CN112977605A - Drive-by-wire full hydraulic steering system for unmanned mining vehicle - Google Patents
Drive-by-wire full hydraulic steering system for unmanned mining vehicle Download PDFInfo
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- CN112977605A CN112977605A CN202110354398.9A CN202110354398A CN112977605A CN 112977605 A CN112977605 A CN 112977605A CN 202110354398 A CN202110354398 A CN 202110354398A CN 112977605 A CN112977605 A CN 112977605A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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Abstract
The invention relates to a drive-by-wire full hydraulic steering system for an unmanned mine vehicle, wherein a laser radar sensor, an angle sensor and a torque and corner sensor are all connected to an electronic control unit, the electronic control unit is connected with a drive-by-wire steering motor, and the drive-by-wire steering motor is connected with the full hydraulic steering system; the laser radar sensor is arranged at the front end of the frame, a front obstacle in the running process of the vehicle is identified through the laser radar sensor, the laser radar sensor transmits sensed position information and obstacle information to the electronic control unit, and the electronic control unit controls the steer-by-wire motor to adjust the steering angle, so that the running route and the obstacle are adjusted; the torque corner sensor is arranged on a steering column of the full hydraulic steering system; the torque angle sensor collects the rotation angle and torque of the steering wheel, the angle sensor is arranged on a front axle of the vehicle close to the position of the wheels, and converts the rotation angle of the wheels along the driving direction into an electric quantity signal to be transmitted to the electronic control unit.
Description
Technical Field
The invention relates to the technical field of steering systems, in particular to a drive-by-wire full hydraulic steering system for an unmanned mine vehicle.
Background
A mining truck belongs to an off-highway truck, is mainly used for mines and engineering, and is more durable and more heavy than a common truck. From the structural point of view, the mining truck and the common dump truck seem to have no great difference, and the knowledge volume is larger. In fact, however, the mining truck is substantially different from the ordinary dump truck in design concept. The common dump truck is used for road transportation, and the mine truck is used for mine construction operation, so that the whole truck and parts of the mine truck take the mine operation environment into consideration, and the dump truck is designed and manufactured for the users.
With the continuous development of mining technology and the change of national coal mine policies, automation and intellectualization become the development trend of mining automobiles, and a drive-by-wire full hydraulic steering system for an unmanned mining automobile can assist a driver to operate the automobile, improve the working efficiency and safety, obtain higher economic benefit, and the steering system can be directly applied to the unmanned system. Therefore, it is necessary to provide a hydraulic steering system by wire for a mining truck, which has high control precision and fast response speed and can apply an unmanned system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a drive-by-wire full hydraulic steering system for an unmanned mine vehicle, which is characterized in that a laser radar sensor is additionally arranged at the front end of a vehicle frame; the angle sensor at the wheel sets a maximum steering angle, the steering angle reaches the maximum angle, and the steering motor stops working, so that the damage to a front axle caused by an overlarge steering angle is avoided; the steering wheel is provided with a hand touch sensor, and when the steering wheel is detected to be manually operated, the electronic control unit stops directly controlling the steering motor to play an auxiliary role. The invention has simple structure, easy arrangement and lower cost; the automatic control precision of the steering system can be improved; the reaction rate is high, and the unmanned driving can be directly applied.
The technical scheme of the invention is as follows:
a drive-by-wire full hydraulic steering system for an unmanned mining vehicle comprises a laser radar sensor, an angle sensor, a torque corner sensor, a hand touch sensor, an electronic control unit, a drive-by-wire steering motor and a full hydraulic steering system; the laser radar sensor, the angle sensor and the torque and corner sensor are all connected to the electronic control unit, the electronic control unit is connected with a steer-by-wire motor, and the steer-by-wire motor is connected with a full hydraulic steering system; the laser radar sensor is arranged at the front end of the frame, a front obstacle in the running process of the vehicle is identified through the laser radar sensor, the laser radar sensor transmits sensed position information and obstacle information to the electronic control unit, and the electronic control unit controls the steer-by-wire motor to adjust a steering angle, so that the running route is adjusted and the obstacle is avoided; the torque and angle sensor is arranged on a steering column of the full hydraulic steering system; the torque corner sensor collects the rotation angle and the torque of the steering wheel and sends the collected angle information and the collected torque information to the electronic control unit; the angle sensor is arranged on a front axle of the vehicle close to the position of the wheel, and converts the rotation angle of the wheel along the driving direction into an electric quantity signal to be transmitted to the electronic control unit.
Preferably, the drive-by-wire full hydraulic steering system for the unmanned mining vehicle further comprises a hand touch sensor, wherein the hand touch sensor is arranged on the outer ring of the steering wheel; the hand touch sensor is connected with the electronic control unit, and signals collected by the hand touch sensor are transmitted to a hand touch signal input end of the electronic control unit through a signal transmission cable.
Preferably, the hand touch sensor is a capacitive sensor; when the steering wheel is controlled by hands, the hand touch sensor acquires an electric quantity signal through capacitance change and feeds the electric quantity signal back to the electronic control unit, and the electronic control unit stops directly controlling the steering motor and switches to an auxiliary driving mode to play an auxiliary role.
Preferably, the full hydraulic steering system comprises a hydraulic oil tank, a steering oil pump, a pressure oil filter, a priority valve, a steering engine, an oil cooler, a left steering oil cylinder, a right steering oil cylinder, a steering column and a steering wheel.
Preferably, the steer-by-wire motor is installed at the joint of the steering engine and the steering column, the control signal input end of the steer-by-wire motor is connected with the control signal output end of the electronic control unit through a wire harness, the steer-by-wire is used as an actuating mechanism of the steer-by-wire, and the electronic control unit adjusts the output torque of the steer-by-wire motor, controls the rotation angle and speed of the steering wheel, and realizes the precise control of the steering system.
When a person is in a driving state, the electronic control unit identifies the driving intention of a driver through information collected by the torque and angle sensor, and the output end of the electronic control unit is connected with the input end of a control signal of the steer-by-wire motor through a wire harness, so that the motor is adjusted according to the identified driving intention, and the driver is assisted to complete vehicle steering; when the vehicle is unmanned, the electronic control unit monitors the state of the steering wheel in real time through the torque angle sensor, and the steering wheel rotation caused by vehicle bump or shake is corrected in real time.
Preferably, the lidar sensor is fixed to a bracket fixed to a front end of the bumper.
Preferably, the electronic control unit is located below an operation panel in the cab.
Preferably, the maximum steering angle is determined by the steering linkage of the axle and is set at the electronic control unit.
Preferably, when the angle sensor feeds back the collected steering angle information to the electronic control unit and the single-sub control unit detects that the steering angle of the vehicle reaches the maximum steering angle, the electronic control unit controls the steer-by-wire motor to stop working so as to avoid damage to a front axle of the vehicle due to the fact that the steering angle is too large.
Preferably, a priority valve is provided between the pressure oil filter and the steering gear.
Compared with the prior art, the invention has the advantages that:
the invention relates to a drive-by-wire full hydraulic steering system for an unmanned mine vehicle, which is characterized in that a laser radar sensor is additionally arranged at the front end of a vehicle frame; the angle sensor at the wheel sets a maximum steering angle, the steering angle reaches the maximum angle, and the steering motor stops working, so that the damage to a front axle caused by an overlarge steering angle is avoided; the steering wheel is provided with a hand touch sensor, and when the steering wheel is detected to be manually operated, the electronic control unit stops directly controlling the steering motor to play an auxiliary role. The steering system has the advantages that the electronic control unit controls the motor to properly adjust the vehicle steering angle by acquiring the vehicle running information, so that the accuracy of the steering angle is ensured, the steering insufficiency or the steering excess is avoided, the steering system can be directly butted with an unmanned vehicle, the structure is simple, the arrangement is easy, and the cost is lower; the automatic control precision of the steering system can be improved; the reaction rate is high, and the unmanned driving can be directly applied. The invention cancels the hard connection between the steering engine and the steering wheel, the steering resistance and the vibration are rarely transmitted to the steering wheel, and the problems of large mechanical connection operation resistance and poor comfort when large-tonnage vehicle types run on the road surface with poor road conditions are solved. Because the hydraulic steering system has the problem of hydraulic internal leakage, the steering wheel is not corresponding to the wheels, and a magnetic angle sensor is additionally arranged on the wheels, so that the feedback of the absolute rotation angle of the wheels is realized. The absolute angle is sent to a steering controller through an analog signal, and a control unit controls a motor to adjust the steering angle, so that the problem of nonlinear and unfixed relation between a hydraulic rotary valve and wheels is solved. The steering wheel corner command signal provided by the whole vehicle is combined to servo the position of the front wheel, the unmanned driving function is realized, and the auxiliary power-assisted mode can be switched to in time when a driver intervenes manually.
Drawings
The advantages of the above and/or additional aspects of the present invention will become apparent and readily appreciated from the following description of the embodiments taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a full hydraulic steering-by-wire system for an unmanned mining vehicle according to the present invention.
Fig. 2 is a control schematic diagram of a full hydraulic steering-by-wire system for an unmanned mining vehicle according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a drive-by-wire full hydraulic steering system for an unmanned mine vehicle according to an embodiment of the present invention, which collects vehicle driving information, and an electronic control unit controls a motor to appropriately adjust a vehicle turning angle, so as to ensure the accuracy of the turning angle, avoid under-steering or over-steering, and enable direct docking with unmanned driving.
The invention relates to a drive-by-wire full hydraulic steering system for an unmanned mining vehicle, which comprises a laser radar sensor, an angle sensor, a torque and corner sensor, a speed reducer, an electronic control unit, a drive-by-wire steering motor and a full hydraulic steering system.
The laser radar sensor is arranged at the front end of the frame.
Preferably, the lidar sensor is arranged at the front end of the bumper, and the lidar sensor 1 is fixed by a fastener to a bracket, which is fixed by a fastener, such as a bolt, to the front end of the bumper. The front obstacle in the running process of the vehicle is identified through the laser radar sensor, the laser radar transmits sensed position information and obstacle information to the electronic control unit, and the electronic control unit controls the steering motor to adjust the steering angle, so that the running route is adjusted and the obstacle is avoided. The laser radar can be combined with a high-precision map to realize high-precision self-positioning and object recognition tracking, and the positioning can be accurate to a specific lane. And the information collected by the laser radar sensor is transmitted to the electronic control unit. Preferably, the laser radar sensor transmits the position information and the obstacle information to a signal input port of the electronic control unit through a signal transmission cable. The electronic control unit is located below an operation panel in the cab. The electronic control unit is attached to the lower side of the operation panel by a fastener, for example, a bolt. The torque and corner sensor is arranged on the steering column; preferably, the torque angle sensor is located at the end of the steering column to which the steering wheel is connected, that is, the torque angle sensor is located at the first end of the steering column. The torque and angle sensor is transmitted to a signal input end of the electronic control unit through a wire harness, collects the rotation angle and the torque of the steering wheel, and sends collected angle information and collected torque information to the electronic control unit. When a person is in a driving state, the electronic control unit identifies the driving intention of the driver through information collected by the torque and angle sensor, and the output end of the electronic control unit is connected with the input end of a control signal of the steer-by-wire motor through a wire harness, so that the motor is adjusted according to the identified driving intention, and the driver is assisted to complete vehicle steering. When the vehicle is unmanned, the electronic control unit monitors the state of the steering wheel in real time through the torque angle sensor, and the steering wheel rotation caused by vehicle bump or shake is corrected in real time.
The angle sensor is arranged on a front axle of the vehicle close to the position of the wheel, converts the rotation angle of the wheel along the driving direction into an electric quantity signal and transmits the electric quantity signal to the electronic control unit, and real-time monitoring of the motion state of the wheel, such as the included angle between the wheel and the driving direction, is realized.
Aiming at a hydraulic steering system, if the wheel steering and the steering wheel rotation are asynchronous, namely the steering wheel is dead, but the wheel does not rotate to the limit position, an angle sensor transmits the acquired information to an electronic control unit, and the steering deficiency and the steering excess are corrected in time by adjusting a motor.
The angle sensor is connected with the electronic control unit through a wire harness.
The steer-by-wire motor is arranged at the butt joint of the steering engine and the steering column, the control signal input end of the steer-by-wire motor is connected with the control signal output end of the electronic control unit through a wire harness, the steer-by-wire motor is used as an actuating mechanism of steer-by-wire, the electronic control unit adjusts the output torque of the steer-by-wire motor, controls the rotation angle and speed of the steering wheel, and realizes the precise control of the steering system.
The full hydraulic steering system consists of hydraulic oil tank, steering oil pump, pressure oil filter, priority valve, steering unit, oil cooler, left steering oil cylinder, right steering oil cylinder, steering column and steering wheel.
The hydraulic oil tank is connected with the steering oil pump, and hydraulic oil is arranged in the hydraulic oil tank; the hydraulic oil is pressurized through the steering oil pump, and power is provided for a full hydraulic steering system. The hydraulic oil tank is positioned on the working platform on the right side of the cab, the steering oil pump is positioned at the rear part of the engine, and an outlet of the hydraulic oil tank is connected to an oil inlet of the steering oil pump through a pipeline; the inlet of the hydraulic oil tank communicates with the T-port of the steering engine, i.e. the oil return port of the steering engine, and the oil return port of the priority valve. The pressure oil filter is located on the frame, for example, at a location to the left of the frame and near the engine; the pressure oil filter is connected with the steering oil pump, and an oil outlet of the steering oil pump is connected with an oil inlet of the pressure oil filter through a pipeline. And filtering the high-pressure hydraulic oil pressurized by the steering oil pump through a pressure oil filter to filter impurities in the high-pressure oil. A priority valve is arranged between the pressure oil filter and the steering engine, and an oil inlet of the priority valve is a port P; the oil outlet of the pressure oil filter is connected with the oil inlet of the priority valve, the CF port of the priority valve is the oil outlet of the priority valve, and the oil outlet of the priority valve is connected with the oil inlet of the steering engine, namely the P port of the steering engine.
The LS port of the priority valve is a control port of the priority valve, the control port of the priority valve is connected with a control port of the steering engine, and the control port of the steering engine is the LS port of the steering engine. The T port of the priority valve is a safety valve oil return port inside the priority valve, the oil return port of the safety valve inside the priority valve is communicated with the EF port of the priority valve through a pipeline, and the EF port of the priority valve is connected with an oil return pipeline of the working system.
When the P port of the priority valve takes oil, hydraulic oil is supplied to the CF port of the priority valve through the spool of the priority valve. Specifically, when the steering engine does not work, the CF port of the priority valve is in a closed state, the pressure of the LS port of the priority valve is zero, oil enters the right end of the valve core of the priority valve, hydraulic oil overcomes the pre-pressure of the spring to enable the valve core of the priority valve to move leftwards, the P port of the priority valve is communicated with the EF port of the priority valve, and oil in the steering oil pump flows into a working system. When the steering engine works, the CF port of the priority valve is connected with the oil inlet of the steering oil cylinder through the oil outlet of the steering engine, and the steering oil pump feeds oil into the steering oil cylinder to steer wheels; specifically, the oil outlet of the steering engine comprises an L port of the steering engine and an R port of the steering engine, wherein the L port of the steering engine is respectively connected to a left oil inlet of the left steering oil cylinder and a left oil inlet of the right steering oil cylinder, and the R port of the steering engine is respectively connected to a right oil inlet of the left steering oil cylinder and a right oil inlet of the right steering oil cylinder.
The pressure signal of the LS port of the priority valve acts on the left end of the valve core of the priority valve, the pressure at the right end of the valve core is lower than the pressure at the outlet of the steering gear, and due to the change of the pressure difference between the left end and the right end of the valve core of the priority valve and the action of a spring, when the rotating speed of the steering gear is large, the valve core of the priority valve moves rightwards to be closed, hydraulic oil is preferentially supplied to steering oil, namely high-pressure oil is preferentially supplied to the steering gear
The left steering oil cylinder and the right steering oil cylinder are arranged on a steering axle and are connected with a steering engine through a high-pressure oil pipe, the steering engine is arranged on the left side of the frame, and a port P of the steering engine is an oil inlet and is connected with a CF port of the priority valve; LS is a control port and is connected with an LS port of the priority valve; the T port is an oil return port and is connected with an oil return pipeline of the hydraulic oil tank; the ports R and L are connected with each steering oil cylinder, and the left and right movement of the wheels relative to the driving direction is controlled by pushing the oil cylinders through high-pressure oil. When the steering wheel rotates left and right, the hydraulic steering engine pushes a steering valve in the steering engine to rotate through the rotation of the steering wheel, an oil inlet of the steering engine, namely a P port of the steering engine is communicated with an L port of the steering engine or an R port of the steering engine, high-pressure oil enters a steering oil cylinder through the steering engine to push a piston rod, the piston rod is connected with an axle trapezoid arm, and the trapezoid arm is pushed to move to complete steering; when the steering wheel is in the middle position, the port P of the steering engine is communicated with the port T, and high-pressure oil returns to the oil tank through the oil return pipeline.
The speed reducer and the steer-by-wire motor are arranged between the steering column and the steering machine, and the steering column is provided with a torque corner sensor for monitoring the rotation angle of the steering wheel; the angle sensor is arranged at the position of the wheel and used for detecting the rotation angle of the wheel; the angle sensor and the torque and corner sensor are connected with the electronic control unit and used for collecting signals, the signals comprise steering wheel rotating angles and are transmitted to the electronic control unit, the electronic control unit detects the rotating angles of a steering column and wheels through the collected signals, and outputs signals to control the hydraulic output of the steering machine to the hydraulic oil cylinder by controlling the steer-by-wire steering machine, so that the steering angle is continuously corrected, and the steering control is realized.
Preferably, the maximum steering angle is determined by the steering linkage of the axle and is set at the electronic control unit. When the angle sensor feeds back the collected steering angle information to the electronic control unit and the single control unit detects that the steering angle of the vehicle reaches the maximum steering angle, the electronic control unit controls the steer-by-wire motor to stop working so as to avoid the damage to the front axle of the vehicle caused by the overlarge steering angle.
The steering wheel is provided with a hand touch sensor which is a capacitance sensor and is arranged on the outer ring of the steering wheel. The signal collected by the hand touch sensor is transmitted to a hand touch signal input end of the electronic control unit through a signal transmission cable; when the steering wheel is controlled by hands, the hand touch sensor acquires an electric quantity signal through capacitance change and feeds the electric quantity signal back to the electronic control unit, and the electronic control unit stops directly controlling the steering motor and switches to an auxiliary driving mode to play an auxiliary role. According to the steering system, the electronic control unit controls the motor to properly adjust the vehicle steering angle by collecting the vehicle running information, so that the accuracy of the steering angle is ensured, the steering insufficiency or the steering oversteer is avoided, and the steering system can be directly butted with an unmanned driver.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. Those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the communication may be direct, indirect via an intermediate medium, or internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "at least three" means two or more unless otherwise specified.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A drive-by-wire full hydraulic steering system for an unmanned mining vehicle is characterized by comprising a laser radar sensor, an angle sensor, a torque and corner sensor, a hand touch sensor, an electronic control unit, a drive-by-wire steering motor and a full hydraulic steering system; the laser radar sensor, the angle sensor and the torque and corner sensor are all connected to the electronic control unit, the electronic control unit is connected with a steer-by-wire motor, and the steer-by-wire motor is connected with a full hydraulic steering system; the laser radar sensor is arranged at the front end of the frame, a front obstacle in the running process of the vehicle is identified through the laser radar sensor, the laser radar sensor transmits sensed position information and obstacle information to the electronic control unit, and the electronic control unit controls the steer-by-wire motor to adjust a steering angle, so that the running route is adjusted and the obstacle is avoided; the torque and angle sensor is arranged on a steering column of the full hydraulic steering system; the torque corner sensor collects the rotation angle and the torque of the steering wheel and sends the collected angle information and the collected torque information to the electronic control unit; the angle sensor is arranged on a front axle of the vehicle close to the position of the wheel, and converts the rotation angle of the wheel along the driving direction into an electric quantity signal to be transmitted to the electronic control unit.
2. The full hydraulic steering-by-wire system for unmanned mining vehicles of claim 1, further comprising a hand touch sensor disposed on an outer rim of a steering wheel; the hand touch sensor is connected with the electronic control unit, and signals collected by the hand touch sensor are transmitted to a hand touch signal input end of the electronic control unit through a signal transmission cable.
3. The full hydraulic steering-by-wire system for unmanned mining vehicles of claim 2, wherein the hand touch sensor is a capacitive sensor; when the steering wheel is controlled by hands, the hand touch sensor acquires an electric quantity signal through capacitance change and feeds the electric quantity signal back to the electronic control unit, and the electronic control unit stops directly controlling the steering motor and switches to an auxiliary driving mode to play an auxiliary role.
4. The steer-by-wire full hydraulic steering system for an unmanned mining vehicle of claim 3, wherein the full hydraulic steering system comprises a hydraulic tank, a steering oil pump, a pressure oil filter, a priority valve, a steering gear, an oil cooler, a left steering cylinder, a right steering cylinder, a steering column and a steering wheel.
5. The all-hydraulic steering-by-wire system for the unmanned mining vehicle of claim 4, wherein the steering-by-wire motor is installed at a joint of a steering machine and a steering column, a control signal input end of the steering-by-wire motor is connected with a control signal output end of the electronic control unit through a wire harness, the steering-by-wire is used as an actuating mechanism of the steering-by-wire, the electronic control unit adjusts an output torque of the steering-by-wire motor, controls a rotation angle and a speed of a steering wheel, and realizes precise control of the steering system.
6. The full hydraulic steering-by-wire system for unmanned mining vehicles of claim 5, wherein the lidar sensor is secured to a bracket secured to a front end of a bumper.
7. The full hydraulic steering-by-wire system for unmanned mining vehicles of claim 6, wherein the electronic control unit is located below an operating panel within the cab.
8. The full hydraulic-by-wire steering system for unmanned mining vehicles of claim 7, wherein the maximum steering angle is determined by the steering tie arm of the axle and set at the electronic control unit.
9. The all-hydraulic steer-by-wire system for unmanned mining vehicle of claim 8, wherein when the angle sensor feeds back the collected steering angle information to the electronic control unit, and the single sub-control unit detects that the steering angle of the vehicle reaches the maximum steering angle, the electronic control unit controls the steer-by-wire motor to stop working, so as to avoid damage to the front axle of the vehicle due to an excessively large steering angle.
10. The full hydraulic-by-wire steering system for an unmanned mining vehicle of claim 9, wherein a priority valve is provided between the pressure oil filter and the steering gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110354398.9A CN112977605A (en) | 2021-04-01 | 2021-04-01 | Drive-by-wire full hydraulic steering system for unmanned mining vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110354398.9A CN112977605A (en) | 2021-04-01 | 2021-04-01 | Drive-by-wire full hydraulic steering system for unmanned mining vehicle |
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| CN112977605A true CN112977605A (en) | 2021-06-18 |
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| CN202110354398.9A Pending CN112977605A (en) | 2021-04-01 | 2021-04-01 | Drive-by-wire full hydraulic steering system for unmanned mining vehicle |
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|---|---|---|---|---|
| CN115009357A (en) * | 2022-06-30 | 2022-09-06 | 北京主线科技有限公司 | Vehicle steering detection control system, method, electronic device, and storage medium |
| CN115009357B (en) * | 2022-06-30 | 2023-11-07 | 北京主线科技有限公司 | Vehicle steering detection control system, method, electronic device and storage medium |
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