CN112298148B - Parking control system and method and wheel type traveling device - Google Patents
Parking control system and method and wheel type traveling device Download PDFInfo
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- CN112298148B CN112298148B CN202011196773.3A CN202011196773A CN112298148B CN 112298148 B CN112298148 B CN 112298148B CN 202011196773 A CN202011196773 A CN 202011196773A CN 112298148 B CN112298148 B CN 112298148B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000010586 diagram Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a parking control system and method and a wheel type traveling device. The control system comprises a control module, a first switch module, a second switch module, a current limiting module and a parking brake module. The control module is electrically connected with the first switch module and the second switch module respectively; the current limiting module is electrically connected with the first switch module in parallel, or the current limiting module is electrically connected with the second switch module in parallel; the first switch module is connected in series with the second switch module; the parking brake module is electrically connected with the second switch module. According to the technical scheme, the control module controls the on-off states of the first switch module and the second switch module to control the supply currents flowing through the parking brake module to be different, so that the power loss of the parking control system is reduced, and the working stability of the whole control system is improved.
Description
Technical Field
The embodiment of the invention relates to an automobile braking technology, in particular to a parking control system and method and a wheel type traveling device.
Background
With the continuous development of automatic driving technology, driving safety becomes one of the current concerns, and in order to realize high safety of automatic driving, a brake system of an automobile plays an important role.
Currently, an electromagnetic brake motor is used in a parking brake to stabilize a vehicle. The electromagnetic brake motor is also called as a power-off brake motor, an electromagnetic band brake is arranged at the tail part of the motor, the electromagnetic band brake is also powered on and closed when the motor is powered on, the electromagnetic band brake does not brake the motor, the electromagnetic band brake is also powered off when the motor is powered off, and the band brake brakes the motor under the action of a spring to enable the vehicle to achieve a parking state. In the prior art, when an electromagnetic braking motor works normally, direct current needs to be continuously introduced into a braking excitation coil, so that a system is in a non-braking state. Because of long-time large current input, the power loss is large, and the brake magnet exciting coil is easy to generate heat seriously, so that the suction capacity of the brake magnet exciting coil is influenced, and the working stability and reliability of the motor are influenced.
Disclosure of Invention
The invention provides a parking control system, a parking control method and a wheel type traveling device, which are used for reducing the power loss of the parking control system and improving the working stability of the parking control system.
In a first aspect, an embodiment of the present invention provides a parking control system, where the parking control system includes a control module, a first switch module, a second switch module, a current limiting module, and a parking brake module;
the control module is electrically connected with the first switch module and the second switch module respectively;
the current limiting module is electrically connected with the first switch module in parallel, or the current limiting module is electrically connected with the second switch module in parallel;
the first switch module is connected in series with the second switch module; the parking brake module is electrically connected with the second switch module;
the control module is used for controlling the on-off states of the first switch module and the second switch module so as to control different power supply currents flowing through the parking brake module.
Optionally, the control module is configured to control the first switch module and the second switch module to be turned on, so as to control a supply current flowing through the parking brake module to be a first supply current;
the control module is further configured to control the first switch module or the second switch module to be turned off, so as to control a supply current flowing through the parking brake module to be a second supply current, where the second supply current is smaller than the first supply current.
Optionally, the parking brake module comprises a parking brake coil and an armature;
when the first power supply current flows through the parking brake coil, the parking brake coil attracts and closes the armature;
when the second power supply current flows through the parking brake coil, the parking brake coil maintains a state of attracting the armature.
Optionally, the control module is further configured to control the first switch module and the second switch module to be turned off, so as to control a supply current flowing through the parking brake module to be a third supply current, where the third supply current is 0;
the parking brake module comprises a parking brake coil and an armature; when the third power supply current flows through the parking brake coil, the parking brake coil is separated from the armature, and parking brake is performed.
Optionally, the first switch module includes a first relay module, and the second switch module includes a second relay module;
the parking control system further comprises a power supply module;
the first switch contact point of the first relay module is electrically connected with the power supply module; a second switch contact of the first relay is electrically connected with a first switch contact of the second relay module; a second switch contact point of the second relay is electrically connected with the parking brake module;
the first coil contact point of the first relay module is electrically connected with the control module, and the first coil contact point of the second relay module is electrically connected with the control module; the second coil contact point of the first relay and the second coil contact point of the second relay are both grounded.
Optionally, the current limiting module includes a current limiting resistor.
In a second aspect, an embodiment of the present invention further provides a parking control method, which is applied to the parking control system according to the first aspect, and the method includes:
and controlling the switching states of the first switching module and the second switching module so as to control different power supply currents flowing through the parking brake module.
Optionally, controlling the switching states of the first switch module and the second switch module to control the different supply currents flowing through the parking brake module includes:
controlling the first switch module and the second switch module to be closed so as to control the supply current flowing through the parking brake module to be a first supply current;
after the preset time, the first switch module or the second switch module is controlled to be switched off so as to control the supply current flowing through the parking brake module to be a second supply current, and the second supply current is smaller than the first supply current.
Optionally, the parking control method further includes:
and controlling the first switch module and the second switch module to be switched off so as to control the power supply current flowing through the parking brake module to be a third power supply current, wherein the third power supply current is 0.
In a third aspect, an embodiment of the present invention further provides a wheeled traveling apparatus including the parking control apparatus according to the first aspect.
The control system in the embodiment of the invention comprises a control module, a first switch module, a second switch module, a current limiting module and a parking brake module. The control module is electrically connected with the first switch module and the second switch module respectively; the current limiting module is electrically connected with the first switch module in parallel, or the current limiting module is electrically connected with the second switch module in parallel; the first switch module is connected in series with the second switch module; the parking brake module is electrically connected with the second switch module. The control module controls the on-off states of the first switch module and the second switch module to control different power supply currents flowing through the parking brake module, so that the power loss of the parking control system is reduced, and the working stability of the whole control system is improved. The problem of among the prior art continuously for the parking braking module to let in supply current to make the parking braking module be in non-braking state, cause the power that whole control system consumed great etc is solved.
Drawings
Fig. 1 is a block diagram of a parking control system according to a first embodiment of the present invention;
fig. 2 is a block diagram of another parking control system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a parking control system according to a first embodiment of the present invention;
fig. 4 is a flowchart of a parking control method according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a block diagram of a parking control system according to a first embodiment of the present invention, and fig. 2 is a block diagram of another parking control system according to a first embodiment of the present invention; as shown in fig. 1 and 2, the system includes a control module 10, a first switching module 20, a second switching module 30, a current limiting module 40, and a parking brake module 50. The control module 10 is electrically connected with the first switch module 20 and the second switch module 30 respectively; the current limiting module 40 is electrically connected in parallel with the first switching module 20, or the current limiting module 40 is electrically connected in parallel with the second switching module 30; the first switching module 20 is connected in series with the second switching module 30; the parking brake module 40 is electrically connected with the second switch module 30; the control module 10 is configured to control the switching states of the first switching module 20 and the second switching module 30 to control the difference of the power supply currents flowing through the parking brake module 50.
The current limiting module 40 may be a current limiting resistor. The first switch module 10 may be a first relay module and the second switch module 20 may be a second relay module; FIG. 3 is a schematic structural diagram of a parking control system according to another embodiment of the present invention; as shown in fig. 3, the control system further includes a power supply module; a first switch contact point of the first relay module is electrically connected with the power supply module; the second switch contact point of the first relay module is electrically connected with the first switch contact point of the second relay module; a second switch contact point of the second relay module is electrically connected with the parking brake module 50; a first coil contact point of the first relay module is electrically connected with the control module 10, and a first coil contact point of the second relay module is electrically connected with the control module 10; the second coil contact of the first relay module and the second coil contact of the second relay module are both grounded.
The parking brake module 50 is an electromagnetic brake motor, the tail part of the electromagnetic brake motor is provided with an electromagnetic brake, the electromagnetic brake comprises a parking brake coil and an armature, when alternating current is introduced into the motor, the electromagnetic brake is electrified and closed, the parking brake coil in the electromagnetic brake is electrified and closed, the armature is attracted to separate two friction surfaces of the tail part, and the motor is in a non-braking state; on the contrary, when the motor is powered off, the parking brake coil does not attract the armature, the parking brake coil and the armature are separated, and the motor is in a braking state. In the prior art, when the electromagnetic braking motor is started, the power supply current needs to be continuously supplied to the parking braking module 50, so that the parking braking coil attracts the armature, the parking braking module is in a non-braking state, and the power consumed by the whole control system is large. According to the technical scheme, when the electromagnetic brake motor is started, the control module 10 controls the on-off states of the first switch module 20 and the second switch module 30 to control different supply currents flowing through the parking brake module 50, so that the parking brake module is in a non-braking state, the heat productivity of a parking brake coil in the parking brake module 50 is reduced, the power loss of the whole control system is reduced, and the working stability of the system is ensured.
Optionally, as shown in fig. 3, the control module 10 is configured to control the first switch module 20 and the second switch module 30 to be closed, so as to control the supply current flowing through the parking brake module 50 to be a first supply current; when the first power supply current flows through the parking brake coil, the parking brake coil attracts the armature, and the parking brake module is in a non-braking state;
the control module 10 is further configured to control the first switch module 20 or the second switch module 30 to be turned off to control the supply current flowing through the parking brake module 50 to be a second supply current, and when the second supply current flows through the parking brake coil, the parking brake coil maintains a state of attracting the armature.
It should be noted that, when the control module 10 controls the first switch module 10 and the second switch module 20 to be closed, the current limiting module 40 is short-circuited, the first power supply current flowing through the parking brake module 50 is relatively large, and the parking brake coil completely attracts the armature; after the preset time, the first switch module 10 is controlled to be switched off or the second switch module 20 is controlled to be switched off, the current flowing through the parking brake module 50 is a second supply current, the second supply current is smaller than the first supply current, at the moment, the whole system is in a stable working state, the attraction state of a parking brake coil and an armature can be ensured by the smaller supply current flowing through the parking brake module 50, the switching states of the first switch module 20 and the second switch module 30 are controlled to maintain the parking brake module in a non-braking state, the heat productivity of the parking brake coil of the whole control system is reduced, and the power loss of the whole control system is reduced.
Optionally, the control module 10 is further configured to control the first switch module 20 and the second switch module 30 to be turned off, so as to control the supply current flowing through the parking brake module 50 to be a third supply current, where the third supply current is 0; when the third supply current flows through the parking brake coil, the parking brake coil is separated from the armature, and the wheel is changed from the non-braking state to the parking brake state. By controlling the switching states of the first switching module 20 and the second switching module 30, the parking brake module is freely switched from the non-braking state to the braking operation state.
Example two
An embodiment of the present invention further provides a parking control method, which is applied to the parking control system of the first embodiment, and the parking control method includes:
and controlling the on-off states of the first switch module and the second switch module so as to control different power supply currents flowing through the parking brake module.
Optionally, fig. 4 is a flowchart of a parking control method according to an embodiment of the present invention, and as shown in fig. 4, the method specifically includes:
and S110, controlling the first switch module and the second switch module to be closed so as to control the power supply current flowing through the parking brake module to be the first power supply current.
And S120, after the preset time, controlling the first switch module or the second switch module to be switched off so as to control the supply current flowing through the parking brake module to be a second supply current, wherein the second supply current is smaller than the first supply current.
And S130, controlling the first switch module and the second switch module to be switched off so as to control the power supply current flowing through the parking brake module to be a third power supply current, wherein the third power supply current is 0.
The control module 10 controls the first switch module 20 and the second switch module 30 to be closed, the current flowing through the parking brake module 50 is a first supply current, referring to fig. 3, when the first switch module 20 and the second switch module 30 are closed, the current limiting module 40 is short-circuited at the moment, the first supply current flowing through the parking brake module 50 is large, and the parking brake coil can completely attract the armature; if the control module 10 continuously controls the first switch module 20 and the second switch module 30 to be closed, the amount of heat generated by the parking brake coil increases, and power consumption increases. After the preset time, for example, after the preset time is 1s-2s, the first switch module 20 is controlled to be switched off or the second switch module 30 is controlled to be switched off, the current flowing through the parking brake module 50 is the second supply current, the second supply current is smaller than the first supply current, and at the moment, the smaller supply current can ensure the attraction state of the parking brake coil and the armature, so that the heating value of the parking brake coil of the whole control system is reduced, and the power loss of the whole control system is reduced. The control module 10 can also control the first switch module 20 and the second switch module 30 to be turned off, so as to realize the free switching of the parking brake module from the non-braking state to the braking state.
The embodiment of the invention also provides a wheel type advancing device which can be a wheel type robot or a wheel type trolley; the wheel type traveling device comprises the parking control device according to the first embodiment, and the wheel type traveling device also has the beneficial effects of the parking control device because the wheel type traveling device comprises the parking control device, and the description is omitted here. In addition, due to the size limitation of the wheeled robot and the wheeled trolley, the space is small, and compared with the existing method that an electronic parking brake system is installed in the wheeled robot or the wheeled trolley, the electronic parking brake system is difficult to adapt and high in cost. The parking control system is arranged in the wheeled robot or the wheeled trolley, and the parking control system occupies a small space, is easy to install and has low cost.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A parking control system is characterized by comprising a control module, a first switch module, a second switch module, a current limiting module and a parking braking module;
the control module is electrically connected with the first switch module and the second switch module respectively;
the current limiting module is electrically connected with the first switch module in parallel, or the current limiting module is electrically connected with the second switch module in parallel;
the first switch module is connected in series with the second switch module; the parking brake module is electrically connected with the second switch module;
the control module is used for controlling the on-off states of the first switch module and the second switch module so as to control different power supply currents flowing through the parking brake module;
the control module is used for controlling the first switch module and the second switch module to be closed so as to control the supply current flowing through the parking brake module to be a first supply current;
the control module is further configured to control the first switch module or the second switch module to be turned off, so as to control a supply current flowing through the parking brake module to be a second supply current, where the second supply current is smaller than the first supply current;
wherein the first switch module comprises a first relay module and the second switch module comprises a second relay module; the parking control system further comprises a power supply module;
the first switch contact point of the first relay module is electrically connected with the power supply module; a second switch contact of the first relay is electrically connected with a first switch contact of the second relay module; a second switch contact point of the second relay is electrically connected with the parking brake module;
the first coil contact point of the first relay module is electrically connected with the control module, and the first coil contact point of the second relay module is electrically connected with the control module; the second coil contact point of the first relay and the second coil contact point of the second relay are both grounded.
2. The parking control system of claim 1, wherein the parking brake module includes a parking brake coil and an armature;
when the first power supply current flows through the parking brake coil, the parking brake coil attracts and closes the armature;
when the second power supply current flows through the parking brake coil, the parking brake coil maintains a state of attracting the armature.
3. The parking control system according to claim 1, wherein the control module is further configured to control the first switch module and the second switch module to be turned off to control a supply current flowing through the parking brake module to be a third supply current, and the third supply current is 0;
the parking brake module comprises a parking brake coil and an armature; when the third power supply current flows through the parking brake coil, the parking brake coil is separated from the armature, and parking brake is performed.
4. The park control system of claim 1, wherein the current limiting module includes a current limiting resistor.
5. A parking control method applied to the parking control system according to any one of claims 1 to 4, characterized by comprising:
controlling the on-off states of the first switch module and the second switch module to control different power supply currents flowing through the parking brake module;
wherein controlling the switching states of the first and second switch modules to control the supply currents flowing through the parking brake module to be different comprises:
controlling the first switch module and the second switch module to be closed so as to control the supply current flowing through the parking brake module to be a first supply current;
after the preset time, the first switch module or the second switch module is controlled to be switched off so as to control the supply current flowing through the parking brake module to be a second supply current, and the second supply current is smaller than the first supply current.
6. The parking control method according to claim 5, characterized by further comprising:
and controlling the first switch module and the second switch module to be switched off so as to control the power supply current flowing through the parking brake module to be a third power supply current, wherein the third power supply current is 0.
7. A wheeled travel device characterized by comprising the parking control system according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196773.3A CN112298148B (en) | 2020-10-30 | 2020-10-30 | Parking control system and method and wheel type traveling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011196773.3A CN112298148B (en) | 2020-10-30 | 2020-10-30 | Parking control system and method and wheel type traveling device |
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| CN112298148A CN112298148A (en) | 2021-02-02 |
| CN112298148B true CN112298148B (en) | 2021-11-26 |
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| DE102012014800A1 (en) * | 2012-07-26 | 2014-05-15 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Circuit arrangement for detecting a type of a solenoid valve |
| GB201421791D0 (en) * | 2014-12-08 | 2015-01-21 | Trw Ltd | Method and apparatus for controlling and electric pump of a hydraulic braking circuit |
| CN108973694A (en) * | 2018-08-13 | 2018-12-11 | 合肥艾派特知识产权运营有限公司 | A kind of resistive braking system |
| CN211468601U (en) * | 2019-12-19 | 2020-09-11 | 深圳市优必选科技股份有限公司 | Prevent swift current car control circuit, prevent swift current car controlling means and patrol and examine robot |
| CN111391710B (en) * | 2020-06-04 | 2020-10-23 | 比亚迪股份有限公司 | Vehicle working mode switching control method and device and vehicle |
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Denomination of invention: A parking control system, method, and wheeled travel device Granted publication date: 20211126 Pledgee: Bank of Shanghai Limited by Share Ltd North Branch Pledgor: Shanghai e-Car Technology Co.,Ltd. Registration number: Y2024980042110 |
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