CN106347459B - A kind of steering wheel automatic alignment method and device - Google Patents
A kind of steering wheel automatic alignment method and device Download PDFInfo
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- CN106347459B CN106347459B CN201610939855.XA CN201610939855A CN106347459B CN 106347459 B CN106347459 B CN 106347459B CN 201610939855 A CN201610939855 A CN 201610939855A CN 106347459 B CN106347459 B CN 106347459B
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- steering wheel
- steering
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- steering system
- speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to steering wheel for vehicle control technology field, particularly a kind of steering wheel automatic alignment method and device.The invention discloses a kind of steering wheel automatic alignment methods, include the following steps: S1, start vehicle, whether the speed for detecting vehicle is zero, if so, entering step S2；If not, entering step S4；Whether S2, the rotational angle of detection direction disk and the steering angle of steering system are aligned, if so, entering step S4；If not, entering step S3；S3, steering wheel rotation, into S2；S4, enables steering system, and steering system is accordingly rotated according to steering wheel rotational angle.The invention also discloses a kind of steering wheel automatic aligning devices.The present invention can help driver to complete good alignment to the steering wheel of vehicle and the physical location of wheel, ensure that vehicle is always at same state on startup, driver is allowed to feel comfortable, it only need to be by software development it is achieved that not needing to increase additional hardware spending.
Description
Technical field
The invention belongs to steering wheel for vehicle control technology fields, more particularly to a kind of steering wheel automatic alignment method and dress
It sets.
Background technique
Fork truck is industrial transportation vehicle, be for being loaded and unloaded to pallet cargo, stacking and short distance transportation operation
Various wheeled transport vehicles.Fork truck plays very important role in the logistics system of enterprise, is cargo handling equipment
In main force, each department being widely used in the national economy such as station, harbour, airport, factory, warehouse.With China
The material carrying of economic fast development, most of enterprise has had been detached from original manual handling, instead with fork
Conveyorization based on vehicle.Therefore, the demand in Chinese fork truck market is increasing.
The steering wheel of fork truck can be with 360 degree of cycle rotations, when fork truck stops working, and driver not necessarily can be by steering wheel
It goes back to center position, but is in a variety of different rotational angle positions, in addition, even if when fork truck is flame-out, driver is by direction
Disk goes back to center position, but it is flame-out after, it is also possible to someone's steering wheel rotation, so that steering wheel be made to be not located at center position, when
After fork truck is again started up, the rotational angle of steering wheel and the steering angle of steering system are not aligned with, i.e. steering wheel and wheel
Physical location is not aligned with, and it is all different that vehicle opens operated condition every time, so that driving is very inconvenient, is driven especially for new
Member.
Summary of the invention
Present invention aims at provide a kind of steering wheel and vehicle that can help driver to vehicle in order to solve the above problem
The physical location of wheel completes good alignment, it is ensured that vehicle is always at same state on startup, and driver is allowed to feel easypro
Suitable steering wheel automatic alignment method and device
For this purpose, including the following steps: the invention discloses a kind of steering wheel automatic alignment method
S1 starts vehicle, and whether the speed for detecting vehicle is zero, if so, entering step S2；If not, entering step
S4；
Whether S2, the rotational angle of detection direction disk and the steering angle of steering system are aligned, if so, entering step
S4；If not, entering step S3；
S3, steering wheel rotation, into S2；
S4, enables steering system, and steering system is accordingly rotated according to steering wheel rotational angle.
Further, in the step S1, the speed of vehicle is detected using velocity sensor.
Further, it is specifically included in the step S2:
S21, steering system are automatically brought to center, enter step S22；
Whether S22, the rotational angle of detection direction disk and the steering angle of steering system are aligned, if so, entering step
S4；If not, entering step S3.
Further, realize that steering system is automatically brought to center using centering sensor.
Further, using the rotational angle of angular transducer detection direction disk.
Further, the angular transducer is photoelectric encoder.
Further, the step S3 specifically: manual steering wheel rotation, into S2；
The invention also discloses a kind of steering wheel automatic aligning devices, including
Bus- Speed Monitoring module, for after vehicle start-up, whether the speed for detecting vehicle to be zero；
Whether alignment detection module is aligned for the rotational angle of detection direction disk and the steering angle of steering system；
Rotating module is used for steering wheel rotation；
Processing module when for detecting that the speed of vehicle is zero when Bus- Speed Monitoring module, starts alignment detection module, when
When Bus- Speed Monitoring module detects that the speed of vehicle is not zero, steering system is enabled；When alignment detection module detects steering wheel
Rotational angle and steering system steering angle alignment when, enable steering system, when alignment detection module detects steering wheel
Rotational angle and the steering angle of steering system when being misaligned, start rotating module, restart alignment detection module.
The present invention can help driver to complete good alignment to the steering wheel of vehicle and the physical location of wheel, it is ensured that vehicle
It is always at same state on startup, allows driver to feel comfortable, need to pass through especially suitable for fresh driver, or even only
Software development is at low cost it is achieved that do not need to increase additional hardware spending.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is the steering wheel rotational angle of the embodiment of the present invention and the corresponding relationship of angular transducer signal；
Fig. 3 is a kind of system construction drawing for implementing direction disk automatic alignment method in the embodiment of the present invention；
Fig. 4 is the structural block diagram of the steering wheel automatic aligning device in the embodiment of the present invention.
Specific embodiment
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
Present invention is mainly applied to have the fork truck of the automatically controlled steering system of booting automatic centering function, as shown in figure 3, tool
There is the fork truck of the automatically controlled steering system of booting automatic centering function to be typically provided fork truck controller 1, angular transducer 2, steering wheel
3, power module 4, the automatically controlled steering system 5 with booting automatic centering function, velocity sensor 6, running motor 7, steering electricity
Machine 8 and centering sensor 9, below will be as the example steering wheel automatic alignment method that the present invention will be described in detail.
As shown in Figure 1, a kind of steering wheel automatic alignment method, includes the following steps:
S1 starts fork truck, and whether the speed for detecting fork truck is zero, if so, entering step S2；If not, entering step
S4。
Specifically, detecting the speed of fork truck using velocity sensor 6, certainly, in other embodiments, can also use
Other methods detect the speed of fork truck, such as whether detection running motor 7 have rotation no, this is that those skilled in the art can be with
It realizes, is no longer described in detail easily.If detecting that the speed of fork truck is not zero, if fork truck controller 1 disabled orientation disk from
Dynamic alignment function, directly enables automatically controlled steering system 5, automatically controlled steering system 5 is accordingly turned according to 3 rotational angle of steering wheel
Dynamic, there is no be aligned the steering wheel 3 to meet safety standard requirement, but at this time with automatically controlled steering system 5.If detecting fork truck
Speed be zero, then enter step S2.
Whether S2, the rotational angle of detection direction disk and the steering angle of steering system are aligned, if so, entering step
S4；If not, entering step S3.
Specifically, steering system 5 automatically controlled first drives steering motor 8 to rotate, until centering sensor 9 feeds back automatically controlled steering
The automatic centering function of the correct centering of system 5, automatically controlled steering system 5 is the prior art, this is no longer described in detail.Angular transducer
The rotational angle of 2 detection direction disks 3, in this specific embodiment, using photoelectric encoder come the rotational angle of detection direction disk 3,
In other embodiments, can also be using other angular transducers come the rotational angle of detection direction disk 3, this is this field skill
What art personnel can realize easily, no longer it is described in detail.
Steering wheel 3 can be with 360 degree of cycle rotations, therefore, and the signal of angular transducer 2 rotates 360 degree with steering wheel 3
It is linearly corresponded to for the period, Fig. 2 is exemplary to give two of them corresponding relationship.
Then, fork truck controller 1 according to the signal of angular transducer 2 judge steering wheel 3 whether in center position, i.e., with
The steering angle of automatically controlled steering system 5 is aligned, if alignment, enters step S4；If be misaligned, S3 is entered step.
S3, steering wheel rotation, into S2.
Manual steering wheel rotation 3, repeats step S2, certainly, in other embodiments, can also be with until alignment
One automatic rotating module is set, and to carry out automatic steering wheel rotation 3, this is that those skilled in the art can realize easily, no
It is described in detail again.
S4, enables steering system, and steering system is accordingly rotated according to steering wheel rotational angle.
Specifically, enabling automatically controlled steering system 5, automatically controlled steering system 5 will carry out corresponding according to the rotational angle of steering wheel 3
Rotation, that is, after realizing fork truck booting, steering wheel 3 is aligned with automatically controlled steering system 5, and driver is facilitated to operate.
In the present embodiment, only steering wheel automatic centering need to can be realized by software development, do not need to increase additionally
Hardware spending, at low cost, application prospect is wide.
Certainly, the present invention also can be applied to the automatically controlled steering system for being not powered on automatic centering function or hydraulic control
Steering system need to only increase the sensor of the steering angle for detecting steering system, be not necessarily to steering system centering, directly judge
Whether the rotational angle of steering wheel and the steering angle of steering system are aligned, and can be realized, this is no longer described in detail.
The invention also discloses a kind of steering wheel automatic aligning devices, comprising:
Bus- Speed Monitoring module 22 is used for after fork truck starting, and whether the speed for detecting vehicle is zero, specifically, speed is examined
Survey module 22 is velocity sensor.
Whether alignment detection module 23 is aligned for the rotational angle of detection direction disk and the steering angle of steering system,
Specifically, alignment detection module 23 include for detection direction disk rotational angle angular transducer and steering system it is automatic right
Middle sensor.
Rotating module 24 is used for steering wheel rotation, specially manual steering wheel rotation.
Processing module 21 when for detecting that the speed of vehicle is zero when Bus- Speed Monitoring module 22, starts alignment detection mould
Block 23 enables steering system when Bus- Speed Monitoring module 22 detects that the speed of vehicle is not zero；When alignment detection module 23 is examined
When the steering angle of the rotational angle and steering system that measure steering wheel is aligned, steering system is enabled, when alignment detection module 23
When the steering angle of the rotational angle and steering system that detect steering wheel is misaligned, starts rotating module 24, restart alignment
Detection module 23, until the rotational angle of steering wheel and the alignment of the steering angle of steering system.
Certainly, the present invention also can be applied to other vehicles with similar steering wheel, it is not limited to forklift steering wheel.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (7)
1. a kind of steering wheel automatic alignment method, it is characterised in that: include the following steps
S1 starts vehicle, and whether the speed for detecting vehicle is zero, if so, entering step S2；If not, entering step S4；
Whether S2, the rotational angle of detection direction disk and the steering angle of steering system are aligned, if so, entering step S4；Such as
Fruit is no, enters step S3；Specifically include: S21, steering system are automatically brought to center, enter step S22；S22, detection side
Whether the steering angle of rotational angle and steering system to disk is aligned, if so, entering step S4；If not, entering step
S3；
S3, steering wheel rotation, into S2；
S4, enables steering system, and steering system is accordingly rotated according to steering wheel rotational angle.
2. steering wheel automatic alignment method according to claim 1, it is characterised in that: in the step S1, using speed
Sensor detects the speed of vehicle.
3. steering wheel automatic alignment method according to claim 1, it is characterised in that: realized and turned to using centering sensor
System is automatically brought to center.
4. steering wheel automatic alignment method according to claim 1, it is characterised in that: use angular transducer detection direction
The rotational angle of disk.
5. steering wheel automatic alignment method according to claim 4, it is characterised in that: the angular transducer is photoelectricity volume
Code device.
6. steering wheel automatic alignment method according to claim 1, it is characterised in that: the step S3 specifically: manually
Steering wheel rotation, into S2.
7. a kind of steering wheel automatic aligning device, it is characterised in that: including
Bus- Speed Monitoring module, for after vehicle start-up, whether the speed for detecting vehicle to be zero；
Whether alignment detection module is aligned for the rotational angle of detection direction disk and the steering angle of steering system；
Rotating module is used for steering wheel rotation；
Processing module when for detecting that the speed of vehicle is zero when Bus- Speed Monitoring module, starting alignment detection module, working as speed
When detection module detects that the speed of vehicle is not zero, steering system is enabled；When alignment detection module detects turning for steering wheel
When the steering angle alignment of dynamic angle and steering system, steering system is enabled, when alignment detection module detects turning for steering wheel
When the steering angle of dynamic angle and steering system is misaligned, starts rotating module, restart alignment detection module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939855.XA CN106347459B (en) | 2016-11-01 | 2016-11-01 | A kind of steering wheel automatic alignment method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939855.XA CN106347459B (en) | 2016-11-01 | 2016-11-01 | A kind of steering wheel automatic alignment method and device |
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| Publication Number | Publication Date |
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| CN106347459A CN106347459A (en) | 2017-01-25 |
| CN106347459B true CN106347459B (en) | 2019-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610939855.XA Active CN106347459B (en) | 2016-11-01 | 2016-11-01 | A kind of steering wheel automatic alignment method and device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112829830B (en) * | 2019-11-25 | 2022-05-31 | 北京新能源汽车股份有限公司 | Control method, controller and control system for remote control steering |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202264814U (en) * | 2011-09-26 | 2012-06-06 | 杭州拜特电驱动技术有限公司 | Electronic steering control system for industrial vehicle |
| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
| CN204383562U (en) * | 2014-12-12 | 2015-06-10 | 浙江吉利汽车研究院有限公司 | Vehicle parking wheel self-aligning device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2848173B1 (en) * | 2002-12-06 | 2005-09-30 | Soc Mecanique Irigny | METHOD FOR ESTABLISHING, IN AN ELECTRIC POWER STEERING SYSTEM FOR A MOTOR VEHICLE, THE SETTING OF THE ASSISTANCE TORQUE AND POWER-ASSISTED DIRECTION SYSTEM FOR THE IMPLEMENTATION OF SAID METHOD |
| CN103786780B (en) * | 2012-10-31 | 2018-01-16 | 宁波储力叉车有限公司 | A kind of intelligent electric boosted steering controller for goods trolley |
| JP6137534B2 (en) * | 2013-04-03 | 2017-05-31 | 株式会社ジェイテクト | Vehicle steering system |
-
2016
- 2016-11-01 CN CN201610939855.XA patent/CN106347459B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202264814U (en) * | 2011-09-26 | 2012-06-06 | 杭州拜特电驱动技术有限公司 | Electronic steering control system for industrial vehicle |
| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
| CN204383562U (en) * | 2014-12-12 | 2015-06-10 | 浙江吉利汽车研究院有限公司 | Vehicle parking wheel self-aligning device |
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| CN106347459A (en) | 2017-01-25 |
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