CN113147705B - Brake system for unmanned vehicle - Google Patents
Brake system for unmanned vehicle Download PDFInfo
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- CN113147705B CN113147705B CN202110622635.5A CN202110622635A CN113147705B CN 113147705 B CN113147705 B CN 113147705B CN 202110622635 A CN202110622635 A CN 202110622635A CN 113147705 B CN113147705 B CN 113147705B
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- brake
- pressure
- pipeline
- unmanned vehicle
- controller
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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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/12—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 fluid assistance, drive, or release the fluid being liquid
- B60T13/16—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 fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/161—Systems with master cylinder
- B60T13/167—In combination with distributor valve
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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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/12—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 fluid assistance, drive, or release the fluid being liquid
- B60T13/16—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 fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/168—Arrangements for pressure supply
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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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
Abstract
The invention relates to the technical field of automobiles, in particular to a brake system for an unmanned automobile, which comprises: the brake pipeline is configured in such a way that the outlet end of the high-pressure energy accumulator, the power cavity and the inlet end of the brake main cylinder are communicated in sequence, and the outlet end of the brake main cylinder is communicated with the brake wheel cylinder group; the oil supply pipeline is configured in such a way that the inlet ends of the hydraulic oil cylinder, the oil pump motor set and the high-pressure energy accumulator are sequentially communicated; the pressure relief pipeline is communicated with the power cavity and the hydraulic oil cylinder in a one-way mode; the control module comprises a controller and a plurality of electromagnetic valves which are arranged on the brake pipeline and electrically connected with the controller, and the controller is used for receiving brake signals of the unmanned vehicle and controlling the brake pipeline to load brake pressure to the brake wheel cylinder group through the electromagnetic valves so as to brake the unmanned vehicle; according to the embodiment of the invention, the electromagnetic valves of all pipelines are controlled by the arranged controller, so that the unmanned vehicle is braked; and the requirements of the market on compact mechanical structure and small volume of the unmanned vehicle are met.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a brake system for an unmanned automobile.
Background
In recent years, unmanned and autonomous technologies have been rapidly developed; along with the progress of technique, the accumulation of basic driving data, unmanned car is more and more applied to reality field, and all be the concrete realization of unmanned car technique such as express delivery car, automatic watering lorry and machine patrol police.
In the field of unmanned vehicles, the braking system is different from conventional vehicles in that unmanned vehicles do not require a person to step on a brake pedal, and therefore do not require a brake pedal and associated mechanical structures; the unmanned vehicle requires a compact mechanical structure to reduce the size, and the invention provides a braking system for the unmanned vehicle, which meets the market demand.
Disclosure of Invention
The present invention is directed to a brake system for an unmanned vehicle to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
a braking system for an unmanned vehicle, the braking system comprising:
the brake pipeline is configured in such a way that the outlet end of the high-pressure energy accumulator, the power cavity and the inlet end of the brake main cylinder are communicated in sequence, and the outlet end of the brake main cylinder is communicated with the brake wheel cylinder group;
the oil supply pipeline is configured in such a way that the inlet ends of the hydraulic oil cylinder, the oil pump motor set and the high-pressure energy accumulator are sequentially communicated;
the pressure relief pipeline is communicated with the power cavity and the hydraulic oil cylinder in a one-way mode;
the brake backup pipeline is used for loading brake pressure to the brake wheel cylinder group under a preset condition so as to brake the unmanned vehicle;
the control module comprises a controller and a plurality of electromagnetic valves which are arranged on a brake pipeline and electrically connected with the controller, the controller is used for receiving a brake signal of the unmanned vehicle and controlling the brake pipeline to load brake pressure to the brake wheel cylinder group through the electromagnetic valves so as to brake the unmanned vehicle, and the controller also controls a pressure release pipeline to reduce or unload the brake pressure of the power cavity.
In order to improve the emergency and adaptability of the unmanned vehicle in the road running process, in a further technical scheme of the invention, the brake backup pipeline is communicated between the high-pressure energy accumulator and the brake wheel cylinder group and is used for loading brake pressure to the brake wheel cylinder group under a preset condition to brake the unmanned vehicle, wherein the preset condition at least comprises that the control module is in a power-off state. The brake backup pipeline is arranged, and when the unmanned vehicle control system or the control module is failed due to sudden power failure, one-time effective backup braking for braking the unmanned vehicle can be realized through the brake backup pipeline.
As another technical scheme provided by the invention: an unmanned vehicle, wherein the brake system for an unmanned vehicle as described above is engaged, and the driving state of the unmanned vehicle is controlled by the brake system for an unmanned vehicle.
Compared with the prior art, the invention has the beneficial effects that: the structure is compact, and the layout of the unmanned vehicle is convenient; the electromagnetic valves of all pipelines are controlled by the arranged controller, so that the unmanned vehicle is braked; compared with the traditional brake pedal and a matched mechanical structure thereof, the control precision is higher under the control of the controller and the electromagnetic valve; and the brake pedal and the related mechanical structure of the traditional vehicle are eliminated, and the requirements of the market on the mechanical structure compactness and small size of the unmanned vehicle are met.
Drawings
Fig. 1 is a schematic structural diagram of a brake system for an unmanned vehicle according to an embodiment of the present invention.
FIG. 2 is a timing diagram of a linear solenoid valve and a first switch mode solenoid valve in an embodiment of the present invention.
In the drawings: the brake system comprises a hydraulic oil cylinder-1, a first one-way valve-2, a first switch type electromagnetic valve-3, a power cavity-4, a power cavity piston-5, a power cavity spring-6, a brake master cylinder return spring-7, a second one-way valve-8, a linear electromagnetic valve-9, a third one-way valve-10, an oil pump motor set-11, an overflow valve-12, a high-pressure energy accumulator-13, a pressure sensor-14, a brake master cylinder-15, a second switch type electromagnetic valve-16, a fourth one-way valve-17 and a brake wheel cylinder set-18.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1, in an embodiment of the present invention, a brake system for an unmanned vehicle includes: the brake pipeline is configured in such a way that the outlet end of the high-pressure energy accumulator 13, the power cavity 4 and the inlet end of the brake master cylinder 15 are communicated in sequence, and the outlet end of the brake master cylinder 15 is communicated with the brake wheel cylinder group 18; the oil supply pipeline is configured in such a way that the inlet ends of the hydraulic oil cylinder 1, the oil pump motor set 11 and the high-pressure energy accumulator 13 are sequentially communicated; the pressure relief pipeline is communicated with the power cavity 4 and the hydraulic oil cylinder 1 in a one-way mode; the brake backup pipeline is used for loading brake pressure to the brake wheel cylinder group 18 under a preset condition so as to brake the unmanned vehicle; the control module comprises a controller and a plurality of electromagnetic valves arranged on a brake pipeline and electrically connected with the controller, the controller is used for receiving brake signals of the unmanned vehicle and controlling the brake pipeline to load brake pressure to the brake wheel cylinder group 18 through the electromagnetic valves so as to brake the unmanned vehicle, and the controller also controls a pressure relief pipeline to reduce or unload the brake pressure of the power cavity 4.
In the embodiment, as shown in fig. 1, one end of the master cylinder 15, which is close to the power chamber 4, is connected with the power chamber piston 5; a power cavity spring 6 is arranged between the inner side wall of the power cavity and one end of the power cavity piston, and the power cavity spring 6 provides a reset force for resetting one end of the power cavity piston 5 after the brake force loaded by the high-pressure energy accumulator 13 disappears; a piston is arranged in the brake master cylinder to form two chambers, and the two chambers are respectively provided with a brake master cylinder return spring 7 to provide elasticity for the return of one end of the power cavity piston 5 in the brake master cylinder; and the resetting or returning of the power cavity piston 5 in the brake master cylinder and the power cavity is mutually related;
in this embodiment, in a standby state of the brake system, the oil pump motor set 11 is started to pump hydraulic oil from the hydraulic oil cylinder 1 into the high-pressure energy accumulator 13, so that the pressure of the high-pressure energy accumulator 13 is maintained within a set pressure control range. When a control unit or a control system of the unmanned vehicle gives a braking signal, a controller controls an electromagnetic valve on a braking pipeline to be opened, high-pressure hydraulic oil in a high-pressure energy storage 13 quickly enters a power cavity 4 through the electromagnetic valve, a power cavity piston 5 moves rightwards under the action of hydraulic pressure, a power cavity spring 6 is compressed and drives a brake main cylinder return spring 7 to compress, a piston in a brake main cylinder 15 moves rightwards, hydraulic oil is squeezed to enter a brake wheel cylinder group 18, the pressure in each brake wheel cylinder of the brake wheel cylinder group is increased, and wheel braking is achieved. The braking system and the unmanned vehicle applying the braking system have compact overall structure and are convenient for layout of the unmanned vehicle; secondly, the electromagnetic valves of all pipelines are controlled through the arranged controller, and the unmanned vehicle is braked; compared with the traditional brake pedal and a matched mechanical structure thereof, the control precision is higher under the control of the controller and the electromagnetic valve; and the brake pedal and the related mechanical structure of the traditional vehicle are eliminated, the requirements of the market on the mechanical structure compactness and small size of the unmanned vehicle are met, and the application scene and the popularization field are wide.
As shown in fig. 1, in a scenario of this embodiment, a pressure sensor 14 capable of monitoring hydraulic pressure in the high-pressure energy storage is disposed on the high-pressure energy storage 13, and the control module collects monitoring data of the pressure sensor and compares the monitoring data with a preset pressure control range, and controls the oil supply pipeline to supply oil to the high-pressure energy storage.
Specifically, under the running working condition state of the unmanned vehicle, the pressure sensor 14 can monitor the pressure in the high-pressure energy accumulator 13 in real time, when the monitored pressure is not within the preset pressure control range, a signal is fed back to the controller, and the controller controls the oil pump motor set 11 to pump the hydraulic oil into the high-pressure energy accumulator 13 from the hydraulic oil cylinder 1, so that the pressure of the hydraulic oil is maintained within the set pressure control range; the set pressure control range can be configured properly according to different road conditions and unmanned vehicles, and is not limited to a specific fixed value range; it is only necessary to ensure that the high-pressure accumulator 13 can meet the braking pressure of the power cavity.
In this embodiment, the pressure sensor 14 is provided to improve the control accuracy of the brake system, and when the brake line performs a temporary braking, the high-pressure accumulator 13 is maintained in the set pressure control range, so that the output brake fluid pressure is also maintained in a better brake interval; therefore, the hydraulic pressure pressed into the brake wheel cylinder group 18 through the power cavity and the brake master cylinder is also kept in a better brake area, and good wheel braking is realized.
As shown in fig. 1, in one embodiment, the pressure relief pipeline includes a power cavity 4, a first on-off solenoid valve 3, a first check valve 2 and a hydraulic oil cylinder 1, which are connected in sequence, the first on-off solenoid valve 3 is electrically connected with a controller, and the first check valve 2 controls the first on-off solenoid valve 3 to be in one-way connection with the hydraulic oil cylinder 1; the plurality of electromagnetic valves arranged on the brake pipeline are respectively a linear electromagnetic valve 9 and a second one-way valve 8, the linear electromagnetic valve 9, the second one-way valve 8 and the power cavity 4 are sequentially communicated, and the control module adjusts the hydraulic pressure of the brake pipeline by controlling the opening degree of the linear electromagnetic valve 9; when a braking instruction or a braking signal disappears, the linear electromagnetic valve 9 is closed, the first switch type electromagnetic valve 3 is opened, the power cavity piston 5 moves leftwards under the action of the restoring force of the power cavity spring 6, meanwhile, the piston in the brake main cylinder returns leftwards by the restoring force of the brake main cylinder return spring 7, oil in the power cavity 4 flows back to the hydraulic oil cylinder 1 through the process, the oil in the brake wheel cylinder group 18 flows back to the brake main cylinder 15, and braking is finished. The first switch type electromagnetic valve 3 is a normally closed switch type electromagnetic valve, is in a normally closed state under the condition that a braking instruction or a braking signal disappears, and can effectively prevent oil in the power cavity 4 from flowing back to the hydraulic oil cylinder 1; on the other hand, the arranged first check valve 2 can also prevent oil of the hydraulic oil cylinder 1 from accidentally entering the power cavity 4 to affect the normal work of the power cavity. The linear electromagnetic valve 9 adopts a normally closed linear electromagnetic valve; and under the condition that the brake signal is not received, the brake device is in a normally closed state, so that the brake pipeline is in a blocking state.
The opening degree of the linear electromagnetic valve adopted in the embodiment can be adjusted or controlled, and when the linear electromagnetic valve is applied to an unmanned vehicle, the flow rate of hydraulic oil entering the power cavity can be controlled by adjusting the opening degree of the linear electromagnetic valve, so that the braking force of the braking wheel cylinder group 18 can be controlled. The controller can adopt a conventional vehicle-mounted chip or a vehicle machine system, and can also be a control system carried by an unmanned vehicle; for the sake of brevity, further description is omitted here.
In one embodiment, the opening degree of the linear solenoid valve 9 is controlled by a control module, and the control module sends out a corresponding control signal to control the linear solenoid valve 9 according to the driving state of the unmanned vehicle; and because the opening degree of the linear solenoid valve 9 is changed linearly, when the flow rate of the hydraulic oil entering the power cavity 4 is controlled, the control precision of the flow rate is also changed linearly, and the control performance is accurate.
As shown in fig. 2, when the solenoid valves of the brake system are configured, because the braking demand of the unmanned vehicle is different, the hydraulic pressure difference exists in the brake pipe, and therefore, the opening degree of the linear solenoid valve 9 for providing the braking force for the brake wheel cylinder group is adaptively changed, so as to ensure the control precision of the brake system.
The control time sequence of the linear solenoid valve 9 is as follows: when the unmanned vehicle gives a braking instruction, the linear electromagnetic valve 9 gives a proper opening according to the braking force, the linear electromagnetic valve 9 reaches a specified opening after a time interval of t = t2-t1, the pressure of the braking system reaches a given value, and the unmanned vehicle or the vehicle brakes. At time t3, the braking instruction disappears, the first on-off type electromagnetic valve 3 is opened rapidly, after the time interval of Δ t = t4-t3, the first on-off type electromagnetic valve 3 is opened completely, the braking system is decompressed under the action of the power cavity spring 6 and the master cylinder return spring 7, and the braking force disappears. In the next braking process shown in fig. 2, at time t5, the braking system gives a braking instruction, the desired braking force is smaller than the previous braking process, so the linear electromagnetic valve 9 reaches a specified opening after the time t = t6-t5 elapses, but the opening is smaller than the previous braking time, at this time, the vehicle may only decelerate, the braking instruction disappears at t7, after the time Δ t = t8-t7, the first on-off electromagnetic valve 3 is fully opened, and the braking system releases pressure and disappears under the action of the power cavity spring 6 and the brake master cylinder return spring 7.
In this embodiment, there is the difference in linear solenoid valve 9 and first on-off solenoid valve 3, and opening size can be adjusted to linear solenoid valve 9, and first on-off solenoid valve 3 only has an opening value, with first on-off solenoid valve 3 only has an opening value, the braking system's of being convenient for quick pressure release, and first on-off solenoid valve 3 does not need a plurality of openings, also does benefit to cost control.
In another embodiment, to improve the stability of the braking system, a protection circuit is added; the method comprises the following steps: an overflow valve 12 is connected in parallel to a pipeline where the oil pump motor set 11 is located to form a protection pipeline, and the protection pipeline is used for reducing the hydraulic pressure of a brake pipeline when the hydraulic pressure of the brake pipeline exceeds a set hydraulic threshold;
the working process of the protection pipeline is as follows: when the linear electromagnetic valve 9 is opened, the pressure in the brake pipeline is suddenly increased instantly, and when the pressure in the brake pipeline exceeds the pressure threshold of the overflow valve 12, the overpressure oil flows into the hydraulic oil cylinder 1 through the overflow valve 12, so that the buffer effect is achieved, and the brake pipeline is protected; the stability of the brake system is further improved, the service life of the brake system is prolonged, and the brake system has high economic value.
In a preferred embodiment, the inlet end and the outlet end of the oil pump motor set are provided with third one-way valves 10, and the third one-way valves 10 control the inlet ends of the hydraulic oil cylinder 1, the oil pump motor set 11 and the high-pressure accumulator 13 to be communicated in one way; the oil supply pipeline which is communicated in a one-way mode guarantees normal work of the brake pipeline, so that oil liquid pressed out of the high-pressure energy accumulator 13 cannot be divided into oil liquid which needs to be conveyed to the power cavity 4 when the brake pipeline works normally.
Of course, the third check valve 10 may also be provided at only one of the inlet end and the outlet end of the oil pump motor set; the normal work of the brake pipeline can be ensured under the condition of reducing the number of the devices.
As shown in fig. 1, in this embodiment, the brake backup pipeline is connected between the high-pressure accumulator 13 and the brake wheel cylinder group 18, and is configured to apply brake pressure to the brake wheel cylinder group to brake the unmanned vehicle under a preset condition, where the preset condition at least includes that the control module is in a power-off state;
specifically, the brake backup pipeline is configured to be sequentially connected with a high-pressure energy accumulator, a second switch type electromagnetic valve 16, a fourth one-way valve 17 and a brake wheel cylinder group; the second switch type electromagnetic valve 16 is a normally open switch type electromagnetic valve, and thus, can be configured to consistently maintain a blocking state for the brake backup pipeline under the condition of electrification, and when the system is in power failure, the state brake is changed to switch to a conduction state for the brake backup pipeline; the system is kept closed in a normal state, and the functions are not influenced. When the system is suddenly powered off and the braking function of the brake pipeline cannot be realized, the second switch type electromagnetic valve 16 is quickly restored to a normally open state, namely, a conduction state of the brake backup pipeline; because the system failure linear electromagnetic valve 9 and the first switch type electromagnetic valve 3 are in a normally closed state, at the moment, high-pressure oil in the high-pressure energy accumulator 13 enters the brake wheel cylinder group through the second switch type electromagnetic valve 16 and the fourth one-way valve 17, emergency braking is given to the vehicle, and the unmanned vehicle is braked and stopped. In this embodiment, the brake backup pipeline may be connected to front wheel brake cylinders of the brake wheel cylinder group.
In one embodiment, the preset condition further includes a working condition that a control link between the controller and the linear solenoid valve fails; or under some special working conditions, the controller can also give emergency braking to the vehicle through the conduction of the brake backup pipeline, so that the unmanned vehicle is braked and stopped.
Referring to fig. 1, in another embodiment of the present invention, an unmanned vehicle is provided, wherein the unmanned vehicle is coupled with any one of the braking systems for unmanned vehicles, and the driving state of the unmanned vehicle is controlled by the braking system for unmanned vehicles.
The unmanned vehicle using the braking system for the unmanned vehicle has compact integral structure and small volume, and is convenient for layout; the brake system for the unmanned vehicle controls the electromagnetic valves of all pipelines through the arranged controller, so that the unmanned vehicle is braked; and the controller and the electromagnetic valve are controlled, compared with the traditional brake pedal and a matched mechanical structure thereof, the control precision is higher, the brake backup pipeline is combined, the power-off working condition of the unmanned vehicle is met, and the adaptability and the strain capacity of the unmanned vehicle in road running are improved.
The working principle of the invention is as follows: and starting the oil pump motor set 11, pumping hydraulic oil into the high-pressure energy storage device 13 from the hydraulic oil cylinder 1, and maintaining the pressure of the high-pressure energy storage device 13 within a set pressure control range. When a control unit or a control system of the unmanned vehicle gives a braking signal, a controller controls an electromagnetic valve on a braking pipeline to be opened, high-pressure hydraulic oil in a high-pressure energy accumulator 13 quickly enters a power cavity 4 through the electromagnetic valve, a power cavity piston 5 moves rightwards under the action of hydraulic pressure, a power cavity spring 6 is compressed and drives a brake main cylinder return spring 7 to compress, a piston in a brake main cylinder 15 moves rightwards, the hydraulic oil is extruded to enter a brake wheel cylinder group 18, the pressure in each brake wheel cylinder of the brake wheel cylinder group is increased, and wheel braking is achieved. When a braking instruction or a braking signal disappears, the linear electromagnetic valve 9 is closed, the first switch type electromagnetic valve 3 is opened, the power cavity piston 5 moves leftwards under the action of the restoring force of the power cavity spring 6, meanwhile, the piston in the brake main cylinder returns leftwards by the restoring force of the brake main cylinder return spring 7, oil in the power cavity 4 flows back to the hydraulic oil cylinder 1 through the process, the oil in the brake wheel cylinder group 18 flows back to the brake main cylinder 15, and braking is finished.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A braking system for an unmanned vehicle, the braking system comprising:
the brake pipeline is configured in such a way that the outlet end of the high-pressure energy accumulator, the power cavity and the inlet end of the brake main cylinder are communicated in sequence, and the outlet end of the brake main cylinder is communicated with the brake wheel cylinder group;
the oil supply pipeline is configured in such a way that the inlet ends of the hydraulic oil cylinder, the oil pump motor set and the high-pressure energy accumulator are sequentially communicated;
the pressure relief pipeline is communicated with the power cavity and the hydraulic oil cylinder in a one-way mode;
the brake backup pipeline is used for loading brake pressure to the brake wheel cylinder group under a preset condition so as to brake the unmanned vehicle;
the control module comprises a controller and a plurality of electromagnetic valves which are arranged on a brake pipeline and electrically connected with the controller, the controller is used for receiving a brake signal of the unmanned vehicle and controlling the brake pipeline to load brake pressure to the brake wheel cylinder group through the electromagnetic valves so as to brake the unmanned vehicle, and the controller also controls a pressure release pipeline to reduce or unload the brake pressure of the power cavity;
the brake backup pipeline is communicated between the high-pressure energy accumulator and the brake wheel cylinder group and used for loading brake pressure to the brake wheel cylinder group under a preset condition to brake the unmanned vehicle, wherein the preset condition at least comprises that the control module is in a power-off state.
2. The braking system for the unmanned vehicle of claim 1, wherein the high pressure accumulator is provided with a pressure sensor capable of monitoring hydraulic pressure in the high pressure accumulator, and the control module collects monitoring data of the pressure sensor, compares the monitoring data with a preset pressure control range, and controls the oil supply pipeline to supply oil to the high pressure accumulator.
3. The brake system for the unmanned vehicle as claimed in claim 1, wherein a pipeline in which the oil pump motor set is located is connected in parallel with an overflow valve to form a protection pipeline, and the protection pipeline is used for reducing the hydraulic pressure of the brake pipeline when the hydraulic pressure of the brake pipeline exceeds a set hydraulic threshold.
4. The braking system for the unmanned vehicle as claimed in claim 1, wherein the pressure relief pipeline comprises a power cavity, a first switch-type electromagnetic valve, a first check valve and a hydraulic oil cylinder which are connected in sequence, the first switch-type electromagnetic valve is electrically connected with the controller, and the first check valve controls the first switch-type electromagnetic valve to be communicated with the hydraulic oil cylinder in a one-way mode.
5. The brake system for the unmanned vehicle according to claim 1, wherein the plurality of solenoid valves disposed on the brake line are a linear solenoid valve and a second check valve, respectively, and the linear solenoid valve, the second check valve and the power chamber are sequentially connected, and the control module adjusts the hydraulic pressure of the brake line by controlling an opening degree of the linear solenoid valve.
6. The braking system for the unmanned vehicle of claim 5, wherein the opening degree of the linear solenoid valve is controlled by the control module, and the control module sends out a corresponding control signal to control the linear solenoid valve according to the driving state of the unmanned vehicle.
7. The braking system for the unmanned vehicle as claimed in claim 1, wherein a third check valve is arranged at an inlet end or an outlet end of the oil pump motor set, and the third check valve controls the one-way connection of inlet ends of the hydraulic oil cylinder, the oil pump motor set and the high-pressure energy accumulator.
8. The braking system for the unmanned vehicle of claim 1, wherein the brake backup circuit is configured to sequentially connect the high pressure accumulator, the second on-off solenoid valve, the fourth check valve, and the brake cylinder set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110622635.5A CN113147705B (en) | 2021-06-04 | 2021-06-04 | Brake system for unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110622635.5A CN113147705B (en) | 2021-06-04 | 2021-06-04 | Brake system for unmanned vehicle |
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| CN113147705A CN113147705A (en) | 2021-07-23 |
| CN113147705B true CN113147705B (en) | 2022-05-27 |
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| CN202110622635.5A Active CN113147705B (en) | 2021-06-04 | 2021-06-04 | Brake system for unmanned vehicle |
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| JP2001301599A (en) * | 2000-04-19 | 2001-10-31 | Nissin Kogyo Co Ltd | Brake hydraulic pressure control device |
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