CN110509989A - Positive system and its method are returned for wheel - Google Patents
Positive system and its method are returned for wheel Download PDFInfo
- Publication number
- CN110509989A CN110509989A CN201910766810.0A CN201910766810A CN110509989A CN 110509989 A CN110509989 A CN 110509989A CN 201910766810 A CN201910766810 A CN 201910766810A CN 110509989 A CN110509989 A CN 110509989A
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- Prior art keywords
- wheel
- vehicle
- switch
- close
- controller
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Classifications
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
It is a kind of to return positive system and its method for wheel, it further include warning device including returning positive system, including wheel deviation correcting device for wheel；The wheel deviation correcting device is connect with the warning device phase control, and the warning device is used to be alarmed or be prompted under conditions of confirming that wheel deviates.The warning device is the combined aural and visual alarm that driver's cabin is arranged in.The wheel deviation correcting device includes wheel position detecting device, controller and diverter；The wheel position detecting device is communicated with the controller and is connect, and the wheel position detecting device is used to detect the location information of the wheel of vehicle and the location information of the wheel is sent in the controller；Effectively preventing rectifying a deviation in the prior art in conjunction with other structures or method, mode is excessively single makes the single flexibility of mode is insufficient, has no prompt information in automatic deviation correction can generate the defect excessively frightened to driver.
Description
Technical field
The present invention relates to positive system technical field is returned, also it is related to the technical field of wheel correction, and in particular to one kind is directed to
Wheel returns positive system and its method, more particularly to a kind of wheel for aircraft tractor intelligently returns positive system and its method.
Background technique
Wheel is fixed tire inner edge, supports tire and bears the rigid wheel of load jointly with tire.Also it will combine one
Tire, wheel rim and the spoke risen is referred to as wheel.Wheel set is formed by wheel and the big component of tire two.
And vehicle as vehicle, especially aircraft tractor, all run by its wheel, and it is most of like flying
Vehicle as machine travel vehicle is all four wheels, is two front-wheels and two rear-wheels respectively, in this way, when Vehicular turn
Four-wheel steering pattern is generallyd use, it is mobile flexible to be increased to reduce turning radius by the synchronous steering pattern of four-wheel for vehicle in this way
Property, since vehicle own wt is larger, thus mostly use the hydraulic cylinder of hydraulic steering gear as steering power；But due to hydraulic
There are in working media the factors such as let out in oil cylinder, cause vehicle after using a period of time is run when in use, rear-wheel with before move in turn
Make asynchronous and deviate, especially when front-wheel straight-line travelling, rear-wheel is because occur deviating and cannot normally returning to normal
Follow front-wheel straight-line travelling and position in keeping, do not take the air line when will lead to vehicle to run in this way, manipulation is difficult, and there is also peaces
Situations such as full hidden danger and abnormal tyre are worn.
Prior art is using detection device detection rear-wheel offset at present, and uses corresponding correction mode, this correction mould
The shortcoming of formula is: correction mode is excessively single, otherwise is exactly manual deviation rectification otherwise is exactly automatic deviation correction, the single spirit of mode
It is active insufficient；In automatic deviation correction, prompt information is had no, in the case that movement range is excessive in correction in this way, causes vehicle
Head is got rid of to wag the tail, especially deviation-rectifying system is carrying out what correction movement often acted in the unconscious situation of driver automatically,
Excessively scaring can be thus generated to driver.
Summary of the invention
To solve the above problems, returning positive system and its method for wheel the present invention provides a kind of, effectively prevent
In the prior art correction mode it is excessively single so that the single flexibility of mode is insufficient, have no prompt information in automatic deviation correction can be right
Driver generates the defect excessively frightened.
It is a kind of in order to overcome the deficiencies in the prior art, the present invention provides to return positive system and its method for wheel
Solution, specific as follows:
It is a kind of to return positive system, including wheel deviation correcting device for wheel, it further include warning device；
The wheel deviation correcting device is connect with the warning device phase control, and the warning device is used to go out in confirmation wheel
It is alarmed or is prompted under conditions of now deviating.
The warning device is the combined aural and visual alarm that driver's cabin is arranged in.
The wheel deviation correcting device includes wheel position detecting device, controller 1 and diverter 2；
The wheel position detecting device is communicated with the controller 1 and is connect, and the wheel position detecting device is used for
It detects the location information of the wheel of vehicle and the location information of the wheel is sent in the controller 1；
The controller 1 is connect with 2 phase control of diverter, and the diverter 2 is connect with the steering wheel, the control
Device 1 processed allows the steering wheel of vehicle to rotate to reach the correction to the wheel of vehicle by diverter 2；
The controller 1 is also connect with the warning device phase control, and the controller 1 can occur inclined in confirmation wheel
Under conditions of shifting, controls the warning device and alarmed or prompted.
The wheel position detecting device includes first close to switch 5, second close to switch 6, the close switch 7 of third, the
Four close switches 8, the first detection block 9 and the second detection block 10；It is arranged by a front-wheel 3 of the vehicle and maintains interval
The first of distance is close to switch 5 and second close to switch 6, in the front-wheel 3 with the first close switch 5 and the second close switch 6
Between be provided with the first detection block 9；First detection block 9 the straight line when driving, normal condition this first detection
Block 9 towards be first close to switch 5 and second close to the clearance space between switch 6, first approach switch 5 and second at this time
It can't detect the approach signal of first detection block 9 close to switch 6；The case where the front-wheel appearance of vehicle deviates to the left
When, first detection block 9 can be detected the approach signal of first detection block 9 by described first close to switch 5；In vehicle
Front-wheel when there is the case where deviating to the right, first detection block 9 can detect described first close to switch 6 by described second
The approach signal of detection block 9；
It is arranged by a rear-wheel 4 of the vehicle and maintains the third of spacing distance and approached close to switch 7 and the 4th
Switch 8 is provided with the second detection block 10 close between switch 8 close to switch 7 and the 4th with third in the rear-wheel 4；Described
Two detection blocks 10 the straight line when driving, normal condition second detection block 10 towards be third close to 7 He of switch
4th close to the clearance space between switch 8, and third, which approaches switch 8 close to switch 7 and the 4th, at this time can't detect described the
The approach signal of two detection blocks 10；When the case where deviating to the left occurs in the rear-wheel of vehicle, second detection block 10 can be by institute
State the approach signal that third detects second detection block 10 close to switch 7；There are the feelings deviated to the right in the rear-wheel of vehicle
When condition, second detection block 10 can be detected the approach signal of second detection block 10 by the described 4th close to switch 8；
Described first close to switch 5, second close to switch 6, third approach switch 7 and the 4th close to switch 8 with it is described
Controller communicates connection.
It is described to return positive system for wheel further include: confirmation module, alarm module and correction module:
The confirmation module operates on the controller, and the confirmation module is used for first close to switch 5 the vehicle
Front-wheel occur after the approach signal that deviates to the left is transmitted in controller, it is confirmed that the front-wheel appearance of vehicle deviates to the left；
For after described second is transmitted to the approach signal that the appearance of the front-wheel of the vehicle deviates to the right in controller close to switch 6,
It is confirmed that the front-wheel appearance of vehicle deviates to the right；For the rear-wheel of the vehicle to be occurred to left avertence close to switch 7 in the third
After the approach signal of shifting is transmitted in controller, it is confirmed that the rear-wheel appearance of vehicle deviates to the left；For close the described 4th
After switch 8 is transmitted to the approach signal that deviating to the right occurs in the rear-wheel of the vehicle in controller, it is confirmed that the rear-wheel of vehicle goes out
Now deviate to the right；
The alarm module operates on the controller, and the alarm module is used for true by the approach signal received
Recognize vehicle front-wheel occur the number that deviates to the left be more than setting transfinite number when, just control the warning device and alarm
Or the front-wheel appearance of prompt vehicle deviates to the left；Confirm that the front-wheel of vehicle occurs to right avertence for the approach signal by receiving
The number of shifting be more than setting transfinite number when, just control the warning device alarmed or prompted the front-wheel of vehicle occur to
Right avertence is moved；Confirming that the number deviated to the left occurs in the rear-wheel of vehicle for the approach signal by receiving is more than transfiniting for setting
When number, just controls the warning device and alarmed or prompted the rear-wheel of vehicle to occur deviating to the left；For by receiving
Approach signal confirmation vehicle rear-wheel occur the number that deviates to the right be more than setting transfinite number when, just control the alarm
Device is alarmed or is prompted the rear-wheel of vehicle to occur deviating to the right；
The correction module operates on the controller, and the correction module is right for controlling the hydraulic steering gear 2
The wheel for occurring to deviate or deviate to the right to the left is rectified a deviation；Or for by intellectualized algorithm come to occur to the left offset or
The wheel deviated to the right is rectified a deviation.
The method for returning positive system for wheel, comprising:
The wheel deviation correcting device confirmation wheel deviate under conditions of, start the warning device carry out alarm or
Prompt, then carries out the correction to the wheel.
There is the method deviated in the wheel deviation correcting device confirmation wheel, comprising:
In vehicle driving and vehicle holding straight-line travelling, when there is the case where deviating to the left in the front-wheel of vehicle, institute
The approach signal of first detection block 9, the approach signal can be detected by described first close to switch 5 by stating the first detection block 9
To indicate that the approach signal deviated to the left occurs in the front-wheel of vehicle, and described first goes out the front-wheel of the vehicle close to switch 5
The approach signal now deviated to the left is transmitted in controller, and the controller is after receive the approach signal it is confirmed that vehicle
Front-wheel appearance deviates to the left；
When the case where deviating to the right occurs in the front-wheel of vehicle, first detection block 9 can be by the described second close switch 6
Detect the approach signal of first detection block 9, which is that indicate that deviating to the right occurs in the front-wheel of vehicle close
Signal, and described second is transmitted to the approach signal that deviating to the right occurs in the front-wheel of the vehicle in controller close to switch 6,
The controller is after receiving the approach signal it is confirmed that the front-wheel appearance of vehicle deviates to the right；
When the case where deviating to the left occurs in the rear-wheel of vehicle, second detection block 10 can be by the close switch of the third
7 detect the approach signal of second detection block 10, which is to indicate that deviating to the left occurred in the rear-wheel of vehicle connects
Nearly signal, and the approach signal that deviating to the left occurs in the rear-wheel of the vehicle is transmitted to controller close to switch 7 by the third
In, the controller is after receiving the approach signal it is confirmed that the rear-wheel appearance of vehicle deviates to the left；
When the case where deviating to the right occurs in the rear-wheel of vehicle, second detection block 10 can be by the described 4th close switch
8 detect the approach signal of second detection block 10, which is to indicate that deviating to the right occurred in the rear-wheel of vehicle connects
Nearly signal, and the described 4th is transmitted to controller the approach signal that deviating to the right occurs in the rear-wheel of the vehicle close to switch 8
In, the controller is after receiving the approach signal it is confirmed that the rear-wheel appearance of vehicle deviates to the right.
The method that the starting warning device is alarmed or prompted, comprising:
Passing through the number that the approach signal received confirms that deviating to the left occurs in the front-wheel of vehicle in the controller is more than
Setting transfinite number when, just control the warning device alarmed or prompted vehicle front-wheel occur deviate to the left；
Passing through the number that the approach signal received confirms that deviating to the right occurs in the front-wheel of vehicle in the controller is more than
Setting transfinite number when, just control the warning device alarmed or prompted vehicle front-wheel occur deviate to the right；
Passing through the number that the approach signal received confirms that deviating to the left occurs in the rear-wheel of vehicle in the controller is more than
Setting transfinite number when, just control the warning device alarmed or prompted vehicle rear-wheel occur deviate to the left；
Passing through the number that the approach signal received confirms that deviating to the right occurs in the rear-wheel of vehicle in the controller is more than
Setting transfinite number when, just control the warning device alarmed or prompted vehicle rear-wheel occur deviate to the right.
The method for carrying out the correction to the wheel, including Three models, specific as follows:
The Three models are respectively automatic mode, artificial mode and intelligent mode；
The automatic mode are as follows: after starting the warning device and being alarmed or prompted, the controller just controls institute
The wheel that 2 pairs of hydraulic steering gear occur to deviate or deviate to the right to the left is stated to rectify a deviation；
The artificial mode are as follows: after starting the warning device and being alarmed or prompted, the driver just to the right or
The wheel that steering wheel turn left respectively generation is deviated to the left or be deviated to the right is rectified a deviation；
The intelligence mode controller deviates generation to the left by intellectualized algorithm or deviates to the right
Wheel is rectified a deviation.
The invention has the benefit that
The front-wheel or rear-wheel of the present invention overcomes the existing vehicle as aircraft tractor are due to mutually frequent occurrence partially
Transduction causes front-wheel or rear-wheel serious wear, maintenance cost higher and bring the technical deficiency of security risk, reduces wheel tyre mill
Damage reduces maintenance cost, eliminates safe hidden trouble, proposed high economic benefit.Automatic mode, artificial mode and intelligent mode
Introducing enhances flexibility.The mode that effectively prevents rectifying a deviation in the prior art it is excessively single so that the single flexibility of mode it is insufficient,
Prompt information is had no in automatic deviation correction to generate the defect excessively frightened to driver.
Detailed description of the invention
Fig. 1 is the structure chart for returning positive system for wheel of the invention.
Fig. 2 is the flow chart of the method for returning positive system for wheel of the invention.
Specific embodiment
The present invention is described further below in conjunction with drawings and examples.
As Figure 1-Figure 2, positive system, including wheel deviation correcting device are returned for wheel, returns positive system for wheel
It further include warning device；Wheel deviation correcting device is connect with warning device phase control, and warning device is used to occur in confirmation wheel inclined
Driver is alarmed or prompted under conditions of shifting.Driver is reported under conditions of confirming that wheel deviates in this way
Alert or prompt is wagged the tail, due to driving in the case where making it possible to that movement range is excessive in subsequent correction even if vehicle is caused to get rid of head
The person of sailing will do some preparations after being alarmed or being prompted, and will not appear in the possibility to get a fright under automatism.Report
Alarm device can be the combined aural and visual alarm that the driver's cabin of vehicle is arranged in, and combined aural and visual alarm can be simultaneously emitted by two kinds of sound, light polices
The number of notifying, the light of the alarm sound and sending that driver can be allowed to hear and see that combined aural and visual alarm issues respectively with this, in
It is to cause concern in advance, avoids getting a fright in the case where wheel correction amplitude is big, in addition combined aural and visual alarm is best
One side of driver's eyes is set, the remaining light at such driver canthus can experience the light cue of combined aural and visual alarm, and
Intense stimulus will not be received because of the front for being set up directly on driver's eyes to be influenced to drive.Wheel deviation correcting device includes wheel
Position detecting device, controller 1 and hydraulic steering gear 2；Wheel position detecting device is communicated with controller 1 and is connect, wheel
Position detecting device is used to detect the location information of the wheel of vehicle and the location information of the wheel is sent in controller 1；
Controller 1 can be PLC controller, single-chip microcontroller, arm processor or FPGA processor.The location information is exactly to indicate wheel
The information whether deflected.Controller 1 is connect with 2 phase control of hydraulic steering gear, hydraulic steering gear 2 by steering axles come with side
It is connected to disk, controller 1 allows the steering wheel of vehicle to rotate to reach the correction to the wheel of vehicle by hydraulic steering gear 2；
Hydraulic steering gear 2 is connect by steering axles with steering wheel, and steering axles include for connecting with hydraulic steering gear 2
First end, the second end for being connect with steering wheel and the connecting rod for connecting first end and the second end.Controller 1
It is also connect with warning device phase control, controller 1 can control warning device to driving under conditions of confirming that wheel deviates
The person of sailing is alarmed or is prompted.Driver is alarmed or prompted under conditions of confirming that wheel deviates in this way, so that
It can wag the tail even if vehicle is caused to get rid of head, since driver is being reported in the case that in subsequent correction, movement range is excessive
It will do some preparations after alert or prompt, the possibility to get a fright under automatism will not be appeared in.The wheel of vehicle includes
Two front-wheels 3 and two rear-wheels 4, wheel position detecting device include first close close to switch 5, second close to switch 6, third
The close switch 8 of switch the 7, the 4th, the first detection block 9 and the second detection block 10；It is arranged by a front-wheel 3 of vehicle and maintains
The first of spacing distance opens with first close to switch 5 and second are close close to switch 5 and second close to switch 6 in the front-wheel 3
The first detection block 9 for being provided with central column on the wheel shaft between 6 in a manner of socket is closed, the mode of the socket is to be interference fitted
Mode be socketed；First detection block 9 straight line when driving, normal condition first detection block 9 towards be first to connect
Clearance space between nearly switch 5 and the second close switch 6, which is exactly to indicate that the front-wheel of vehicle does not occur partially
It moves, the first close switch 5 and the second close switch 6 can't detect the approach signal of the first detection block 9 at this time；Before vehicle
When the case where deviating to the left occurs in wheel, the first detection block 9 is also just deviated to the left and is kept off in face of the first close switch 5 so as to quilt
First detects the approach signal of the first detection block 9 close to switch 5；When there is the case where deviating to the right in the front-wheel of vehicle, the
One detection block 9 also just deviates to the right and keeps off and detect the first inspection close in face of switch 6 second so as to approach switch 6 by second
Survey the approach signal of block 9；First close switch 5 and the second close switch 6 can be examined when the first detection block 9 is kept off in face of it
The approach signal of first detection block 9 is measured, but first approaches switch 6 close to the maximum distance of reaction of switch 5 and second
Maximum distance of reaction can not detect the approach signal of the front-wheel of vehicle, and this prevents the interference of the front-wheel of vehicle.In vehicle
A rear-wheel 4 by be arranged and maintain the third of spacing distance close to switch 7 and the 4th close to switch 8, the rear-wheel 4 together
Third is provided with the second detection of central column close to switch 7 and the 4th close on the wheel shaft between switch 8 in a manner of socket
The mode of block 10, the socket is socketed in an interference fit；Second detection block 10 straight line when driving, positive reason
Condition second detection block 10 towards to be third approach the clearance space between switch 8, the normal condition close to switch 7 and the 4th
Exactly indicate that the rear-wheel of vehicle does not deviate, third can't detect second close to switch 8 close to switch 7 and the 4th at this time
The approach signal of detection block 10；When the case where deviating to the left occurs in the rear-wheel of vehicle, the second detection block 10 also just deviates to the left
And keep off the approach signal for being detected the second detection block 10 close to switch 7 by third close in face of switch 7 in third；In vehicle
Rear-wheel when there is the case where deviating to the right, the second detection block 10 is also just deviated to the right and is kept off the 4th close in face of switch 8
So as to which the approach signal of the second detection block 10 is detected close to switch 8 by the 4th；Third is switched close to switch 7 and the 4th are close
8 when the second detection block 10 is kept off in face of it, can detect the approach signal of second detection block 10, but third is close to be opened
The maximum distance of reaction of the maximum distance of reaction of pass 7 and the 4th close switch 8 can not detect the approach signal of the rear-wheel of vehicle,
This prevents the interference of the rear-wheel of vehicle.First approaches switch 5, second close to switch 6, the close switch 7 and the 4th of third
It communicates and connect with controller close to switch 8, such first approaches switch 6, third close to 7 and of switch close to switch 5, second
4th can transmit its approach signal detected close to switch 8 to controller.Is fixed on bridge 11 before the vehicle of vehicle
As soon as support frame, first is mounted on first support frame close to switch 5 and second close to switch 6；In the vehicle rear axle of vehicle
The second support frame is fixed on 12, third is just mounted on second support frame close to switch 7 and second close to switch 8.
The structure that controller 1 is connect with 2 phase control of hydraulic steering gear are as follows:
Hydraulic steering gear 2 is made of servo valve and cycloidal-pin wheel engagement pair, and cycloidal-pin wheel engagement, which is paid, passes through automobile
Steering shaft to connect with steering wheel.Hydraulic steering gear and oil feed pump, overflow valve or flow divider, steering cylinder and other pipelines are in this way
Connection attachment composition hydraulic steering system, specifically, be, the wheel of steering cylinder and vehicle is corresponded, one
The wheel of that corresponding vehicle of steering cylinder connects, and steering cylinder passes through pipeline and pendulum with overflow valve or flow divider
The engagement of line pinwheel, which is paid, to be connected, and cycloidal-pin wheel engagement is paid by being connected to the pipeline of servo valve one with oil feed pump, oil feed pump and
Inside is connected to filled with the oil tank of hydraulic oil；Then, controller 1 and oil feed pump, overflow valve or flow divider, servo valve one and with
The dynamic equal phase control of valve two connection, steering cylinder are also connected to by the pipeline with servo valve two with oil return box 13.Needing wheel
When turning to the left or to the right, controller starting oil feed pump releases the hydraulic oil in oil tank and opens servo valve one, servo valve
Two and the pipeline that is connected to of that hydraulic cylinder corresponding to the wheel to be turned on overflow valve or flow divider, in this way through supplying
Oil pump come hydraulic oil through servo valve one enter as measure motor cycloidal-pin wheel engagement pair, with this push steering axles with
Rotated with steering wheel, the size of apparent direction disk steering angle, orientation, it is quantitative hydraulic oil is pressed into it is corresponding with the wheel to be turned to
That steering cylinder left chamber or right chamber, turned to the left or to the right with this to push automobile that the wheel rectified a deviation is needed to realize respectively
It turns to.The hydraulic oil of the steering cylinder other side is transported to oil return box 13 through servo valve two.Positive system is returned for wheel further include:
Confirmation module, alarm module and correction module:
Confirmation module is run on the controller, and confirmation module is used to the front-wheel of the vehicle occur close to switch 5 first
After the approach signal deviated to the left is transmitted in controller, it is confirmed that the front-wheel appearance of vehicle deviates to the left；For being connect second
After nearly switch 6 is transmitted to the approach signal that deviating to the right occurs in the front-wheel of the vehicle in controller, it is confirmed that the front-wheel of vehicle
Appearance deviates to the right；For the approach signal that deviating to the left occurs in the rear-wheel of the vehicle to be transmitted to control close to switch 7 in third
After in device processed, it is confirmed that the rear-wheel appearance of vehicle deviates to the left；For the 4th close to switch 8 the rear-wheel of the vehicle occur to
After the approach signal that right avertence is moved is transmitted in controller, it is confirmed that the rear-wheel appearance of vehicle deviates to the right；Alarm module operates in
On controller, the number that alarm module is used to confirm that the front-wheel appearance of vehicle deviates to the left by the approach signal received is more than
Setting transfinite number when, just control warning device the driver in vehicle is alarmed or is prompted vehicle front-wheel occur to
Left avertence is moved；Confirming that the number deviated to the right occurs in the front-wheel of vehicle for the approach signal by receiving is more than transfiniting for setting
When number, the driver in vehicle is alarmed or is prompted the front-wheel of vehicle occur deviating to the right with regard to control warning device；With
In confirmed by the approach signal that receives the rear-wheel of vehicle occur the number deviated to the left be more than setting transfinite number when, just
Control warning device alarms or prompts the rear-wheel of vehicle to occur deviating to the left to the driver in vehicle；It is received for passing through
To approach signal confirmation vehicle rear-wheel occur the number that deviates to the right be more than setting transfinite number when, just control alarm dress
It sets and the driver in vehicle is alarmed or prompted the rear-wheel of vehicle occur deviating to the right；Correction module operates in controller
On, correction module is used to control the wheel that 2 pairs of hydraulic steering gear occur to deviate or deviate to the right to the left and rectifies a deviation；Or it is used for
It is rectified a deviation by intellectualized algorithm come the wheel that generation is deviated to the left or deviated to the right.Confirmation module, alarm module and
Correction module can be stored in be communicated in the flash memory of connection with the controller.
For the method for returning positive system of wheel, comprising:
Wheel deviation correcting device confirmation wheel deviate under conditions of, start warning device to the driver in vehicle into
Row alarm or prompt, alarm or prompt to driver under conditions of confirming that wheel deviates in this way, make it possible to
It in the case that movement range is excessive when subsequent correction, wags the tail even if vehicle is caused to get rid of head, since driver is being alarmed or mentioned
It will do some preparations after showing, the possibility to get a fright under automatism will not be appeared in.Then the correction to wheel is carried out.
There is the method deviated in wheel deviation correcting device confirmation wheel, comprising:
In vehicle driving and vehicle holding straight-line travelling, vehicle keeps straight-line travelling, that is, driver is not
The steering wheel of vehicle is rotated to turn, speed probe is usually provided on steering axles, speed probe setting
On steering axles and speed probe and controller communicate to connect, if the speed probe sends back the tachometer value of controller
When being 0, mean that driver does not rotate the steering wheel of vehicle to turn, vehicle is keeping straight-line travelling, before vehicle
When the case where deviating to the left occurs in wheel, the first detection block 9 is also just deviated to the left and is kept off in face of the first close switch 5 so as to quilt
First detects that the approach signal of the first detection block 9, the approach signal are to indicate that the front-wheel of vehicle occurs to left avertence close to switch 5
The approach signal of shifting, and first is transmitted to control the approach signal that deviating to the left occurs in the front-wheel of the vehicle close to switch 5
In device, controller is after receiving the approach signal it is confirmed that the front-wheel appearance of vehicle deviates to the left；
When the case where deviating to the right occurs in the front-wheel of vehicle, the first detection block 9 also just deviates to the right and keeps off and connecing second
Detected that the approach signal of the first detection block 9, the approach signal are to indicate in face of nearly switch 6 close to switch 6 by second
There is the approach signal deviated to the right in the front-wheel of vehicle, and second to the right deviates the front-wheel appearance of the vehicle close to switch 6
Approach signal be transmitted in controller, controller is after receiving the approach signal it is confirmed that the front-wheel of vehicle occurs to right avertence
It moves；
When the case where deviating to the left occurs in the rear-wheel of vehicle, the second detection block 10 also just deviates to the left and keeps off and connecing in third
Detected that the approach signal of the second detection block 10, the approach signal are to indicate in face of nearly switch 7 close to switch 7 by third
There is the approach signal deviated to the left in the rear-wheel of vehicle, and third to the left deviates the rear-wheel appearance of the vehicle close to switch 7
Approach signal be transmitted in controller, controller is after receiving the approach signal it is confirmed that the rear-wheel of vehicle occurs to left avertence
It moves；
When the case where deviating to the right occurs in the rear-wheel of vehicle, the second detection block 10 also just deviates to the right and keeps off and connecing the 4th
Detected that the approach signal of the second detection block 10, the approach signal are to indicate in face of nearly switch 8 close to switch 8 by the 4th
There is the approach signal deviated to the right in the rear-wheel of vehicle, and the 4th to the right deviates the rear-wheel appearance of the vehicle close to switch 8
Approach signal be transmitted in controller, controller is after receiving the approach signal it is confirmed that the rear-wheel of vehicle occurs to right avertence
It moves.
The method that starting warning device is alarmed or prompted to the driver in vehicle, comprising:
Passing through the approach signal received to confirm that the number deviated to the left occurs in the front-wheel of vehicle in controller is more than setting
Transfinite number when, with regard to control warning device the driver in vehicle is alarmed or is prompted the front-wheel of vehicle occur to left avertence
It moves；Here, passing through the approach signal received to confirm that the number deviated to the left occurs in the front-wheel of vehicle in controller is more than setting
The number that transfinites method are as follows: the approach signal received in controller indicates that the front-wheel appearance of vehicle deviates to the left, sets in advance
Fixed counter once value add one, the initial value of the counter is 0, and if the approach signal that controller receives next time
It does not indicate that the front-wheel appearance of vehicle deviates to the left, just the value of counter one is reset, counted again with this, until counter one
Value be more than setting transfinite number when, that is, the number of approach signal that controller continuously receives has been more than the super of setting
Number is limited, it is confirmed that transfinite number of the number deviated to the left more than setting occurs in the front-wheel for vehicle, and counter one
Value is reset, and the number that transfinites of the setting can be greater than 3 positive integer, which thereby enhance the accuracy of judgement, reduces erroneous judgement
Rate；Control warning device alarms or prompts the front-wheel of vehicle the method deviated to the left occur to the driver in vehicle are as follows:
Controller controls warning device and carries out setting duration with the voice mode to shine and deviating to the left occurs in the front-wheel with vehicle
It alarms, the driver in such vehicle can see and hear such alarm, prompted or alerted with this to cause concern；
Passing through the approach signal received to confirm that the number deviated to the right occurs in the front-wheel of vehicle in controller is more than setting
Transfinite number when, with regard to control warning device the driver in vehicle is alarmed or is prompted the front-wheel of vehicle occur to right avertence
It moves；Here, passing through the approach signal received to confirm that the number deviated to the right occurs in the front-wheel of vehicle in controller is more than setting
The number that transfinites method are as follows: the approach signal received in controller indicates that the front-wheel appearance of vehicle deviates to the right, sets in advance
The value of fixed counter two just adds one, and the initial value of the counter is 0, and if the approach signal that controller receives next time
It does not indicate that the front-wheel appearance of vehicle deviates to the right, just the value of counter two is reset, counted again with this, until counter two
Value be more than setting transfinite number when, that is, the number of approach signal that controller continuously receives has been more than the super of setting
Number is limited, it is confirmed that transfinite number of the number deviated to the right more than setting occurs in the front-wheel for vehicle, and counter two
Value is reset, and the number that transfinites of the setting can be greater than 3 positive integer, which thereby enhance the accuracy of judgement, reduces erroneous judgement
Rate；Control warning device alarms or prompts the front-wheel of vehicle the method deviated to the right occur to the driver in vehicle are as follows:
Controller controls warning device and carries out setting duration with the voice mode to shine and deviating to the right occurs in the front-wheel with vehicle
It alarms, the driver in such vehicle can see and hear such alarm, prompted or alerted with this to cause concern；
Passing through the approach signal received to confirm that the number deviated to the left occurs in the rear-wheel of vehicle in controller is more than setting
Transfinite number when, with regard to control warning device the driver in vehicle is alarmed or is prompted the rear-wheel of vehicle occur to left avertence
It moves；Here, passing through the approach signal received to confirm that the number deviated to the left occurs in the rear-wheel of vehicle in controller is more than setting
The number that transfinites method are as follows: the approach signal received in controller indicates that the rear-wheel appearance of vehicle deviates to the left, sets in advance
The value of fixed counter three just adds one, and the initial value of the counter is 0, and if the approach signal that controller receives next time
It does not indicate that the rear-wheel appearance of vehicle deviates to the left, just the value of counter three is reset, counted again with this, until counter three
Value be more than setting transfinite number when, that is, the number of approach signal that controller continuously receives has been more than the super of setting
Number is limited, it is confirmed that transfinite number of the number deviated to the left more than setting occurs in the rear-wheel for vehicle, and counter three
Value is reset, and the number that transfinites of the setting can be greater than 3 positive integer, which thereby enhance the accuracy of judgement, reduces erroneous judgement
Rate；Control warning device alarms or prompts the rear-wheel of vehicle the method deviated to the left occur to the driver in vehicle are as follows:
Controller controls warning device and carries out setting duration with the voice mode to shine and deviating to the left occurs in the rear-wheel with vehicle
It alarms, the driver in such vehicle can see and hear such alarm, prompted or alerted with this to cause concern；
Passing through the approach signal received to confirm that the number deviated to the right occurs in the rear-wheel of vehicle in controller is more than setting
Transfinite number when, with regard to control warning device the driver in vehicle is alarmed or is prompted the rear-wheel of vehicle occur to right avertence
It moves.Here, passing through the approach signal received to confirm that the number deviated to the right occurs in the rear-wheel of vehicle in controller is more than setting
The number that transfinites method are as follows: the approach signal received in controller indicates that the rear-wheel appearance of vehicle deviates to the right, sets in advance
The value of fixed counter four just adds one, and the initial value of the counter is 0, and if the approach signal that controller receives next time
It does not indicate that the rear-wheel appearance of vehicle deviates to the right, just the value of counter four is reset, counted again with this, until counter four
Value be more than setting transfinite number when, that is, the number of approach signal that controller continuously receives has been more than the super of setting
Number is limited, it is confirmed that transfinite number of the number deviated to the right more than setting occurs in the rear-wheel for vehicle, and counter four
Value is reset, and the number that transfinites of the setting can be greater than 3 positive integer, which thereby enhance the accuracy of judgement, reduces erroneous judgement
Rate；Control warning device alarms or prompts the rear-wheel of vehicle the method deviated to the right occur to the driver in vehicle are as follows:
Controller controls warning device and carries out setting duration with the voice mode to shine and deviating to the right occurs in the rear-wheel with vehicle
It alarms, the driver in such vehicle can see and hear such alarm, prompted or alerted with this to cause concern.
The number for the approach signal that controller continuously receives can be shown on the display screen connecting with controller phase control.
The method for carrying out the correction to wheel, including Three models, specific as follows:
Three models are respectively automatic mode, artificial mode and intelligent mode；
Automatic mode are as follows: after starting warning device is alarmed or prompted to the driver in vehicle, controller is just controlled
2 pairs of the hydraulic steering gear processed wheels for occurring to deviate or deviate to the right to the left are rectified a deviation；Hydraulic steering gear 2 is by servo valve and one
Composition is paid in cycloidal-pin wheel engagement, and cycloidal-pin wheel engagement, which is paid, to be connect by steering axles with steering wheel.Hydraulic steering gear with
The hydraulic steering system of the such connection attachment composition of oil feed pump, overflow valve or flow divider, steering cylinder and other pipelines, specifically
For, it is that the wheel of steering cylinder and vehicle corresponds, the wheel of that corresponding vehicle of a steering cylinder connects
It connects, steering cylinder engages to pay with cycloidal-pin wheel by the pipeline with overflow valve or flow divider to be connected, and cycloidal-pin wheel engagement is paid
It is connected to by the pipeline with servo valve one with oil feed pump, oil feed pump is connected to the internal oil tank filled with hydraulic oil；Then, it controls
Device 1 processed is connect with oil feed pump, overflow valve or flow divider, servo valve one and the equal phase control of servo valve two, and steering cylinder also passes through
Pipeline with servo valve two is connected to oil return box 13.In the wheel for needing opposite left avertence to move or the wheel difference deviated to the right
It to the right or turns left when always being rectified a deviation, controller starting oil feed pump releases the hydraulic oil in oil tank and opens servo valve
One, the overflow valve on the pipeline that servo valve two and that hydraulic cylinder corresponding to the wheel to be turned to are connected to or shunting
Valve, the hydraulic oil come in this way through oil feed pump enters through servo valve one to be paid as the cycloidal-pin wheel engagement of measure motor, is pushed with this
Steering axles follow steering wheel to rotate, and hydraulic oil, quantitative be pressed into and to be turned orientation by the size of apparent direction disk steering angle
To that corresponding steering cylinder of wheel left chamber or right chamber, with this come push automobile need the wheel rectified a deviation realize respectively to
It is right or turn left and always rectify a deviation, stop correction, i.e. controller until controller confirms that the wheel does not occur deviating rear
What is do not received indicates the approach signal of wheel offset close to what switch transmission came, and terminates warning device to driving in vehicle
The person of sailing is alarmed or is prompted；The hydraulic oil of the steering cylinder other side is transported to oil return box 13 through servo valve two.
Artificial mode are as follows: starting warning device the driver in vehicle is alarmed or is prompted after, driver just to
Wheel that is right or turning left steering wheel respectively generation is deviated to the left or be deviated to the right is rectified a deviation, until controller confirms
There is not deviating rear and stops correction in the wheel, i.e. expression wheel come close to switch transmission for not receiving of controller is inclined
The approach signal of shifting, and terminate warning device and the driver in vehicle is alarmed or prompted；
Intelligent mode is that the wheel that controller deviates generation to the left or deviated to the right by intellectualized algorithm carries out
Correction, until controller confirms that the wheel does not occur deviating rear and stops correction, i.e., controller do not receive close to switch
What transmission came indicates the approach signal of wheel offset, and terminates warning device and the driver in vehicle is alarmed or mentioned
Show, intellectualized algorithm can be pid algorithm.
The present invention is described in a manner of being illustrated with embodiment above, it will be understood by those of skill in the art that this
It is open to be not limited to embodiments described above, in the case of without departing from the scope of the present invention, it can make a variety of changes, change
And replacement.
Claims (9)
1. a kind of return positive system, including wheel deviation correcting device for wheel, which is characterized in that further include warning device；
The wheel deviation correcting device is connect with the warning device phase control, and the warning device is used to occur in confirmation wheel inclined
It is alarmed or is prompted under conditions of shifting.
2. according to claim 1 return positive system for wheel, which is characterized in that the warning device is that setting is being driven
Sail the combined aural and visual alarm of room.
3. according to claim 1 return positive system for wheel, which is characterized in that the wheel deviation correcting device includes vehicle
Take turns position detecting device, controller and diverter；
The wheel position detecting device is communicated with the controller and is connect, and the wheel position detecting device is for detecting vehicle
Wheel location information and the location information of the wheel is sent in the controller；
The controller is connect with the diverter phase control, and the diverter is connect with the steering wheel, and the controller is logical
Diverter is crossed to allow the steering wheel of vehicle to rotate and reach the correction to the wheel of vehicle；
The controller is also connect with the warning device phase control, and the controller item deviated can occur in confirmation wheel
Under part, controls the warning device and alarmed or prompted.
4. according to claim 3 return positive system for wheel, which is characterized in that the wheel position detecting device packet
First is included close to switch, second close to switch, third close to switch, the 4th close to switch, the first detection block and the second detection block；
Maintain spacing distance first is arranged by a front-wheel of the vehicle close to switch and second close to switch, before this
Wheel is provided with the first detection block close between switch close to switch and second with first；First detection block is in the vehicle
When straight-line travelling, normal condition first detection block towards be first empty close to the interval between switch second close to switch
Between, the first close switch and the second close switch can't detect the approach signal of first detection block at this time；In vehicle
When the case where deviating to the left occurs in front-wheel, first detection block can detect first detection close to switch by described first
The approach signal of block；When the case where deviating to the right occurs in the front-wheel of vehicle, first detection block can be approached by described second
Switch detects the approach signal of first detection block；
The close switch of third and the 4th close switch for maintaining spacing distance, In are set by a rear-wheel of the vehicle
The rear-wheel is provided with the second detection block close between switch close to switch and the 4th with third；Second detection block is described
Straight line when driving, normal condition second detection block towards be third close to switch the 4th close between switch
Every space, third can't detect the approach signal of second detection block close to switch and the 4th close to switch at this time；In vehicle
Rear-wheel occur to the left deviate the case where when, second detection block can by the third close to switch detect described second
The approach signal of detection block；When the case where deviating to the right occurs in the rear-wheel of vehicle, second detection block can be by the described 4th
The approach signal of second detection block is detected close to switch；
Described first close to switch, second close to switch, third close to switch and the 4th close to switch with the controller phase
Communication connection.
5. according to claim 1 return positive system for wheel, which is characterized in that described to return positive system for wheel
Further include: confirmation module, alarm module and correction module:
The confirmation module operates on the controller, and the confirmation module is used for first close to before switching the vehicle
After the approach signal that deviating to the left occurs in wheel is transmitted in controller, it is confirmed that the front-wheel appearance of vehicle deviates to the left；For
After described second is transmitted to the approach signal that deviating to the right occurs in the front-wheel of the vehicle in controller close to switch, it is confirmed that vehicle
Front-wheel appearance deviate to the right；For the third close to switch the rear-wheel of the vehicle occur deviating to the left close to letter
After number being transmitted in controller, it is confirmed that the rear-wheel appearance of vehicle deviates to the left；For approaching switch the vehicle the described 4th
Rear-wheel occur after the approach signal that deviates to the right is transmitted in controller, it is confirmed that the rear-wheel appearance of vehicle deviates to the right；
The alarm module operates on the controller, and the alarm module is used to confirm vehicle by the approach signal received
Front-wheel occur the number that deviates to the left be more than setting transfinite number when, just control the warning device and alarmed or mentioned
Show that the front-wheel appearance of vehicle deviates to the left；What the front-wheel appearance for the approach signal confirmation vehicle by receiving deviated to the right
Number be more than setting transfinite number when, just control the warning device and alarmed or prompted the front-wheel of vehicle to occur to right avertence
It moves；Confirming that the number deviated to the left occurs in the rear-wheel of vehicle for the approach signal by receiving is more than the number that transfinites set
When, it just controls the warning device and is alarmed or prompted the rear-wheel of vehicle to occur deviating to the left；For being connect by what is received
The rear-wheel of nearly signal confirmation vehicle occur the number deviated to the right be more than setting transfinite number when, just control the warning device
Alarmed or prompted the rear-wheel of vehicle to occur deviating to the right；
The correction module operates on the controller, the correction module for control the hydraulic steering gear to occur to
The wheel that left avertence is moved or deviated to the right is rectified a deviation；Or for by intellectualized algorithm come to offset to the left occurring or to right avertence
The wheel of shifting is rectified a deviation.
6. a kind of method for returning positive system for wheel characterized by comprising
Under conditions of wheel deviation correcting device confirmation wheel deviates, starts the warning device and alarmed or mentioned
Show, then carries out the correction to the wheel.
7. the method according to claim 6 that return positive system for wheel, which is characterized in that the wheel deviation correcting device
There is the method deviated in confirmation wheel, comprising:
In vehicle driving and when the vehicle keeps straight-line travelling, when there is the case where deviating to the left in the front-wheel of vehicle, described the
One detection block can be detected that the approach signal of first detection block, the approach signal are to indicate vehicle by described first close to switch
Front-wheel there is the approach signal that deviates to the left, and described first to the left deviates the front-wheel appearance of the vehicle close to switch
Approach signal be transmitted in controller, the controller after receiving the approach signal it is confirmed that the front-wheel of vehicle occur to
Left avertence is moved；
When the case where deviating to the right occurs in the front-wheel of vehicle, first detection block can be detected by described second close to switch
The approach signal of first detection block, the approach signal are the approach signal for indicating the front-wheel of vehicle and occurring deviating to the right, and
And described second is transmitted to the approach signal that deviating to the right occurs in the front-wheel of the vehicle in controller close to switch, the control
Device is after receiving the approach signal it is confirmed that the front-wheel appearance of vehicle deviates to the right；
When the case where deviating to the left occurs in the rear-wheel of vehicle, second detection block can be detected by the third close to switch
The approach signal of second detection block, the approach signal are the approach signal for indicating the rear-wheel of vehicle and occurring deviating to the left, and
And the third is transmitted to the approach signal that deviating to the left occurs in the rear-wheel of the vehicle in controller close to switch, the control
Device is after receiving the approach signal it is confirmed that the rear-wheel appearance of vehicle deviates to the left；
When the case where deviating to the right occurs in the rear-wheel of vehicle, second detection block can be detected by the described 4th close to switch
The approach signal of second detection block, the approach signal are the approach signal for indicating the rear-wheel of vehicle and occurring deviating to the right, and
And the described 4th is transmitted to the approach signal that deviating to the right occurs in the rear-wheel of the vehicle in controller close to switch, the control
Device is after receiving the approach signal it is confirmed that the rear-wheel appearance of vehicle deviates to the right.
8. the method according to claim 6 that return positive system for wheel, which is characterized in that the starting alarm
The method that device is alarmed or prompted, comprising:
Passing through the approach signal received to confirm that the number deviated to the left occurs in the front-wheel of vehicle in the controller is more than setting
Transfinite number when, just control the warning device alarmed or prompted vehicle front-wheel occur deviate to the left；
Passing through the approach signal received to confirm that the number deviated to the right occurs in the front-wheel of vehicle in the controller is more than setting
Transfinite number when, just control the warning device alarmed or prompted vehicle front-wheel occur deviate to the right；
Passing through the approach signal received to confirm that the number deviated to the left occurs in the rear-wheel of vehicle in the controller is more than setting
Transfinite number when, just control the warning device alarmed or prompted vehicle rear-wheel occur deviate to the left；
Passing through the approach signal received to confirm that the number deviated to the right occurs in the rear-wheel of vehicle in the controller is more than setting
Transfinite number when, just control the warning device alarmed or prompted vehicle rear-wheel occur deviate to the right.
9. the method according to claim 6 that return positive system for wheel, which is characterized in that described to carry out to the vehicle
The method of the correction of wheel, including Three models, specific as follows:
The Three models are respectively automatic mode, artificial mode and intelligent mode；
The automatic mode are as follows: after starting the warning device and being alarmed or prompted, the controller just controls the liquid
The wheel that pressure diverter is deviated to the left or deviated to the right to generation is rectified a deviation；
The artificial mode are as follows: after starting the warning device and being alarmed or prompted, the driver is just to the right or to the left
Wheel of the steering wheel rotation respectively generation is deviated to the left or be deviated to the right is rectified a deviation；
The intelligence mode is the wheel that the controller is deviated to the left or deviated to the right to generation by intellectualized algorithm
It rectifies a deviation.
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| CN201910766810.0A CN110509989B (en) | 2019-08-20 | 2019-08-20 | Aligning system for wheel and method thereof |
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| CN201910766810.0A CN110509989B (en) | 2019-08-20 | 2019-08-20 | Aligning system for wheel and method thereof |
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| CN110509989B CN110509989B (en) | 2021-04-20 |
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| CN110509989B (en) | 2021-04-20 |
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