CN108407710A - Brake detection device, intelligent braking monitoring system and its method - Google Patents
Brake detection device, intelligent braking monitoring system and its method Download PDFInfo
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- CN108407710A CN108407710A CN201810206201.5A CN201810206201A CN108407710A CN 108407710 A CN108407710 A CN 108407710A CN 201810206201 A CN201810206201 A CN 201810206201A CN 108407710 A CN108407710 A CN 108407710A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
- B60Q1/441—Electric switches operable by the driver's pedals
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a kind of brake detection device, intelligent braking monitoring system and its methods, it solves by detecting speed to determine whether being emergency brake, there are problems that hysteresis quality, its key points of the technical solution are that including the first detecting element, the second detecting element and the first detection signal fed back according to the first detecting element and the second detecting element and the second detection signal to determine whether the processor of emergency brake；Processor is preset with unit period, if in unit period, first detecting element and the second detecting element detect foot pedal by the first travel position and the second travel position respectively, processor judges the brake behavior for emergency brake and exports emergency brake signal, the present invention is directly by being detected the formation of foot pedal, enabling the behavior moment of brake to complete to detect, without there is the case where lagging, avoiding bringing risk to front vehicle due to lag.
Description
Technical field
The present invention relates to intelligent automobiles, more particularly to brake detection device, intelligent braking monitoring system and its method.
Background technology
With the raising of the surge and the raising of performances of motor vehicles, especially speed of vehicles number, rear-end collision occurs
Event is also more and more, this not only causes any property loss, serious also to can cause casualties.Rear crash event is mostly due to front truck
Emergency brake, rear car do not obtain alarm signal in time, and brake causes not in time.Especially on a highway, it is easy to
The chain of rings is caused to knock into the back.This is since current most of automobiles use single brake signal, that is, it is commonly being stopped first
Vehicle cannot arouse attention in time as being when emergency brake, also, cannot provide enough promptings to driver and make
With causing driver that can not early and accurately judge the break condition of preceding vehicle, cannot take in time and keep away harmful measure.
Emergency brake alarm system and emergency brake alarm method disclosed in notification number CN102363417B, mainly by having
There are the control device and emergency brake emergency warning lamp, control device to include：Collecting unit acquires brake signal and speed signal, stops
Vehicle signal come into force moment speed as speed initial value；Speed comparing unit obtains the speed initial value simultaneously from the collecting unit
It is compared with emergency brake threshold speed；Timing unit, the given brake duration when the speed initial value is more than threshold value
And brake duration is provided to the collecting unit, when collecting unit monitors speed signal and is up to the brake persistently accordingly
Speed when long is as speed end value；Control device further includes judging unit, obtain speed initial value, determine acceleration rate threshold,
Obtain speed end value and simultaneously obtain brake duration, so that it is determined that go out average acceleration and it compare with acceleration rate threshold with
Judge emergency brake；Wherein, speed initial value is higher, then the brake duration is smaller and/or acceleration rate threshold is smaller.
Said program is by speed size in the unit interval to determine whether being emergency brake, although can complete to urgent
The detection of the state of brake, but under normal circumstances, after driver completes brake, the decline that speed just can be gradually,
The moment speed of brake is speed initial value, and the speed after duration of braking is that speed end refers to, that is, is therefore deduced that
For emergency brake condition adjudgement there are certain hysteresis quality, reduce the time reflected to rear driver, so having
Certain room for improvement.
Invention content
The first object of the present invention is to provide a kind of brake detection device, can ensure to judge emergency brake real-time
Property, avoid the occurrence of the case where judgement lags.
The present invention above-mentioned technical purpose technical scheme is that：
Whether a kind of brake detection device, including detection foot pedal are operated to default first travel position and export first
The first detecting element of signal is detected, whether is operated to default second travel position for detecting foot pedal and exports the
Second detecting element of two detection signals and the first detection letter fed back according to the first detecting element and the second detecting element
Number with second detection signal to determine whether the processor of emergency brake；The processor is preset with unit period, if
In unit period, first detecting element and the second detecting element detect that foot pedal passes through the first stroke position respectively
It sets and judges the brake behavior with the second travel position, the processor for emergency brake and export emergency brake signal.
Using the above scheme, the first detection signal and second fed back according to the first detecting element and the second detecting element
Signal is detected, if within the unit interval, processor receives first detection signal and second detection signal the two signals, explanation
The action of driver at this time is emergency brake, and foot pedal is directly controlled by driver, if driver wants to complete urgent stop
Foot pedal is stepped on rapidly in the action of vehicle, then direct behavior, so by the stroke detection to foot pedal within the unit interval,
The case where capable of realizing and the case where emergency brake is judged, while more there is real-time, any lag is not present.
Preferably, further including in hollow setting and the shell for the first detecting element and the second detecting element to be fixedly mounted
Body, the foot pedal pass through shell and extend to hull outside, and the shell is equipped with the movement locus direction along foot pedal
Limiting slot.
Using the above scheme, by the protection of shell, it can be effectively protected the first detecting element and the second detecting element,
The service life for improving detecting element avoids causing the first detecting element and second to be examined due to accidentally trampling or colliding for driver
The position before element deviates is surveyed, to complete accurately to detect.
Preferably, the device further includes being set on foot pedal and being detected with output pressure for detecting whether trampling
Signal to processor pressure sensor；If the processor receives pressure detecting signal, the processor keeps output
Emergency brake signal, conversely, the processor does not export emergency brake signal.
Using the above scheme, the shape not braked is detected whether by the way that pressure sensor on the footrests is arranged
State, only pressure sensor are there are when pressure detecting signal, and the foot of the driver at this time is stepped on the footrests, in i.e.
By the state of brake, if being judged as emergency brake state at this time, emergency brake signal is exported always, if pressure detecting signal disappears
It loses, illustrates to have braked at this time and terminate, therefore no longer export emergency brake signal, be arranged such so that design is more reasonable.
Preferably, first detecting element and the second detecting element are close to switch or microswitch or infrared ray
Sensor.
Using the above scheme, the detecting element is simple in structure, of low cost and easy to use.
The second object of the present invention is to provide a kind of intelligent braking monitoring system, can be carried out to the personnel in front vehicle
It reminds, the case where avoiding not noticing front vehicles emergency brake.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of intelligent braking monitoring system, including above-mentioned brake detection device.
Using the above scheme, it can realize the detection to braking state, and keep real-time, it is convenient subsequently to rear vehicle
Prompting setting, reduce lag detection and caused by unnecessary risk.
Preferably, further including the mobile terminal being set in automobile, the mobile terminal includes control module and police
Show module, the control module is in response to processor to control alarm module keying；If control module receives emergency brake letter
Number when, control module control alarm module starts to warn the vehicle at rear.
Preferably, the alarm module is tail-light, the control module control tail-light flickers the default time
Afterwards and keep being always on.
Using the above scheme, when detecting the situation of emergency brake, alarm module is directly controlled by control module and is started, together
When alarm module by kept after advanced portable lighter optical flare the form being always on complete remind so that more significantly remind rear drive
The person of sailing keeps watchful, avoids that rear-end collision occurs.
Preferably, the mobile terminal further includes for determining corresponding automobile present position and sending determining for position signal
Position module, communication module and reminding module；
The control module is coupled to processor, locating module and adjacent to control according to emergency brake signal and position signal
Reminding module in vehicle opens and closes；
Position signal of the control module transmitted by locating module is to remind region with the region for presetting periphery, if adjacent
Locating module, which is in, on vehicle reminds in region, and the control module receives emergency brake signal, then the control module
The reminding module of all vehicles in region is reminded to start to control by communication module.
Preferably, the prompting region is the rear area for carrying out automobile corresponding to emergency brake.
Using the above scheme, after emergency brake occurs, driving in vehicle is reminded according to default prompting region
The person of sailing reminds the position signal that is then exported with the locating module of vehicle corresponding to emergency brake of region with benchmark, and as it is pre-
If direction radiated, form corresponding prompting region, start all vehicles reminded in region after emergency brake occurs
Interior reminding module, to reach the function of reminding driver, and it is the rear of emergency brake vehicle to remind region, due to urgent
Brake will not generate any influence to the vehicle in front, therefore only remind the vehicle at rear.
The third object of the present invention is to provide a kind of intelligent braking monitoring method, reminds front vehicle, reduces not
Pay attention to the risk of front vehicles emergency brake.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of intelligent braking monitoring method, includes the following steps：
S100, according to brake detection device to determine whether emergency brake；
If S200, control module receive emergency brake signal always, control module controls alarm module and starts to warn rear
Vehicle；Conversely, control module control alarm module is closed；
The position signal of S300, control module transmitted by locating module is to remind region with the region for presetting periphery, if phase
Locating module, which is in, on adjacent vehicle reminds in region, and control module holding receives emergency brake signal, then control module is logical
It crosses communication module and reminds the reminding module of all vehicles in region to start to control；Conversely, control module by communication module with
Control reminds the reminding module of all vehicles in region to close.
Using the above scheme, can realize the detection to braking state, and keep real-time, and to front vehicle into
Row remind, reduce lag detection and caused by unnecessary risk.
In conclusion the invention has the advantages that：
1, directly by being detected to the formation of foot pedal so that the behavior of brake can be completed to detect moment, without depositing
The case where lagging, avoid bringing risk to front vehicle due to lag；
2, the case where personnel in front vehicle capable of being reminded, avoid not noticing front vehicles emergency brake.
Description of the drawings
Fig. 1 is the structural schematic diagram of brake detection device；
Fig. 2 is the enlarged diagram in the portions A in Fig. 1；
Fig. 3 is the system block diagram of brake detection device；
Fig. 4 is the system block diagram of intelligent braking monitoring system；
Fig. 5 is the schematic diagram for reminding region.
In figure：11, the first detecting element；12, the second detecting element；13, processor；14, shell；15, limiting slot；16、
Foot pedal；17, pressure sensor；2, mobile terminal；21, control module；22, alarm module；23, locating module；24, mould is communicated
Block；25, reminding module；26, region is reminded.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, people in the art
Member can as needed make the present embodiment the modification of not creative contribution after reading this specification, but as long as at this
It is all protected by Patent Law in the right of invention.
Embodiment one：A kind of brake detection device, including be fixedly connected with the vehicle body or the shell of integrally connected 14, setting exist
The first detecting element 11 and the second detecting element 12 on shell 14 and processor 13；Pass through the first detecting element 11 and second
The detection case of detecting element 12 carrys out the case where foot pedal 16 of feedback response, and determines whether emergency brake by processor 13
State.
Wherein, shell 14 is in hollow setting and for the first detecting element 11 and the second detecting element 12 to be fixedly mounted；Shell
Body 14 can be directly integrally formed, and can also include left shell half body 14 and right half-shell body 14, and realize fixation, root by bolt
The shape and mounting means of shell 14 can be freely set according to actual conditions.First detecting element 11 and the second detecting element 12
It is both secured on shell 14, foot pedal 16 passes through shell 14 and extends to 14 outside of shell, and shell 14 is equipped with along foot pedal
The limiting slot 15 in 16 movement locus direction, passes through the setting of limiting slot 15 so that foot pedal 16 can freely be pressed down and
It will not collide, while limiting slot 15 also can further limit the depressed position of foot pedal 16.
First detecting element 11 is for detecting whether foot pedal 16 is operated to default first travel position and exports
First detection signal, the second detecting element 12 is for detecting whether foot pedal 16 is operated to default second travel position simultaneously
Output the second detection signal；First detecting element 11 and the second detecting element 12 all can be approach switch, microswitch, infrared
One kind in line sensor；Preferably then the first detecting element 11 is arranged in foot pedal 16 using close to switch in the present embodiment
Initial position downside, i.e. the position is default first travel position, and by the setting of the second detecting element 12 foot-operated
Plate 16 floored after position upside and the second detecting element 12 be located at the lower section of the first detecting element 11, the i.e. position
For default second travel position；During foot pedal 16 is trampled, the connecting rod that is connect with foot pedal 16 is close to first
When detecting element 11 and the second detecting element 12, the first detecting element 11 is detected with the second detecting element 12, and output pair
The first detection signal answered and the second detection signal.
The first detection signal and second that processor 13 is fed back according to the first detecting element 11 and the second detecting element 12
Signal is detected to determine whether emergency brake；Processor 13 preferably uses the programmable components such as microcontroller.
Processor 13 is preset with unit period, if in unit period, the inspection of the first detecting element 11 and second
It surveys element 12 and detects foot pedal 16 respectively by the first travel position and the second travel position, processor 13 judges the brake row
For emergency brake and to export emergency brake signal；If in unit period, only only the first detecting element 11 detects
Pass through the first travel position to foot pedal 16, and the second detecting element 12 is not detected foot pedal 16 and passes through the second travel position,
Then processor 13 judges the brake behavior for normal braking；If being more than unit period, no matter the first detecting element 11, the
One or two of two detecting elements 12 detect that foot pedal 16 passes through corresponding formation, and processor 13 judges the brake row
For for normal braking.
The device further includes being set on foot pedal 16 and for detecting whether trampling with output pressure detection signal extremely
The pressure sensor 17 of processor 13；If processor 13 receives pressure detecting signal, processor 13 keeps output is urgent to stop
Vehicle signal, conversely, processor 13 does not export emergency brake signal；That is, passing through the pressure sensor 17 being arranged on foot pedal 16
Detect whether the state that do not brake, only pressure sensor 17 is described to drive at this time there are when pressure detecting signal
The foot of member steps down on foot pedal 16, defeated always if being judged as emergency brake state at this time in the state that will be braked
Go out emergency brake signal, if pressure detecting signal disappears, illustrates to have braked at this time and terminate, therefore no longer output emergency brake letter
Number, at the same it is judged in the front processor 13 of removing the case where, restart the judgement to braking conditions.
Embodiment two：A kind of intelligent braking monitoring system, including the brake detection device in embodiment one.
The system further includes the mobile terminal 2 being set in automobile, and in the present embodiment, mobile terminal 2 can be intelligent hand
The intelligent movables equipment such as machine, IPAD, the smart machine that can also be provided on electric vehicle.
Mobile terminal 2 includes control module 21, alarm module 22, locating module 23, reminding module 25 and communication module
24。
Control module 21 can be microprocessor 13, can also be any conventional processor 13, controller, microcontroller
Or state machine；The combination of computation module can be also embodied as, such as the combination of DSP and microprocessor 13, multi-microprocessor 13
Combination, one or more microprocessors 13 and DSP core combine or any other this configuration.
Communication module 24 is WIFI module and/or 4G modules and/or 3G module and/or 2G modules, that is, passes through communication module
24 realize sending and receiving for data, signal etc., realize data interaction.
Alarm module 22 is tail-light, by the control of control module 21, is realized when there is emergency brake, vehicle
After the taillight flicker default time and keep being always on；So that more rear driver is significantly reminded to keep watchful, avoid sending out
Raw rear-end collision.
Locating module 23 is GPS positioning module 23, realizes and carries out positioning in real time simultaneously to the vehicle with the mobile terminal 2
Send position signal.
Reminding module 25 is the display screen and voice module on mobile terminal 2, i.e., alert required for display on a display screen
The information shown simultaneously is reported by voice module.
Based on detected by brake detection device whether be emergency brake state the case where, and carry out in the following manner
Remind the vehicle at rear：
Mode one：
Control module 21 is in response to processor 13 to control the keying of alarm module 22；If control module 21 receives emergency brake letter
Number when, control module 21 control alarm module 22 start to warn the vehicle at rear.I.e. within the unit interval, processor 13 receives
First detection signal and second detection signal the two signals, illustrates the action of driver at this time for emergency brake, therefore processor
For 13 output emergency brake signals to control module 21, control module 21 starts alarm module 22 to be warned to front vehicle,
Warning way is to be realized after tail-light flickers the default time and by way of keeping being always on.
Mode two：
Control module 21 be coupled to processor 13, locating module 23 and according to emergency brake signal and position signal to control phase
Reminding module 25 in adjacent vehicle opens and closes.
Position signal of the control module 21 transmitted by locating module 23 is to remind region 26 with the region for presetting periphery,
It is the rear area for carrying out automobile corresponding to emergency brake to remind region 26.
It is reminded in region 26 if locating module 23 is on Adjacent vehicles, and control module 21 receives emergency brake letter
Number, then control module 21 reminds the reminding module 25 of all vehicles in region 26 to start by communication module 24 to control.
Embodiment three：A kind of intelligent braking monitoring method, includes the following steps：
S100, according to brake detection device to determine whether emergency brake；
If S200, control module 21 receive emergency brake signal always, control module 21 controls alarm module 22 and starts with police
Show the vehicle at rear；It is closed conversely, control module 21 controls alarm module 22；
S300, position signal of the control module 21 transmitted by locating module 23 are to remind region with the region for presetting periphery
26, if locating module 23 is in prompting region 26 on Adjacent vehicles, and the holding of control module 21 receives emergency brake signal,
Then control module 21 reminds the reminding module 25 of all vehicles in region 26 to start by communication module 24 to control；Conversely, control
Molding block 21 reminds the reminding module 25 of all vehicles in region 26 to close by communication module 24 to control.
Wherein, the judgment method for detection device of braking is as follows：
S110, the pressure detecting signal exported according to pressure sensor 17 are to judge whether to be in braking state；
If S120, pressure sensor 17 output detection signal, are in braking state；Conversely, being then not at braking state；
If S130, being in braking state, by the first detecting element 11 and the second detecting element 12 to be carried out to foot pedal 16
Detection, if in unit period, the first detecting element 11 and the second detecting element 12 detect that foot pedal 16 passes through respectively
First travel position and the second travel position, processor 13 judge the brake behavior for emergency brake and export emergency brake letter
Number；Conversely, processor 13 judges that the brake behavior is not emergency brake.
If S140, processor 13 receive pressure detecting signal, processor 13 keeps output emergency brake signal, instead
It, processor 13 does not export the case where judging in emergency brake signal and the front processor 13 of removing, re-executes step S110.
Claims (10)
1. a kind of brake detection device, it is characterized in that：Whether it is operated to default the first row including detection foot pedal (16)
Journey position and export first detection signal the first detecting element (11), for detect foot pedal (16) whether be operated to it is pre-
If the second travel position and export second detection signal the second detecting element (12) and according to the first detecting element (11)
The first detection signal fed back with the second detecting element (12) is with the second detection signal to determine whether the place of emergency brake
Manage device (13)；The processor (13) is preset with unit period, if in unit period, first detecting element
(11) detect that foot pedal (16) passes through the first travel position and the second travel position respectively with the second detecting element (12), it is described
Processor (13) judges the brake behavior for emergency brake and exports emergency brake signal.
2. brake detection device according to claim 1, it is characterized in that：Further include in hollow setting and for being fixedly mounted
The shell (14) of first detecting element (11) and the second detecting element (12), the foot pedal (16) pass through shell (14) and extend
On the outside of to shell (14), the shell (14) is equipped with the limiting slot (15) in the movement locus direction along foot pedal (16).
3. brake detection device according to claim 1, it is characterized in that：Further include being set on foot pedal (16) and being used for
It detects whether to trample and signal is detected to the pressure sensor (17) of processor (13) with output pressure；If the processor (13)
Pressure detecting signal is received, then the processor (13) keeps output emergency brake signal, conversely, the processor (13) is no
Export emergency brake signal.
4. brake detection device according to claim 1, it is characterized in that：First detecting element (11) and the second detection
Element (12) is close to switch or microswitch or infrared sensor.
5. a kind of intelligent braking monitoring system, it is characterized in that：It include the brake detection device as described in 1 to 4 any one of right.
6. intelligent braking monitoring system according to claim 5, it is characterized in that：It further include the mobile end being set in automobile
Hold (2), the mobile terminal (2) includes control module (21) and alarm module (22), the control module (21) in response to
Processor (13) is to control alarm module (22) keying；If control module (21) receives emergency brake signal, the control
Module (21) controls alarm module (22) and starts to warn the vehicle at rear.
7. intelligent braking monitoring system according to claim 6, it is characterized in that：The alarm module (22) is tail-light,
After control module (21) the control tail-light flicker default time and keep being always on.
8. intelligent braking monitoring system according to claim 6, it is characterized in that：The mobile terminal (2) further includes being used for
It determines corresponding automobile present position and sends the locating module (23), communication module (24) and reminding module of position signal
(25)；
The control module (21) is coupled to processor (13), locating module (23) and is believed according to emergency brake signal and position
Number with control the reminding module in Adjacent vehicles (25) keying；
Position signal of the control module (21) transmitted by locating module (23) is to preset the region on periphery as alert zone
Domain (26), if locating module (23) is in prompting region (26) on Adjacent vehicles, and the control module (21) receives tightly
It brings to a halt signal, then the control module (21) reminds carrying for all vehicles in region (26) by communication module (24) to control
Module (25) of waking up starts.
9. intelligent braking monitoring system according to claim 8, it is characterized in that：The prompting region (26) is to carry out promptly
The rear area of the corresponding automobile of brake.
10. a kind of intelligent braking monitoring method, characterized in that include the following steps：
S100, according to brake detection device to determine whether emergency brake；
If S200, control module (21) receive emergency brake signal always, control module (21) control alarm module (22) opens
It moves to warn the vehicle at rear；Conversely, control module (21) control alarm module (22) is closed；
S300, position signal of the control module (21) transmitted by locating module (23) are to preset the region on periphery as alert zone
Domain (26), if locating module (23) is in prompting region (26) on Adjacent vehicles, and control module (21) holding receives tightly
Bring to a halt signal, then control module (21) by communication module (24) to control the prompting mould for reminding all vehicles in region (26)
Block (25) starts；Conversely, control module (21) reminds all vehicles in region (26) to carry by communication module (24) to control
Module (25) of waking up is closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810206201.5A CN108407710A (en) | 2018-03-13 | 2018-03-13 | Brake detection device, intelligent braking monitoring system and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810206201.5A CN108407710A (en) | 2018-03-13 | 2018-03-13 | Brake detection device, intelligent braking monitoring system and its method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407710A true CN108407710A (en) | 2018-08-17 |
Family
ID=63131286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810206201.5A Pending CN108407710A (en) | 2018-03-13 | 2018-03-13 | Brake detection device, intelligent braking monitoring system and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108407710A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771825A (en) * | 2021-09-27 | 2021-12-10 | 三一海洋重工有限公司 | Brake protection method and system and vehicle |
| CN115402275A (en) * | 2022-09-15 | 2022-11-29 | 三一海洋重工有限公司 | Brake control mechanism and method and engineering machinery |
-
2018
- 2018-03-13 CN CN201810206201.5A patent/CN108407710A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771825A (en) * | 2021-09-27 | 2021-12-10 | 三一海洋重工有限公司 | Brake protection method and system and vehicle |
| CN113771825B (en) * | 2021-09-27 | 2022-10-14 | 三一海洋重工有限公司 | Brake protection method and system and vehicle |
| CN115402275A (en) * | 2022-09-15 | 2022-11-29 | 三一海洋重工有限公司 | Brake control mechanism and method and engineering machinery |
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Application publication date: 20180817 |