision perception module, an image processor, a vehicle controller, a hydraulic tank, a steering cylinder (7), and a steering angle sensor (11) for detecting the steering posture of the steering cylinder (7). The steering cylinder (7) has a C1 port and a C2 port. The multi-vision perception module is used to collect road condition information in the mining area, and the image processor converts the image signal into an electrical signal and outputs it to the vehicle controller. The system is characterized in that... It also includes a hydraulic steering actuator module and a pressure control module. The hydraulic steering actuator module includes a constant speed motor (1), a fixed displacement pump (2), a three-position three-way hydraulic control valve (3), an accumulator (5), and a three-position four-way servo valve (6). The drive shaft of the fixed displacement pump (2) is connected to the rotating shaft of the constant speed motor (1) through a clutch. The fixed displacement pump (2) has an oil inlet and an A1 port. The oil inlet of the fixed displacement pump (2) is connected to the hydraulic oil tank. The three-position three-way hydraulic control valve (3) has an A3 port, an A4 port, a B5 port, and K4 and K5 ports located on both sides. The A3 port is connected to the K4 port, and the A4 port is connected to the K5 port. The three-position three-way hydraulic control valve (3) is also equipped with a check valve. The rated pressure of the accumulator (5) is set to 15.5 MPa. The accumulator (5) has an A5 port. The three-position four-way servo valve (6) has a P1 port, a T7 port, an A7 port, and a B7 port. The B5 port and A3 port of the three-position three-way hydraulic control valve (3) are connected to the A1 port of the fixed displacement pump (2) and the A5 port of the accumulator (5), respectively. The A7 port and B7 port of the three-position four-way servo valve (6) are connected to the steering cylinder (7), respectively. The C1 and C2 ports are connected, and the T7 and P1 ports of the three-position four-way servo valve (6) are connected to the hydraulic oil tank and the A5 port of the accumulator (5) respectively. The pressure control module includes the Z1 unit, the Z2 unit and the Z3 unit. The Z1 unit, the Z2 unit and the Z3 unit are connected to the A1 port of the fixed pump (2), the A4 port of the three-position three-way hydraulic control valve (3) and the A5 port of the accumulator (5) respectively, so that pressure graded control is realized when the accumulator (5) is charged with energy storage. The vehicle controller receives the electrical signal of the multi-vision perception module and the feedback signal of the angle sensor (11). It controls the amount of high pressure oil entering the steering cylinder (7) through the upper or lower position of the three-position four-way servo valve (6) to adjust the vehicle steering posture during driving. It also corrects the posture in real time through the angle sensor (11) to realize the real-time dynamic adjustment of the vehicle posture.
2. The multi-visual perception signal steering control system according to claim 1, characterized in that, The multi-vision perception module includes a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera. The lidar covers a range of 10-15 meters, the millimeter-wave radar covers a range of 5-10 meters, and the ultrasonic radar and camera cover a range of 0-5 meters.
3. The multi-visual perception signal steering control system according to claim 2, characterized in that, The image processor receives image signals from lidar, millimeter-wave radar, ultrasonic radar and camera, converts the image signals into electrical signals and outputs them to the vehicle controller. The vehicle controller initializes the steering action in advance, dynamically adjusts the steering curve, and provides real-time feedback correction through the steering angle sensor (11).
4. The multi-visual perception signal steering control system according to claim 1, characterized in that, The Z3 unit includes a proportional valve (4), the pressure range of which is set to 0-15.5MPa. The proportional valve (4) has a T2 port, a B2 port and a K2 port. The T2 port and B2 port of the proportional valve (4) are connected to the hydraulic oil tank and the A5 port of the accumulator (5) respectively. When the pressure of the accumulator (5) is lower than the rated pressure, the constant speed motor (1) drives the quantitative pump (2) to deliver hydraulic oil into the accumulator (5) for pressurization until the pressure in the accumulator (5) rises to the maximum set pressure of the proportional valve (4). When the pressure in the accumulator (5) exceeds the maximum set pressure of the proportional valve (4), the high pressure oil flows from the A5 port of the accumulator (5) to the B2 port and T2 port of the proportional valve (4), and flows back to the hydraulic oil tank from the T2 port for unloading.
5. The multi-visual perception signal steering control system according to claim 4, characterized in that, The Z2 unit includes a proportional relief valve (8), the pressure range of which is set to 0.5-16MPa. The proportional relief valve (8) has a B3 port, a K3 port, and a T3 port. The B3 port and the T3 port of the proportional relief valve (8) are respectively connected to the A4 port of the three-position three-way hydraulic control valve (3) and the hydraulic oil tank. When the hydraulic oil is supplied to the accumulator (5) for pressurization, when the pressure in the accumulator (5) exceeds the maximum set pressure of the proportional valve (4), the pressure is released through the proportional valve (4). While depressurizing, the high-pressure oil in the three-position three-way hydraulic control valve (3) will flow from port A3 to port K4. The valve core inside the three-position three-way hydraulic control valve (3) moves from left to right, causing port B5 on the three-position three-way hydraulic control valve (3) to disconnect from port A3 and port B5 to connect with port A4. This causes the high-pressure oil exceeding the maximum set pressure of the proportional relief valve (8) to flow through port A4 on the three-position three-way hydraulic control valve (3) to port B3 and port T3 on the proportional relief valve (8), and then flow from port T3 to the hydraulic oil tank.
6. The multi-visual perception signal steering control system according to claim 1, characterized in that, The Z1 unit includes an electrically controlled relief valve (9), the pressure range of which is set to 1-16.5MPa. The electrically controlled relief valve (9) has a B1 port, a K1 port and a T1 port. The B1 port and T1 port of the electrically controlled relief valve (9) are connected to the A1 port of the metering pump (2) and the hydraulic oil tank, respectively. When the accumulator (5) is continuously charged due to the jamming of the three-position three-way hydraulic control valve (3), and the pressure exceeds the maximum set pressure of the electrically controlled relief valve (9), the high pressure oil flows through the A1 port of the metering pump (2) to the B1 port and T1 port of the electrically controlled relief valve (9), and flows from the T1 port to the hydraulic oil tank for unloading.