CN112590736A - Intelligent active and passive combined braking system and method for mine explosion-proof vehicle - Google Patents
Intelligent active and passive combined braking system and method for mine explosion-proof vehicle Download PDFInfo
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- CN112590736A CN112590736A CN202110035204.9A CN202110035204A CN112590736A CN 112590736 A CN112590736 A CN 112590736A CN 202110035204 A CN202110035204 A CN 202110035204A CN 112590736 A CN112590736 A CN 112590736A
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The invention provides an intelligent active and passive combined braking system and method for a mine explosion-proof vehicle, wherein the system comprises a hydraulic braking system, a vehicle-mounted controller and a monitoring system for monitoring the surrounding environment of the vehicle; the hydraulic braking system comprises an active braking system, a passive braking system and a service braking pressure switch for detecting service braking pressure, wherein the active braking system is controlled by the vehicle-mounted controller, and the passive braking system is controlled by a driver; when the vehicle-mounted controller detects that the pressure value of the service brake pressure switch is lower than the preset value, the monitoring system confirms that the distance between the vehicle and the obstacle is smaller than the preset distance, and the driver does not take deceleration measures or the brake deceleration is lower than the preset deceleration, the active brake system is controlled to realize vehicle braking. The invention realizes the combination of manual braking and intelligent braking, so that the vehicle can avoid collision as much as possible or reduce the collision strength to the greatest extent, and the safety of the underground vehicle is ensured.
Description
Technical Field
The invention belongs to the technical field of braking of mine explosion-proof vehicles, and particularly discloses an intelligent active and passive combined braking system and method for a mine explosion-proof vehicle.
Background
The underground visual field and light of the coal mine are poor, a large blind area exists in the running process of a vehicle, underground road distribution of the coal mine is complex, sudden bending, steep slope and long slope generally exist, a brake system of a traditional coal mine vehicle is passive braking, a driver needs to operate a brake pedal or a brake handle to brake the vehicle, safety braking accidents happen occasionally, and the intelligent transportation system is a practical problem facing intelligent transportation of the coal mine.
Disclosure of Invention
The invention aims to provide an intelligent active and passive combined braking system and method for a mining explosion-proof vehicle, which can monitor the surrounding environment of the vehicle and the braking state of the vehicle in real time, comprehensively judge the risk that the vehicle possibly collides with people, objects or other participants, take braking measures in advance, realize the combination of manual braking and intelligent braking, enable the vehicle to avoid collision as much as possible or reduce the collision strength as much as possible, and ensure the safety of the underground vehicle.
In order to achieve the aim, the invention provides an intelligent active and passive combined braking system for a mine explosion-proof vehicle, which comprises a hydraulic braking system, a vehicle-mounted controller and a monitoring system for monitoring the surrounding environment of the vehicle; the hydraulic braking system comprises an active braking system, a passive braking system and a service braking pressure switch for detecting service braking pressure, wherein the active braking system is controlled by the vehicle-mounted controller, and the passive braking system is controlled by a driver; when the vehicle-mounted controller detects that the pressure value of the service brake pressure switch is lower than the preset value, the monitoring system determines that the distance between the vehicle and the obstacle is smaller than the preset distance, and the driver does not take deceleration measures or the brake deceleration is lower than the preset deceleration, the active brake system is controlled to realize vehicle braking.
Furthermore, the hydraulic braking system comprises a hydraulic oil tank, a hydraulic pump I, a duplex liquid charging valve, an oil source control module, a high-pressure energy accumulator a, a high-pressure energy accumulator b, a manual proportional braking valve, a two-way pressure switch, a service braking control module I, a pressure switch a, a pressure switch b, a service braking control module II, a rear wheel, a front wheel, a parking braking module, a parking brake a and a parking brake b;
the service brake control module I is provided with a shuttle valve I, a shuttle valve II, a one-way valve I with a spring and a one-way valve II; the shuttle valve I is connected with the shuttle valve II in parallel, and the inlet connection point is respectively connected with the port 3 and the port 5 of the service brake control module I; the shuttle valve I is connected with the one-way valve I in parallel, the inlet connecting point is respectively connected with the port 1 and the port 2 of the service brake control module I, and the outlet connecting point is connected with the port 9 of the service brake control module I; the shuttle valve II is connected with the one-way valve II in parallel, the inlet connecting point is respectively connected with the port 4, the port 6 and the port 7 of the service brake control module I, and the outlet connecting point is connected with the port 8 of the service brake control module I;
the service brake control module II is provided with a normally closed type electromagnetic directional valve II and an electromagnetic directional valve IX which can flow in two directions, a normally open type electromagnetic directional valve III, an electromagnetic directional valve IV, an electromagnetic directional valve VIII and an electromagnetic directional valve X which can flow in two directions, a hydraulic pump II and a hydraulic pump III which are driven by a motor, a one-way valve III and a one-way valve IV with springs, an energy accumulator I and an energy accumulator II;
the port 2 of the service brake control module II is connected with the port B of the electromagnetic directional valve IV, the port A of the electromagnetic directional valve IV is connected with the port B of the electromagnetic directional valve III, the port A of the electromagnetic directional valve III is connected with the port 4 of the service brake control module II, the energy accumulator I is connected with the inlet of the hydraulic pump II, the outlet of the hydraulic pump II is connected with the inlet of the one-way valve III, the outlet of the one-way valve III is connected with the port B of the electromagnetic directional valve II, and the port A of the electromagnetic directional valve II is connected with the port 4 of the service brake control module II;
the port 3 of the service brake control module II is connected with the port A of the electromagnetic directional valve VIII, the port B of the electromagnetic directional valve VIII is connected with the port A of the electromagnetic directional valve X, the port B of the electromagnetic directional valve X is connected with the port 5 of the service brake control module II, the energy accumulator II is connected with the inlet of the hydraulic pump III, the outlet of the hydraulic pump III is connected with the inlet of the one-way valve IV, the outlet of the one-way valve IV is connected with the port A of the electromagnetic directional valve IX, and the port B of the electromagnetic directional valve IX is connected with the port 5 of the service brake control module II;
the parking brake module is provided with a control oil cylinder, an electromagnetic reversing valve I and a hydraulic control reversing valve;
an inlet of the electromagnetic reversing valve I is connected with a port 1 of the parking brake module, an oil return port is connected with a port 2 of the parking brake module, and a working high-pressure oil outlet is connected with an inlet of the hydraulic control reversing valve;
an oil outlet of the hydraulic control reversing valve is connected with a connecting point of the parking brake module and the electromagnetic reversing valve I, a working oil port is connected with a port 3 of the parking brake module, and a pilot port is connected between the working oil port and the parking brake module;
a spring cavity of the control oil cylinder is connected with a connecting point of the parking brake module and the electromagnetic reversing valve I, and a hydraulic oil cavity is connected between the electromagnetic reversing valve I and the hydraulic control reversing valve;
the hydraulic oil tank provides an oil source for the hydraulic pump I, an outlet of the hydraulic pump I is connected with an inlet of the duplex prefill valve, ports A1 and A2 of the duplex prefill valve are respectively connected with ports 1 and 2 of the oil source control module, port 1 of the oil source control module is respectively connected with ports 5 and 8, port 2 of the oil source control module is respectively connected with ports 4 and 7, ports 8 and 7 of the oil source control module are respectively connected with the high-pressure energy accumulator a and the high-pressure energy accumulator b, port 5 of the oil source control module is connected with port P of the manual proportional brake valve0The ports are connected, 4 ports of the oil source control module are respectively connected with P of the two-way brake valve1Mouth and P2The port A of the manual proportional brake valve is connected with the port 3 of the service brake control module I, and the port A of the double-path brake valve1Mouth and A2The port is respectively connected with the port 1 and the port 7 of the service brake control module I, and the T of the manual proportional brake valve0Port and two-way brake valve T1、T2The port is connected with an oil return tank, a bidirectional pressure switch is connected with a port 2 and a port 4 of a service brake control module I, a pressure switch a and a pressure switch b are respectively connected with a port 6 and a port 5 of the service brake control module I, a port 8 and a port 9 of the service brake control module I are respectively connected with a port 3 and a port 2 of a service brake control module II, a port 4 and a port 5 of the service brake control module II are respectively acted on a front wheel brake and a rear wheel brake, the front wheel brake and the rear wheel brake are respectively used for braking a front wheel and a rear wheel, a port 1 and a port 2 of a parking brake module are respectively connected with an S port and an oil return tank of a duplex liquid charging valve, and a port 1 of the parking brake module is respectively connected with a parking brake a and a parking brake b;
and the manual proportional brake valve, the two-way pressure switch, the pressure switch a, the pressure switch b, the electromagnetic directional valve I and the electromagnetic directional valve, the hydraulic pump and the energy accumulator on the service brake control module II are all connected with the vehicle-mounted controller.
Furthermore, a normally closed electromagnetic directional valve V, an electromagnetic directional valve VI and an electromagnetic directional valve VII which can be communicated in two directions are also arranged on the service brake control module II, and the electromagnetic directional valves are all connected with the vehicle-mounted controller;
the port B of the electromagnetic directional valve V is connected with the connection point of the service brake control module II and the electromagnetic directional valve IV, and the port A of the electromagnetic directional valve V is connected with the connection point of the electromagnetic directional valve II and the one-way valve III;
the port A of the electromagnetic directional valve VII is connected with the connection point of the service brake control module II and the electromagnetic directional valve VIII, and the port B of the electromagnetic directional valve VII is connected with the connection point of the electromagnetic directional valve IX and the check valve IV;
the port B of the electromagnetic directional valve VI is connected with a connection point of the service brake control module II and the electromagnetic directional valve IV, and the port A of the electromagnetic directional valve VI is connected with the port 1 of the service brake control module II;
and a port 1 of the service brake control module II is connected with the oil return tank.
Furthermore, an X port of the service brake control module II is respectively connected with inlets of a one-way valve V and a one-way valve VI, an outlet of the one-way valve V is connected with a connection point of the service brake control module II and the electromagnetic reversing valve IV, and an outlet of the one-way valve VI is connected with a connection point of the service brake control module II and the electromagnetic reversing valve VIII.
Furthermore, the hydraulic braking system also comprises a road condition identification module;
the road condition identification module is provided with a pressure reducing valve and a normally closed electromagnetic directional valve XI;
the inlet of the pressure reducing valve is connected with a port 5 of the service brake control module II, the outlet of the pressure reducing valve is connected with a rear wheel brake, and the spring cavity of the pressure reducing valve is connected with the inlet of an electromagnetic directional valve XI;
and an outlet of the electromagnetic directional valve XI is connected with an oil return tank.
Further, the hydraulic brake system also comprises an oil absorption filter and an overflow valve;
the inlet of the oil absorption filter is connected with the hydraulic oil tank, and the outlet of the oil absorption filter is connected with the inlet of the hydraulic pump I;
the inlet of the overflow valve is connected between the hydraulic pump I and the duplex prefill valve, and the outlet of the overflow valve is connected with the hydraulic oil tank.
Further, the intelligent active and passive combined braking system for the mining explosion-proof vehicle further comprises a prompt system;
the vehicle-mounted controller detects that the distance between the vehicle and the obstacle is smaller than the preset distance in the monitoring system, and the control prompt system prompts a driver to take a deceleration braking measure.
Furthermore, the monitoring system comprises a laser sensor, a depth camera, a proximity switch, an image processing video unit, a perception fusion unit and a motion controller, and signals of the laser sensor, the depth camera and the proximity switch are transmitted to the vehicle-mounted controller after being processed by the image processing video unit, the perception fusion unit and the motion controller.
The invention also provides an intelligent active and passive combined braking method for the mining explosion-proof vehicle, which is implemented based on the intelligent active and passive combined braking system for the mining explosion-proof vehicle, and when the vehicle-mounted controller detects that the pressure values of the two-way pressure switch and the pressure switch are higher than preset values, a driver brakes the vehicle by adopting a passive braking method, and the method comprises the following steps:
a pedal of the two-way brake valve is stepped by feet or a brake handle of the manual proportional brake valve is manually pulled;
when the pedal of the two-way brake valve is stepped on by the foot, the hydraulic oil enters the P step-on two-way brake valve through the high-pressure accumulator b1、P2Mouth, P1Pressure oil passage A of the port1The port enters a port 1 of the service brake control module I, enters a port 2 of the service brake control module II through the shuttle valve I and the one-way valve I, reaches a port 4 of the service brake control module II through the electromagnetic directional valve IV and the electromagnetic directional valve III, acts on a front wheel brake, and brakes a front wheel; p2Pressure oil passage A of the port2The port enters a port 7 of the service brake control module I, enters a port 3 of the service brake control module II through a shuttle valve II and a one-way valve II, reaches a port 5 of the service brake control module II through an electromagnetic directional valve VIII and an electromagnetic directional valve X, acts on a rear wheel brake, and brakes a rear wheel;
when the brake handle of the manual proportional brake valve is manually pulled, hydraulic oil enters P of the manual proportional brake valve through the high-pressure accumulator a0Mouth, P0Pressure oil passage A of the port0The port enters 3 ports of a service brake control module I and is respectively connected with a shuttle valve II through a shuttle valve IPressure oil entering the ports 2 and 3 of the service brake control module II acts on the front wheel brake through the electromagnetic directional valve IV and the electromagnetic directional valve III to realize the braking of the front wheel, and pressure oil entering the ports 3 acts on the rear wheel brake through the electromagnetic directional valve VIII and the electromagnetic directional valve X to realize the braking of the rear wheel;
when the vehicle-mounted controller detects that the pressure values of the two-way pressure switch and the pressure switch are lower than the preset value, the vehicle-mounted controller interferes with the hydraulic braking system to perform active braking, and the method comprises the following steps:
when the monitoring system detects that the distance between the vehicle and the obstacle is smaller than a preset distance a and larger than a preset distance b, the vehicle-mounted controller prompts the driver to take a deceleration braking measure;
when a driver does not take deceleration measures or the braking deceleration is lower than the set deceleration and the distance between the vehicle and an obstacle is less than b and more than c, the vehicle-mounted controller controls the manual proportional brake valve to be electrified, pressure oil acts on front and rear wheel brakes through the driving brake control module I and the driving brake control module II to perform primary braking on the vehicle, and when the braking deceleration of the vehicle meets the requirement of braking safe distance, the vehicle-mounted controller controls the current of the manual proportional brake valve to enable the vehicle to stop within the braking safe distance range;
when the pressure values of the two-way pressure switch and the pressure switch are still lower than a preset value after primary braking, the vehicle-mounted controller controls the two-way brake valve to be electrified, pressure oil acts on front and rear wheel brakes through the driving brake control module I and the driving brake control module II to perform secondary braking on the vehicle, and when the braking deceleration of the vehicle meets the requirement of braking safety distance, the vehicle-mounted controller controls the current of the two-way brake valve to enable the vehicle to stop within the range of the braking safety distance;
when the braking deceleration of the vehicle does not meet the requirement of braking safety distance or the vehicle-mounted controller judges that the vehicle cannot realize emergency stop of the vehicle under the action of the two-way brake valve and the manual proportional brake valve, the vehicle-mounted controller controls the motors of the hydraulic pump II and the hydraulic pump III to be started, the electromagnetic directional valve II and the electromagnetic directional valve IX are opened, the electromagnetic directional valve III and the electromagnetic directional valve X are closed, and pressure oil provided by the hydraulic pump II and the hydraulic pump III enters the front wheel brake and the rear wheel brake through the electromagnetic directional valve II and the electromagnetic directional valve IX respectively to realize vehicle braking;
when the vehicle can not be stopped suddenly after the hydraulic pump II and the hydraulic pump III are started, the vehicle-mounted controller controls the energy accumulator I and the energy accumulator II to release pressure oil instantly, so that the vehicle can decelerate at a higher deceleration; the parking brake is a safety brake for releasing the hydraulic pressure of the spring brake, a pilot port of the hydraulic control reversing valve can overcome part of the spring force, and after the vehicle-mounted controller controls the electromagnetic reversing valve I to reverse, high-pressure oil enters an oil inlet of the hydraulic control reversing valve through the electromagnetic reversing valve I and acts on the parking brake through a working oil port of the hydraulic control reversing valve, so that the brake of the vehicle is released; when the electromagnetic directional valve I is powered off and returns to the initial position, hydraulic oil of the parking brake and the control oil cylinder enters the control oil cylinder, and the hydraulic oil of the control oil cylinder returns to the oil return tank through the hydraulic control directional valve, so that parking brake of the vehicle is realized.
The invention has the following beneficial effects:
the intelligent active and passive combined braking system for the mine explosion-proof vehicle is different from the traditional braking system in that: the system can realize real-time monitoring of the braking state of the vehicle and perception of the vehicle environment according to the service braking pressure switch and the monitoring system, comprehensively judge the risk that the vehicle possibly collides with personnel, objects or other participants, take braking measures in advance, realize combination of manual braking and intelligent braking, avoid collision of the vehicle as far as possible or reduce the collision strength as far as possible, and ensure the safety of the underground vehicle.
Drawings
FIG. 1 is a schematic diagram of an intelligent active and passive combined braking system of a mine explosion-proof vehicle;
FIG. 2 is a schematic illustration of a hydraulic braking system;
FIG. 3 is a schematic diagram of a service brake control module I;
FIG. 4 is a schematic diagram of a service brake control module II;
fig. 5 is a schematic diagram of a traffic status identification module;
fig. 6 is a schematic view of a parking brake module.
Wherein, the names corresponding to the reference numbers are:
1-a hydraulic oil tank; 2-an oil absorption filter; 3-a hydraulic pump I; 4-an overflow valve; 5-a duplex prefill valve; 6-oil source control module; 7.1-high pressure accumulator a; 7.2-high pressure accumulator b; 8-manual proportional brake valve; 9-a two-way brake valve; 10-a bidirectional pressure switch; 11-service brake control module I; 11.1-shuttle valve I; 11.2-shuttle valve II; 11.3-one-way valve I; 11.4-one-way valve II; 12.1-pressure switch a; 12.2-pressure switch b;
13-service brake control module II; 13.1-hydraulic pump II; 13.2-electromagnetic directional valve II; 13.3-electromagnetic directional valve III; 13.4-electromagnetic directional valve IV; 13.5-electromagnetic directional valve V; 13.6-electromagnetic directional valve VI; 13.7-electromagnetic directional valve VII; 13.8-electromagnetic directional valve VIII; 13.9-electromagnetic directional valve IX; 13.10-electromagnetic directional valve X; 13.11-Hydraulic Pump III; 13.12-one-way valve III; 13.13-one-way valve IV; 13.14-accumulator I; 13.15-accumulator II; 13.16-one-way valve V; 13.17-check valve VI;
14.1-rear wheel; 14.2-front wheel; 15-road condition identification module; 15.1-pressure relief valve; 15.2-electromagnetic directional valve XI; 16-a parking brake module; 16.1-control the oil cylinder; 16.2-electromagnetic directional valve I; 16.3-hydraulic control reversing valve; 17.1-parking brake a; 17.2-parking brake b.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment provides an intelligent active and passive combined braking system for a mine explosion-proof vehicle, which comprises a hydraulic braking system, a vehicle-mounted controller and a monitoring system for monitoring the surrounding environment of the vehicle; the hydraulic braking system comprises an active braking system, a passive braking system and a service braking pressure switch for detecting service braking pressure, wherein the active braking system is controlled by the vehicle-mounted controller, and the passive braking system is controlled by a driver; when the vehicle-mounted controller detects that the pressure value of the service brake pressure switch is lower than the preset value, the monitoring system determines that the distance between the vehicle and the obstacle is smaller than the preset distance, and the driver does not take deceleration measures or the brake deceleration is lower than the preset deceleration, the active brake system is controlled to realize vehicle braking.
Further, the hydraulic brake system comprises a hydraulic oil tank 1, a hydraulic pump I3 (a gear pump is adopted in the embodiment), a dual-linkage liquid charging valve 5, an oil source control module 6, a high-pressure accumulator a7.1, a high-pressure accumulator b7.2, a manual proportional brake valve 8, a two-way brake valve 9, a two-way pressure switch 10, a service brake control module I11, a pressure switch a12.1, a pressure switch b12.2, a service brake control module II13, a rear wheel 14.1, a front wheel 14.2, a parking brake module 16, a parking brake a17.1 and a parking brake b 17.2;
the service brake control module I11 is provided with a shuttle valve I11.1, a shuttle valve II11.2, a check valve I11.3 with a spring and a check valve II 11.4; the shuttle valve I11.1 is connected with the shuttle valve II11.2 in parallel, and the inlet connection points are respectively connected with the port 3 and the port 5 of the service brake control module I11; the shuttle valve I11.1 is connected with the one-way valve I11.3 in parallel, the inlet connecting point is respectively connected with the port 1 and the port 2 of the service brake control module I11, and the outlet connecting point is connected with the port 9 of the service brake control module I11; the shuttle valve II11.2 is connected with the one-way valve II11.4 in parallel, the inlet connection point is respectively connected with the 4 port, the 6 port and the 7 port of the service brake control module I11, and the outlet connection point is connected with the 8 port of the service brake control module I11;
the service brake control module II13 is provided with a normally closed type electromagnetic directional valve II13.2 and an electromagnetic directional valve IX13.9 which can flow in two directions, a normally open type electromagnetic directional valve III13.3, an electromagnetic directional valve IV13.4, an electromagnetic directional valve VIII13.8 and an electromagnetic directional valve X13.10 which can flow in two directions, a hydraulic pump II13.1 and a hydraulic pump III13.11 which are driven by a motor, a one-way valve III13.12 and a one-way valve IV13.13 with springs, an energy accumulator I13.14 and an energy accumulator II 13.15;
a port 2 of the service brake control module II13 is connected with a port B of an electromagnetic directional valve IV13.4, a port A of the electromagnetic directional valve IV13.4 is connected with a port B of an electromagnetic directional valve III13.3, a port A of the electromagnetic directional valve III13.3 is connected with a port 4 of a service brake control module II13, an energy accumulator I13.14 is connected with an inlet of a hydraulic pump II13.1, an outlet of the hydraulic pump II13.1 is connected with an inlet of a one-way valve III13.12, an outlet of the one-way valve III13.12 is connected with a port B of the electromagnetic directional valve II13.2, and a port A of the electromagnetic directional valve II13.2 is connected with a port 4 of a service brake control module II 13;
a port 3 of the service brake control module II13 is connected with a port A of an electromagnetic directional valve VIII13.8, a port B of the electromagnetic directional valve VIII13.8 is connected with a port A of an electromagnetic directional valve X13.10, a port B of the electromagnetic directional valve X13.10 is connected with a port 5 of the service brake control module II13, an energy accumulator II13.15 is connected with an inlet of a hydraulic pump III13.11, an outlet of the hydraulic pump III13.11 is connected with an inlet of a one-way valve IV13.13, an outlet of the one-way valve IV13.13 is connected with a port A of an electromagnetic directional valve IX13.9, and a port B of the electromagnetic directional valve IX13.9 is connected with a port 5 of a service brake control module II 13;
the parking brake module 16 is provided with a control oil cylinder 16.1, an electromagnetic directional valve I16.2 and a hydraulic control directional valve 16.3;
an inlet of the electromagnetic reversing valve I16.2 is connected with a port 1 of the parking brake module 16, an oil return port is connected with a port 2 of the parking brake module 16, and a working high-pressure oil outlet is connected with an inlet of a hydraulic control reversing valve 16.3;
an oil outlet of the hydraulic control reversing valve 16.3 is connected with a connecting point of the parking brake module 16 and the electromagnetic reversing valve I16.2, a working oil port is connected with a port 3 of the parking brake module 16, and a pilot port is connected between the working oil port and the parking brake module 16;
a spring cavity of the control oil cylinder 16.1 is connected with a connecting point of the parking brake module 16 and the electromagnetic reversing valve I16.2, and a hydraulic oil cavity is connected between the electromagnetic reversing valve I16.2 and the hydraulic control reversing valve 16.3;
the hydraulic oil tank 1 provides an oil source for the hydraulic pump I3, an outlet of the hydraulic pump I3 is connected with an inlet of the duplex prefill valve 5, ports A1 and A2 of the duplex prefill valve 5 are respectively connected with ports 1 and 2 of the oil source control module 6, port 1 of the oil source control module 6 is respectively connected with ports 5 and 8, port 2 of the oil source control module 6 is respectively connected with ports 4 and 7, ports 8 and 7 of the oil source control module 6 are respectively connected with the high-pressure energy accumulator a7.1 and the high-pressure energy accumulator b7.2, port 5 of the oil source control module 6 is connected with the P of the manual proportional brake valve 80Port connection, 4 ports of oil source control module 6P with two-way brake valve 9 respectively1Mouth and P2The port A of the manual proportional brake valve 8 is connected with the port 3 of the service brake control module I11, and the port A of the two-way brake valve 91Mouth and A2The ports are respectively connected with the port 1 and the port 7 of the service brake control module I11, and the T of the manual proportional brake valve 80Port and T of two-way brake valve 91、T2The port is connected with an oil return tank, a bidirectional pressure switch 10 is connected with a port 2 and a port 4 of a service brake control module I11, a pressure switch a12.1 and a pressure switch b12.2 are respectively connected with a port 6 and a port 5 of a service brake control module I11, a port 8 and a port 9 of a service brake control module I11 are respectively connected with a port 3 and a port 2 of a service brake control module II13, a port 4 and a port 5 of the service brake control module II13 are respectively acted on a front wheel brake and a rear wheel brake, the front wheel brake and the rear wheel brake are respectively used for braking a front wheel 14.1 and a rear wheel 14.2, a port 1 and a port 2 of a parking brake module 16 are respectively connected with an S port and an oil return tank of a duplex liquid charging valve 5, and a port 1 of the parking brake module 16 is respectively connected with a parking brake a port 17.1 and a parking brake b 17.2;
the manual proportional brake valve 8, the two-way brake valve 9, the two-way pressure switch 10, the pressure switch a12.1, the pressure switch b12.2, the electromagnetic directional valve I16.2, the electromagnetic directional valve on the service brake control module II13, the hydraulic pumps (13.1 and 13.11) and the energy accumulators (13.14 and 13.15) are all connected with the vehicle-mounted controller. The bidirectional pressure switch 10, the pressure switch a12.1 and the pressure switch b12.2 together form a service brake pressure switch.
Furthermore, a normally closed electromagnetic directional valve V13.5, an electromagnetic directional valve VI13.6 and an electromagnetic directional valve VII13.7 which can be communicated in two directions are also arranged on the service brake control module II13, and the electromagnetic directional valves are all connected with the vehicle-mounted controller;
the port B of the electromagnetic directional valve V13.5 is connected with the connection point of the service brake control module II13 and the electromagnetic directional valve IV13.4, and the port A of the electromagnetic directional valve V13.5 is connected with the connection point of the electromagnetic directional valve II13.2 and the one-way valve III 13.12;
the port A of the electromagnetic directional valve VII13.7 is connected with the connection point of the service brake control module II13 and the electromagnetic directional valve VIII13.8, and the port B of the electromagnetic directional valve VII13.7 is connected with the connection point of the electromagnetic directional valve IX13.9 and the check valve IV 13.13;
the port B of the electromagnetic directional valve VI13.6 is connected with the connection point of the service brake control module II13 and the electromagnetic directional valve IV13.4, and the port A of the electromagnetic directional valve VI13.6 is connected with the port 1 of the service brake control module II 13;
and the port 1 of the service brake control module II13 is connected with the oil return tank.
Furthermore, an X port of the service brake control module II13 is connected with inlets of a check valve V13.16 and a check valve VI13.17 respectively, an outlet of the check valve V13.16 is connected with a connection point of the service brake control module II13 and the electromagnetic directional valve IV13.4, and an outlet of the check valve VI13.17 is connected with a connection point of the service brake control module II13 and the electromagnetic directional valve VIII 13.8.
Further, the hydraulic brake system further comprises a road condition identification module 15;
the road condition identification module 15 is provided with a pressure reducing valve 15.1 and a normally closed electromagnetic directional valve XI 15.2;
an inlet of a pressure reducing valve 15.1 is connected with a port 5 of a service brake control module II15, an outlet of the pressure reducing valve is connected with a rear wheel brake, and a spring cavity is connected with an inlet of an electromagnetic directional valve XI 15.2;
the outlet of the electromagnetic directional valve XI15.2 is connected with an oil return tank.
When the road surface has the impact of height unevenness etc. the road conditions feedback impact pressure acts on relief pressure valve 15.1 left side, overcomes the effort of spring and reveals the pressure, and when impact pressure was greater than the set pressure value, the switching-over of solenoid directional valve 15.2 reduced the road surface and strikeed the harm to the system, improves life.
Further, the hydraulic brake system also comprises an oil absorption filter 2 and an overflow valve 4;
the inlet of the oil absorption filter 2 is connected with the hydraulic oil tank 1, and the outlet of the oil absorption filter 2 is connected with the inlet of the hydraulic pump I3;
the inlet of the overflow valve 4 is connected between the hydraulic pump I3 and the duplex prefill valve 5, and the outlet is connected with the hydraulic oil tank 1.
Further, the intelligent active and passive combined braking system for the mining explosion-proof vehicle further comprises a prompt system;
the vehicle-mounted controller detects that the distance between the vehicle and the obstacle is smaller than the preset distance in the monitoring system, and the control prompt system prompts a driver to take a deceleration braking measure. The prompting system comprises an audible and visual voice alarm and a vehicle-mounted display.
Furthermore, the monitoring system comprises a laser sensor, a depth camera, a proximity switch, an image processing video unit, a perception fusion unit and a motion controller, and signals of the laser sensor, the depth camera and the proximity switch are transmitted to the vehicle-mounted controller after being processed by the image processing video unit, the perception fusion unit and the motion controller. The front frame of the vehicle is provided with a forward laser sensor, the rear frame is provided with a backward laser sensor and a lateral laser sensor, and the front frame and the rear frame are provided with a depth camera and a proximity switch.
All parts in this embodiment need satisfy explosion-proof requirement.
Example 2
When the vehicle provided with the intelligent active and passive combined braking system for the mining explosion-proof vehicle in the embodiment 1 runs, low-pressure hydraulic oil is changed into high-pressure oil through the hydraulic oil tank 1, the oil absorption filter 2 and the hydraulic pump I3 and enters the duplex liquid charging valve 5, and when the system pressure is higher than the set pressure of the overflow valve 4, the high-pressure oil is drained from the overflow valve 4 and returns to the hydraulic oil tank 1, so that the safety of the system pressure is ensured. When a vehicle brake release button is pressed, an electromagnetic reversing valve I16.2 on the parking brake module 16 is electrified, the electromagnetic reversing valve I16.2 is reversed, the oil pressure of an inlet of a hydraulic control reversing valve 16.3 is higher than the oil pressure of parking brakes 17.1 and 17.2 acting on a pilot port of the hydraulic control reversing valve 16.3, high-pressure oil of an S port of the duplex liquid charging valve 5 enters hydraulic oil cavities of the parking brakes 17.1 and 17.2 through a port 1 of the parking brake module 16, and a compression spring enables a vehicle to release braking.
Example 3
The embodiment provides an intelligent active and passive combined braking method for a mine explosion-proof vehicle, which is implemented based on the intelligent active and passive combined braking system for the mine explosion-proof vehicle described in embodiment 1, and when an on-board controller detects that pressure values of a bidirectional pressure switch 10 and pressure switches 12.1 and 12.2 are higher than preset values, a driver brakes the vehicle by adopting the passive braking method, and the method comprises the following steps:
a pedal of the two-way brake valve 9 is stepped by feet or a brake handle of the manual proportional brake valve 8 is manually pulled;
when the pedal of the two-way brake valve 9 is stepped on by the foot, the hydraulic oil enters P of the two-way brake valve 9 through the high-pressure accumulator b7.21、P2Mouth, P1Pressure oil passage A of the port1The port enters a port 1 of a service brake control module I11, enters a port 2 of a service brake control module II11 through a shuttle valve I11.1 and a one-way valve I11.3, reaches a port 4 of a service brake control module II13 through an electromagnetic directional valve IV13.4 and an electromagnetic directional valve III13.3, acts on a front wheel brake, and brakes a front wheel 14.2; p2Pressure oil passage A of the port2The port enters a port 7 of the service brake control module I11, enters a port 3 of the service brake control module II13 through a shuttle valve II11.2 and a one-way valve II11.4, reaches a port 5 of the service brake control module II13 through an electromagnetic directional valve VIII13.8 and an electromagnetic directional valve X13.10, acts on a rear wheel brake, and brakes a rear wheel 14.1;
when the brake handle of the manual proportional brake valve 8 is manually pulled, hydraulic oil enters P of the manual proportional brake valve 8 through the high-pressure accumulator a7.10Mouth, P0Pressure oil passage A of the port0The port enters a port 3 of the service brake control module I11, the pressure oil of the port 2 respectively enters a port 2 and a port 3 of the service brake control module II13 through a shuttle valve I11.1 and a shuttle valve II11.2, the pressure oil of the port 2 acts on a front wheel brake through an electromagnetic directional valve IV13.4 and an electromagnetic directional valve III13.3 to realize the brake of a front wheel 14.2, and the pressure oil of the port 3 acts on a rear wheel brake through an electromagnetic directional valve VIII13.8 and an electromagnetic directional valve X13.10 to realize the brake of a rear wheel 14.2;
when the vehicle-mounted controller detects that the pressure values of the two-way pressure switch 10 and the pressure switches 12.1 and 12.2 are lower than the preset value, the vehicle-mounted controller interferes with the hydraulic braking system to perform active braking, and the method comprises the following steps:
when the monitoring system detects that the distance between the vehicle and the obstacle is smaller than a preset distance a and larger than a preset distance b, the vehicle-mounted controller prompts a driver to take a deceleration braking measure through the prompting system;
when the driver does not take deceleration measures or the braking deceleration is lower than the set deceleration and the distance between the vehicle and the obstacle is less than b and more than c, the vehicle-mounted controller controls the manual proportional brake valve 8 to be electrified, pressure oil acts on front and rear wheel brakes through the vehicle brake control module I11 and the vehicle brake control module II13 to perform primary braking on the vehicle, and when the braking deceleration of the vehicle meets the requirement of braking safe distance, the vehicle-mounted controller controls the current of the manual proportional brake valve 8 to enable the vehicle to stop in a braking safe distance range;
after the initial braking, if the pressure values of the bidirectional pressure switch 10 and the pressure switches 12.1 and 12.2 are still lower than the preset value, the vehicle-mounted controller controls the double-way brake valve 9 to be electrified, pressure oil acts on front and rear wheel brakes through the driving brake control module I11 and the driving brake control module II13 to perform secondary braking on the vehicle, and when the braking deceleration of the vehicle meets the braking safety distance requirement, the vehicle-mounted controller controls the current of the double-way brake valve, so that the vehicle can stop within the braking safety distance range;
when the braking deceleration of the vehicle does not meet the requirement of braking safety distance (namely is less than c) or the vehicle-mounted controller judges that the vehicle cannot realize the emergency stop of the vehicle under the action of the two-way brake valve 9 and the manual proportional brake valve 8, the vehicle-mounted controller controls the motors of the hydraulic pump II13.1 and the hydraulic pump III13.11 to be started, the electromagnetic directional valve II13.2 and the electromagnetic directional valve IX13.9 are opened, the electromagnetic directional valve III13.3 and the electromagnetic directional valve X13.10 are closed, and pressure oil provided by the hydraulic pump II13.1 and the hydraulic pump III13.11 enters a front wheel brake and a rear wheel brake through the electromagnetic directional valve II13.2 and the electromagnetic directional valve IX13.9 respectively to realize the braking of the vehicle; when the service brake control module II13 is further provided with a normally closed electromagnetic directional valve V13.5, an electromagnetic directional valve VI13.6 and an electromagnetic directional valve VII13.7 which can be communicated in two directions, motors of the hydraulic pump II13.1 and the hydraulic pump III13.11 are started, and the electromagnetic directional valve II13.2, the electromagnetic directional valve IX13.9, the electromagnetic directional valve V13.5 and the electromagnetic directional valve VII13.7 are all electrified and opened, so that emergency braking of the vehicle is realized; when the pressure is higher than the safety pressure of the braking system, the electromagnetic directional valve VI13.6 is electrified and opened, high-pressure oil returns to the oil return tank through the electromagnetic directional valve VI13.6, high-pressure protection of the electromagnetic directional valve in front wheel braking is realized, and high-pressure protection of the electromagnetic directional valve in rear wheel braking is realized through the electrification of the pressure reducing valve 15.1 and the electromagnetic directional valve 15.2 of the road condition identification module 15.
When the vehicle is not able to make a sudden stop after the hydraulic pumps II13.1 and III13.11 are activated, the vehicle-mounted controller controls the energy accumulators I13.14 and II13.115 to instantaneously release pressure oil, so that the vehicle decelerates with a larger deceleration, the parking brake is spring brake, the hydraulic pressure is released, when the vehicle stops, the power of the vehicle is cut off, the electromagnetic reversing valve I16.2 returns to the initial position, the oil pressure of the inlet of the hydraulic control reversing valve 16.3 is reduced, the pressure oil of the parking brake acts on the pilot port of the hydraulic control reversing valve 16.3, when the pressure is higher than the set value of the spring, the hydraulic oil enters the hydraulic oil cavity of the control oil cylinder 16.1 through the hydraulic control reversing valve 16.3 until the pressure of the hydraulic oil provided by the parking brake is lower than the reset acting force of the spring of the hydraulic control reversing valve 16.3, the working oil port of the hydraulic control reversing valve 16.3 is closed, the vehicle achieves complete parking brake, and the hydraulic oil in the control oil cylinder 16.1 flows to the oil return tank through the oil outlet of the hydraulic control reversing valve 16.3.
If the two-way brake valve 9 of the vehicle fails, when only the front wheels or the rear wheels of the vehicle brake, the front wheels and the rear wheels can be braked by connecting the front wheels or the rear wheels with the X port of the service brake control module II13 in a quick-plug connection mode. In summary, the intelligent active and passive combined braking system and method for the mine explosion-proof vehicle provided by the invention are based on the collision risk possibly occurring with the vehicle, personnel, objects or other coal mine underground participants in front of the environment sensing, and automatically trigger the braking executing mechanism through the control system to implement active braking so as to avoid collision or reduce the collision degree as much as possible, are a preventive active safety technology, and aim to identify the collision risk in advance, completely avoid collision or reduce the collision strength as much as possible, so that rear-end collision of the coal mine vehicle or collision accidents with coal mine workers and other coal mine underground participants are avoided, vehicle braking safety accidents caused by passive braking of the current coal mine underground transport vehicle and other reasons are mainly solved, and potential safety hazards caused by passive braking of a transport vehicle driver can be reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An intelligent active and passive combined braking system for a mine explosion-proof vehicle is characterized by comprising a hydraulic braking system, a vehicle-mounted controller and a monitoring system for monitoring the surrounding environment of the vehicle;
the hydraulic braking system comprises an active braking system, a passive braking system and a service braking pressure switch for detecting service braking pressure, wherein the active braking system is controlled by a vehicle-mounted controller, and the passive braking system is controlled by a driver;
when the vehicle-mounted controller detects that the pressure value of the service brake pressure switch is lower than the preset value, the monitoring system confirms that the distance between the vehicle and the obstacle is smaller than the preset distance, and the driver does not take deceleration measures or the brake deceleration is lower than the preset deceleration, the active brake system is controlled to realize vehicle braking.
2. The intelligent active and passive combined brake system for the mining explosion-proof vehicle according to claim 1, wherein the hydraulic brake system comprises a hydraulic oil tank, a hydraulic pump I, a duplex liquid charging valve, an oil source control module, a high-pressure accumulator a, a high-pressure accumulator b, a manual proportional brake valve, a two-way pressure switch, a service brake control module I, a pressure switch a, a pressure switch b, a service brake control module II, a rear wheel, a front wheel, a parking brake module, a parking brake a and a parking brake b;
the service brake control module I is provided with a shuttle valve I, a shuttle valve II, a one-way valve I with a spring and a one-way valve II; the shuttle valve I is connected with the shuttle valve II in parallel, and the inlet connection point is respectively connected with the port 3 and the port 5 of the service brake control module I; the shuttle valve I is connected with the one-way valve I in parallel, the inlet connecting point is respectively connected with the port 1 and the port 2 of the service brake control module I, and the outlet connecting point is connected with the port 9 of the service brake control module I; the shuttle valve II is connected with the one-way valve II in parallel, the inlet connecting point is respectively connected with the port 4, the port 6 and the port 7 of the service brake control module I, and the outlet connecting point is connected with the port 8 of the service brake control module I;
the service brake control module II is provided with a normally closed type electromagnetic directional valve II and an electromagnetic directional valve IX which can flow in two directions, a normally open type electromagnetic directional valve III, an electromagnetic directional valve IV, an electromagnetic directional valve VIII and an electromagnetic directional valve X which can flow in two directions, a hydraulic pump II and a hydraulic pump III which are driven by a motor, a one-way valve III and a one-way valve IV with springs, an energy accumulator I and an energy accumulator II;
the port 2 of the service brake control module II is connected with the port B of the electromagnetic directional valve IV, the port A of the electromagnetic directional valve IV is connected with the port B of the electromagnetic directional valve III, the port A of the electromagnetic directional valve III is connected with the port 4 of the service brake control module II, the energy accumulator I is connected with the inlet of the hydraulic pump II, the outlet of the hydraulic pump II is connected with the inlet of the one-way valve III, the outlet of the one-way valve III is connected with the port B of the electromagnetic directional valve II, and the port A of the electromagnetic directional valve II is connected with the port 4 of the service brake control module II;
the port 3 of the service brake control module II is connected with the port A of the electromagnetic directional valve VIII, the port B of the electromagnetic directional valve VIII is connected with the port A of the electromagnetic directional valve X, the port B of the electromagnetic directional valve X is connected with the port 5 of the service brake control module II, the energy accumulator II is connected with the inlet of the hydraulic pump III, the outlet of the hydraulic pump III is connected with the inlet of the one-way valve IV, the outlet of the one-way valve IV is connected with the port A of the electromagnetic directional valve IX, and the port B of the electromagnetic directional valve IX is connected with the port 5 of the service brake control module II;
the parking brake module is provided with a control oil cylinder, an electromagnetic reversing valve I and a hydraulic control reversing valve;
an inlet of the electromagnetic reversing valve I is connected with a port 1 of the parking brake module, an oil return port is connected with a port 2 of the parking brake module, and a working high-pressure oil outlet is connected with an inlet of the hydraulic control reversing valve;
an oil outlet of the hydraulic control reversing valve is connected with a connecting point of the parking brake module and the electromagnetic reversing valve I, a working oil port is connected with a port 3 of the parking brake module, and a pilot port is connected between the working oil port and the parking brake module;
a spring cavity of the control oil cylinder is connected with a connecting point of the parking brake module and the electromagnetic reversing valve I, and a hydraulic oil cavity is connected between the electromagnetic reversing valve I and the hydraulic control reversing valve;
the hydraulic oil tank provides an oil source for the hydraulic pump I, an outlet of the hydraulic pump I is connected with an inlet of the duplex prefill valve, ports A1 and A2 of the duplex prefill valve are respectively connected with ports 1 and 2 of the oil source control module, port 1 of the oil source control module is respectively connected with ports 5 and 8, port 2 of the oil source control module is respectively connected with ports 4 and 7, ports 8 and 7 of the oil source control module are respectively connected with the high-pressure energy accumulator a and the high-pressure energy accumulator b, port 5 of the oil source control module is connected with port P of the manual proportional brake valve0The ports are connected, 4 ports of the oil source control module are respectively connected with P of the two-way brake valve1Mouth and P2The port A of the manual proportional brake valve is connected with the port 3 of the service brake control module I, and the port A of the double-path brake valve1Mouth and A2The port is respectively connected with the port 1 and the port 7 of the service brake control module I, and the T of the manual proportional brake valve0Port and two-way brake valve T1、T2The port is connected with an oil return tank, a bidirectional pressure switch is connected with a port 2 and a port 4 of a service brake control module I, a pressure switch a and a pressure switch b are respectively connected with a port 6 and a port 5 of the service brake control module I, a port 8 and a port 9 of the service brake control module I are respectively connected with a port 3 and a port 2 of a service brake control module II, a port 4 and a port 5 of the service brake control module II are respectively acted on a front wheel brake and a rear wheel brake, the front wheel brake and the rear wheel brake are respectively used for braking a front wheel and a rear wheel, a port 1 and a port 2 of a parking brake module are respectively connected with an S port and an oil return tank of a duplex liquid charging valve, and a port 1 of the parking brake module is respectively connected with a parking brake a and a parking brake b;
and the manual proportional brake valve, the two-way pressure switch, the pressure switch a, the pressure switch b, the electromagnetic directional valve I and the electromagnetic directional valve, the hydraulic pump and the energy accumulator on the service brake control module II are all connected with the vehicle-mounted controller.
3. The intelligent active and passive combined braking system for the mining explosion-proof vehicle as claimed in claim 2, wherein the service braking control module II is further provided with a normally closed electromagnetic directional valve V, an electromagnetic directional valve VI and an electromagnetic directional valve VII which can be communicated in two directions, and the electromagnetic directional valves are all connected with the vehicle-mounted controller;
the port B of the electromagnetic directional valve V is connected with the connection point of the service brake control module II and the electromagnetic directional valve IV, and the port A of the electromagnetic directional valve V is connected with the connection point of the electromagnetic directional valve II and the one-way valve III;
the port A of the electromagnetic directional valve VII is connected with the connection point of the service brake control module II and the electromagnetic directional valve VIII, and the port B of the electromagnetic directional valve VII is connected with the connection point of the electromagnetic directional valve IX and the check valve IV;
the port B of the electromagnetic directional valve VI is connected with a connection point of the service brake control module II and the electromagnetic directional valve IV, and the port A of the electromagnetic directional valve VI is connected with the port 1 of the service brake control module II;
and a port 1 of the service brake control module II is connected with the oil return tank.
4. The intelligent active and passive combined braking system for the mining explosion-proof vehicle as claimed in claim 3, wherein an X port of the service braking control module II is connected with inlets of a one-way valve V and a one-way valve VI respectively, an outlet of the one-way valve V is connected with a connection point of the service braking control module II and an electromagnetic directional valve IV, and an outlet of the one-way valve VI is connected with a connection point of the service braking control module II and the electromagnetic directional valve VIII.
5. The intelligent active and passive combined braking system for the mining explosion-proof vehicle as claimed in claim 4, wherein the hydraulic braking system further comprises a road condition identification module;
the road condition identification module is provided with a pressure reducing valve and a normally closed electromagnetic directional valve XI;
the inlet of the pressure reducing valve is connected with a port 5 of the service brake control module II, the outlet of the pressure reducing valve is connected with a rear wheel brake, and the spring cavity of the pressure reducing valve is connected with the inlet of an electromagnetic directional valve XI;
and an outlet of the electromagnetic directional valve XI is connected with an oil return tank.
6. The intelligent active and passive combined brake system for the mining explosion-proof vehicle as claimed in claim 5, wherein the hydraulic brake system further comprises an oil suction filter and an overflow valve;
the inlet of the oil absorption filter is connected with the hydraulic oil tank, and the outlet of the oil absorption filter is connected with the inlet of the hydraulic pump I;
the inlet of the overflow valve is connected between the hydraulic pump I and the duplex prefill valve, and the outlet of the overflow valve is connected with the hydraulic oil tank.
7. The intelligent active and passive combined brake system for the mine explosion-proof vehicle as claimed in any one of claims 1 to 6, further comprising a prompt system;
the vehicle-mounted controller detects that the distance between the vehicle and the obstacle is smaller than the preset distance in the monitoring system, and the control prompt system prompts a driver to take a deceleration braking measure.
8. The intelligent active and passive combined braking system for the mining explosion-proof vehicle as claimed in claim 7, wherein the monitoring system comprises a laser sensor, a depth camera, a proximity switch, an image processing video unit, a perception fusion unit and a motion controller, and signals of the laser sensor, the depth camera and the proximity switch are transmitted to the vehicle-mounted controller after being processed by the image processing video unit, the perception fusion unit and the motion controller.
9. An intelligent active and passive combined braking method for mine explosion-proof vehicles, which is implemented based on the intelligent active and passive combined braking system for mine explosion-proof vehicles of any one of claims 2-8, and is characterized in that when an on-board controller detects that pressure values of a bidirectional pressure switch and a pressure switch are higher than a preset value, a driver brakes the vehicle by adopting the passive braking method, and the method comprises the following steps:
a pedal of the two-way brake valve is stepped by feet or a brake handle of the manual proportional brake valve is manually pulled;
when the pedal of the two-way brake valve is stepped on by the foot, the hydraulic oil enters the P step-on two-way brake valve through the high-pressure accumulator b1、P2Mouth, P1Pressure oil passage A of the port1The port enters a port 1 of the service brake control module I, enters a port 2 of the service brake control module II through the shuttle valve I and the one-way valve I, reaches a port 4 of the service brake control module II through the electromagnetic directional valve IV and the electromagnetic directional valve III, acts on a front wheel brake, and brakes a front wheel; p2Pressure oil passage A of the port2The port enters a port 7 of the service brake control module I, enters a port 3 of the service brake control module II through a shuttle valve II and a one-way valve II, reaches a port 5 of the service brake control module II through an electromagnetic directional valve VIII and an electromagnetic directional valve X, acts on a rear wheel brake, and brakes a rear wheel;
when the brake handle of the manual proportional brake valve is manually pulled, hydraulic oil enters P of the manual proportional brake valve through the high-pressure accumulator a0Mouth, P0Pressure oil passage A of the port0The port enters a port 3 of the service brake control module I, and respectively enters a port 2 and a port 3 of the service brake control module II through a shuttle valve I and a shuttle valve II, pressure oil at the port 2 acts on a front wheel brake through an electromagnetic directional valve IV and an electromagnetic directional valve III to realize front wheel braking, and pressure oil at the port 3 acts on a rear wheel brake through an electromagnetic directional valve VIII and an electromagnetic directional valve X to realize rear wheel braking;
when the vehicle-mounted controller detects that the pressure values of the two-way pressure switch and the pressure switch are lower than a preset value, the vehicle-mounted controller interferes with the hydraulic braking system to perform active braking, and the method comprises the following steps;
when the monitoring system detects that the distance between the vehicle and the obstacle is smaller than a preset distance a and larger than a preset distance b, the vehicle-mounted controller prompts the driver to take a deceleration braking measure;
when a driver does not take deceleration measures or the braking deceleration is lower than the set deceleration and the distance between the vehicle and an obstacle is less than b and more than c, the vehicle-mounted controller controls the manual proportional brake valve to be electrified, pressure oil acts on front and rear wheel brakes through the driving brake control module I and the driving brake control module II to perform primary braking on the vehicle, and when the braking deceleration of the vehicle meets the requirement of braking safe distance, the vehicle-mounted controller controls the current of the manual proportional brake valve to enable the vehicle to stop within the braking safe distance range;
when the pressure values of the two-way pressure switch and the pressure switch are still lower than a preset value after primary braking, the vehicle-mounted controller controls the two-way brake valve to be electrified, pressure oil acts on front and rear wheel brakes through the driving brake control module I and the driving brake control module II to perform secondary braking on the vehicle, and when the braking deceleration of the vehicle meets the requirement of braking safety distance, the vehicle-mounted controller controls the current of the two-way brake valve to enable the vehicle to stop within the range of the braking safety distance;
when the braking deceleration of the vehicle does not meet the requirement of braking safety distance or the vehicle-mounted controller judges that the vehicle cannot realize emergency stop of the vehicle under the action of the two-way brake valve and the manual proportional brake valve, the vehicle-mounted controller controls the motors of the hydraulic pump II and the hydraulic pump III to be started, the electromagnetic directional valve II and the electromagnetic directional valve IX are opened, the electromagnetic directional valve III and the electromagnetic directional valve X are closed, and pressure oil provided by the hydraulic pump II and the hydraulic pump III enters the front wheel brake and the rear wheel brake through the electromagnetic directional valve II and the electromagnetic directional valve IX respectively to realize vehicle braking;
when the vehicle can not be stopped suddenly after the hydraulic pump II and the hydraulic pump III are started, the vehicle-mounted controller controls the energy accumulator I and the energy accumulator II to release pressure oil instantaneously, so that the vehicle decelerates at a higher deceleration, the vehicle-mounted controller controls the electromagnetic reversing valve I to reverse to return to the initial position, the high-pressure oil of the parking brakes a and b enters the control oil cylinder, and the hydraulic oil of the control oil cylinder returns to the oil return tank through the hydraulic control reversing valve, so that the parking brake of the vehicle is realized.
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