CN112079299A - Heavy forklift sharp-turning safety control system and method - Google Patents
Heavy forklift sharp-turning safety control system and method Download PDFInfo
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- CN112079299A CN112079299A CN202011070357.9A CN202011070357A CN112079299A CN 112079299 A CN112079299 A CN 112079299A CN 202011070357 A CN202011070357 A CN 202011070357A CN 112079299 A CN112079299 A CN 112079299A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000008859 change Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims description 4
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07509—Braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a safety control system and a safety control method for sharp turning of a heavy forklift, wherein when the speed of the forklift is judged to be greater than or equal to a preset value, the whole forklift is indicated to run at a high speed at the moment, and if the change rate of the steering angle of a steering wheel is greater than or equal to the preset value, the forklift is indicated to be in a sharp turning state at present; limiting the steering angle of the rear axle to a preset angle limit value; limiting the vehicle speed to a preset value; and gradually increasing the braking force to realize slow braking.
Description
Technical Field
The invention relates to a heavy forklift sharp-turn safety control system and a heavy forklift sharp-turn safety control method based on the system, and belongs to the technical field of heavy forklift safety control equipment.
Background
The terms involved in the present invention are explained as follows:
heavy forklift: a forklift truck for forking a relatively heavy load is generally defined as a heavy forklift truck having a rated forking load of 4.5 tons or more.
Steering wheel steering angle change rate: and performing difference operation on the initial steering angle of the steering wheel within a period of time to describe the variable of the steering angle change speed of the steering wheel.
Heavy fork truck general operation place is narrow and small, and operation intensity is higher, needs the vehicle to have the performance of turning flexibility, quick travel, consequently, often can sharply accelerate, sharply turn during the operation to satisfy the demand of operation operating mode. With the increasingly wide application of heavy forklifts, the rollover accidents of the heavy forklifts occur continuously, and a large amount of statistical data show that most of the rollover accidents of the heavy forklifts are caused by transverse instability. Since the forklift is generally steered by the rear wheels, and the steering angle of the rear wheels is large, the lateral stability during turning is generally poor, and the trend of the lateral stability is more obvious particularly under heavy load or full load.
Therefore, a higher demand is being placed on the safety control of sharp turning of a forklift while satisfying the workability. In addition, the reason that the lateral stability of the vehicle is poor and even the vehicle turns over is also that the vehicle speed is too fast during turning, and the conventional method for reducing the risk of the vehicle turning over mainly comprises the steps of carrying out safe operation guidance on an operator through safe operation prompt and warning, or reducing the vehicle speed and the like.
The prior art has the following defects:
1) the simple limitation of the vehicle speed can hardly meet the actual requirements of operation, for example, the low vehicle speed under the straight line running or non-sharp turning working condition can reduce the operation efficiency;
2) dangerous driving behaviors or risks cannot be avoided through artificial training and behavior constraint.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a heavy forklift sharp turning safety control system and method, which provide safety guarantee for heavy forklifts during sharp turning and improve the heavy forklift sharp turning safety.
In order to solve the technical problem, the invention provides a heavy forklift sharp turn safety control system which is characterized by comprising a PLC (programmable logic controller), a steering wheel corner sensor, a vehicle speed sensor, a display, an engine controller, a gearbox controller, a rear axle steering electromagnetic valve and a brake electromagnetic valve; wherein:
the steering wheel corner sensor is used for detecting a steering angle signal of a steering wheel in real time and inputting the steering angle signal into the PLC;
the vehicle speed sensor is used for detecting a speed signal of a vehicle in real time and inputting the speed signal into the PLC;
the PLC outputs control signals to a rear axle steering electromagnetic valve and a brake electromagnetic valve to realize the limitation of the steering angle and the braking force of the rear axle;
the PLC controller is communicated with the display through a CAN bus to realize vehicle speed display and sharp turn alarm;
the PLC outputs a vehicle speed limiting instruction to the engine controller and the gearbox controller, and vehicle speed limitation is achieved.
Further, the PLC controller adopts a chip of an IMC T3940 model.
Further, the display is an ICP 6600 model liquid crystal display.
Further, the engine controller employs a control system of the CM 2150 type.
Further, the transmission controller uses EST 37 electronics.
Correspondingly, the invention also provides a heavy forklift sharp-turn safety control method of the system, which is characterized by comprising the following steps:
acquiring a vehicle speed signal;
when the vehicle speed is judged to be greater than or equal to the preset value, the whole vehicle is indicated to run at a high speed, and the following processes are executed:
a) when the change rate of the steering angle of the steering wheel is larger than or equal to a preset value, indicating that the vehicle is in a sharp turning state at present;
the PLC outputs a signal to control a rear axle steering electromagnetic valve, and the rear axle steering angle is limited to a preset angle limit value;
the PLC sends a vehicle speed limiting instruction to the engine controller and the gearbox controller to limit the vehicle speed to a preset value;
the PLC outputs signals to control a brake solenoid valve, and the braking force is gradually increased to realize slow braking;
b) when the change rate of the steering angle of the steering wheel is smaller than a preset value, the vehicle is indicated to be in a non-sharp turning working condition, the steering angle of the rear axle is not limited, and the braking is not limited.
Further, the steering angle change rate of the steering wheel is calculated by carrying out difference operation on the angle value acquired in a certain period of time.
Further, when the vehicle is in a sharp turning state, the following steps are also executed: the PLC controller sends an alarm signal to the display through the CAN bus.
Compared with the prior art, the invention has the following beneficial effects:
1) the change rate of the steering angle of the steering wheel is used as a judgment condition to judge whether the vehicle speed needs to be limited, and when the change rate of the steering angle of the steering wheel exceeds a preset value, the system limits the vehicle speed, so that the safety can be improved;
2) when the vehicle speed and the steering wheel steering angle change rate are both greater than preset values, the PLC outputs and controls a rear axle steering electromagnetic valve to limit the steering angle of a rear axle and improve the safety of sharp turning of the vehicle; meanwhile, the display gives an alarm to prompt an operator to pay attention to the operation risk, so that the man-machine interaction is improved;
3) the side-turning risk of the vehicle during high-speed, sharp-turn and emergency braking operation can be avoided by controlling the braking force under the working condition that the vehicle speed is higher than the preset value and the sharp turn is performed.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present patent application, it is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
In the description of the present patent, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present patent and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present patent. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present patent application, it is to 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; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present patent can be understood in a specific case by those skilled in the art.
Referring to fig. 1, the safety control system of the heavy forklift for sharp turning comprises a PLC (programmable logic controller), a steering wheel corner sensor, a vehicle speed sensor, a display, an engine controller, a gearbox controller, a rear axle steering electromagnetic valve and a brake electromagnetic valve. The two electromagnetic valves are controlled by a PLC controller, and the opening degree of the electromagnetic valves is controlled when steering or braking is needed; otherwise, close.
Wherein, the steering wheel angle sensor detects the steering angle signal of the steering wheel in real time and inputs the steering angle signal into the PLC; the vehicle speed sensor detects a speed signal of a vehicle in real time and inputs the speed signal into the PLC;
the PLC is used as a main control element to complete the receiving of input signals, and relevant control signals are output after logical judgment, so that the control of the functions of rear axle steering angle limitation, braking force limitation and the like is realized; the display is communicated with the PLC through the CAN bus to realize the functions of vehicle speed display and sharp turn alarm; the engine controller and the gearbox controller receive a vehicle speed limiting instruction of the PLC through the CAN bus, and limit of vehicle speed is achieved by controlling the rotating speed of the engine and the gear of the gearbox.
In the embodiment of the invention, various controllers are realized by chips in the prior art, for example, a PLC controller adopts a chip with an IMC T3940 model, a display adopts a liquid crystal display with an ICP 6600 model, an engine controller adopts a control system with a CM 2150 model, a gearbox controller adopts an EST 37 electronic element, various sensors are conventional sensor electronic elements in the field, all parts (electronic components) in the system can be purchased in the existing electronic market, and the connection relation provided by the system of the invention is used for connecting all parts to realize the emergency turning safety control function.
The invention realizes the safe control method for the sharp turn of the heavy forklift through the control system, which comprises the following processes:
firstly, when the vehicle speed is greater than or equal to a preset value: the preset value is the parameter of the whole machine, and the value is 30K/h; the vehicle speed is greater than the preset value, which indicates that the whole vehicle runs at a high speed;
a) when the steering angle change rate of the steering wheel is larger than or equal to a preset value, the steering angle change rate of the steering wheel is subjected to difference operation on the angle value acquired in a certain period of time, namely the angle value acquired in the next period is subtracted from the angle value acquired in the previous period, the preset value is an empirical value, and the value is 50% in the invention. The fact that the change rate of the steering angle of the steering wheel is larger than the preset value indicates that the vehicle is in a sharp turning state at present. When the vehicle is in a sharp turn at high speed, the vehicle is in a serious unstable state, and the vehicle has great risk of rolling over.
The PLC outputs PWM signals to control the opening degree of a rear axle steering electromagnetic valve (the opening degree of the rear axle steering angle and the opening degree of the electromagnetic valve are in linear one-to-one correspondence), the rear axle steering angle is limited to a preset angle limit value (for example, 30 degrees), the influence of over-steering during high vehicle speed on the stability of the vehicle is avoided,
the PLC controller sends a vehicle speed limiting instruction to the engine controller and the gearbox controller through the CAN bus, and the engine and the gearbox are matched to finish vehicle speed limiting (the gearbox controller immediately responds to the instruction, calculates a required gear according to a vehicle speed value required to be limited, and sends a torque requirement corresponding to the gear to the engine controller through the bus; when the vehicle is in a sharp turn, the vehicle speed needs to be limited, so that the vehicle keeps a lower vehicle speed.
If the braking is carried out at the moment, the PLC outputs a PWM signal to control the opening of a braking electromagnetic valve, the braking force is gradually increased to realize slow braking, and the emergency braking under the working conditions of high speed and sharp turning is avoided; avoiding possible rollover risks.
Meanwhile, the PLC sends out an alarm signal through the CAN bus, and the display gives an alarm prompt to warn an operator and also CAN adopt an alarm lamp to give an alarm.
b) When the change rate of the steering angle of the steering wheel is smaller than a preset value, the condition that the vehicle is in a non-sharp turning condition is indicated, the vehicle tends to be safe, the steering angle of a rear axle is not limited, and the braking is not limited.
The invention has the beneficial effects that:
1) the change rate of the steering angle of the steering wheel is used as a judgment condition to judge whether the vehicle speed needs to be limited, and when the change rate of the steering angle of the steering wheel exceeds a preset value, the system limits the vehicle speed, so that the safety can be improved;
2) when the vehicle speed and the steering wheel steering angle change rate are both greater than preset values, the PLC outputs and controls a rear axle steering electromagnetic valve to limit the steering angle of a rear axle and improve the safety of sharp turning of the vehicle; meanwhile, the display gives an alarm to prompt an operator to pay attention to the operation risk, so that the man-machine interaction is improved;
3) the side-turning risk of the vehicle during high-speed, sharp-turn and emergency braking operation can be avoided by controlling the braking force under the working condition that the vehicle speed is higher than the preset value and the sharp turn is performed.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A heavy forklift sharp turn safety control system is characterized by comprising a PLC (programmable logic controller), a steering wheel corner sensor, a vehicle speed sensor, a display, an engine controller, a gearbox controller, a rear axle steering electromagnetic valve and a braking electromagnetic valve; wherein:
the steering wheel corner sensor is used for detecting a steering angle signal of a steering wheel in real time and inputting the steering angle signal into the PLC;
the vehicle speed sensor is used for detecting a speed signal of a vehicle in real time and inputting the speed signal into the PLC;
the PLC outputs control signals to a rear axle steering electromagnetic valve and a brake electromagnetic valve to realize the limitation of the steering angle and the braking force of the rear axle;
the PLC controller is communicated with the display through a CAN bus to realize vehicle speed display and sharp turn alarm;
the PLC outputs a vehicle speed limiting instruction to the engine controller and the gearbox controller, and vehicle speed limitation is achieved.
2. The heavy forklift sharp turning safety control system as claimed in claim 1, wherein the PLC controller adopts an IMC T3940 chip.
3. The heavy forklift tight turning safety control system as recited in claim 1, wherein the display is an ICP 6600 liquid crystal display.
4. The heavy duty forklift tight turn safety control system as claimed in claim 1, wherein the engine controller is a CM 2150 model control system.
5. The heavy duty forklift tight turn safety control system as claimed in claim 1, wherein the transmission controller uses EST 37 electronic components.
6. A heavy forklift sharp turn safety control method according to any one of the system of claims 1-5, characterized by comprising the following processes:
acquiring a vehicle speed signal;
when the vehicle speed is judged to be greater than or equal to the preset value, the whole vehicle is indicated to run at a high speed, and the following processes are executed:
a) when the change rate of the steering angle of the steering wheel is larger than or equal to a preset value, indicating that the vehicle is in a sharp turning state at present;
the PLC outputs a signal to control a rear axle steering electromagnetic valve, and the rear axle steering angle is limited to a preset angle limit value;
the PLC sends a vehicle speed limiting instruction to the engine controller and the gearbox controller to limit the vehicle speed to a preset value;
the PLC outputs signals to control a brake solenoid valve, and the braking force is gradually increased to realize slow braking;
b) when the change rate of the steering angle of the steering wheel is smaller than a preset value, the vehicle is indicated to be in a non-sharp turning working condition, the steering angle of the rear axle is not limited, and the braking is not limited.
7. The method as claimed in claim 6, wherein the steering angle change rate of the steering wheel is calculated by calculating a difference value of the angle values collected during a certain period of time.
8. The heavy forklift sharp turn safety control method as claimed in claim 6, wherein when the vehicle is in the sharp turn state, the method further comprises the following steps: the PLC controller sends an alarm signal to the display through the CAN bus.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010716942 | 2020-07-23 | ||
| CN2020107169425 | 2020-07-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112079299A true CN112079299A (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011070357.9A Pending CN112079299A (en) | 2020-07-23 | 2020-10-09 | Heavy forklift sharp-turning safety control system and method |
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| CN (1) | CN112079299A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113653113A (en) * | 2021-08-24 | 2021-11-16 | 山推工程机械股份有限公司 | Bulldozer steering brake control method and bulldozer steering brake control system |
| CN114684012A (en) * | 2020-12-25 | 2022-07-01 | 长城汽车股份有限公司 | Early warning method and device for vehicle emergency steering, storage medium and vehicle |
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| CN101939248A (en) * | 2008-02-05 | 2011-01-05 | 克朗设备公司 | Materials handling vehicle having a steer system including a tactile feedback device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114684012A (en) * | 2020-12-25 | 2022-07-01 | 长城汽车股份有限公司 | Early warning method and device for vehicle emergency steering, storage medium and vehicle |
| CN113653113A (en) * | 2021-08-24 | 2021-11-16 | 山推工程机械股份有限公司 | Bulldozer steering brake control method and bulldozer steering brake control system |
| CN113653113B (en) * | 2021-08-24 | 2022-07-01 | 山推工程机械股份有限公司 | Bulldozer steering brake control method and bulldozer steering brake control system |
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Application publication date: 20201215 |