CN214450872U - Redundant braking system, automatic driving system and vehicle - Google Patents
Redundant braking system, automatic driving system and vehicle Download PDFInfo
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- CN214450872U CN214450872U CN202120635622.7U CN202120635622U CN214450872U CN 214450872 U CN214450872 U CN 214450872U CN 202120635622 U CN202120635622 U CN 202120635622U CN 214450872 U CN214450872 U CN 214450872U
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Abstract
The utility model is suitable for an autopilot technical field provides a redundant braking system, autopilot system and vehicle, and above-mentioned redundant braking system includes power generation facility, battery, isolation part, parking controller, first braking subsystem and second braking subsystem; an isolation member for being disconnected when a power supply circuit of the battery or a power supply circuit of the power generation device fails; the power generation device is used for supplying power to the parking controller, the first braking subsystem and the second braking subsystem and charging the battery when the isolation component is in a conducting state; when the isolation component is in a disconnected state, power is supplied to the parking controller and the first braking subsystem; a battery for powering the second braking subsystem when the isolation component is in the open state. The utility model discloses an isolation part separates power generation facility and battery, realizes two way independent power supply framework, can realize the redundancy of power supply, guarantees that the vehicle can automatic braking, prevents the occurence of failure.
Description
Technical Field
The utility model belongs to the technical field of autopilot, especially, relate to a redundant braking system, autopilot system and vehicle.
Background
With the development of artificial intelligence technology, it becomes possible to automatically drive a vehicle, which can realize automated driving when unmanned. The automatic parking is used as one of the subdivision scenes, and the automatic parking can be realized in a specific scene.
At present, a 12V low-voltage power grid is adopted to supply power to each functional component of an automatic driving vehicle, as shown in fig. 3, however, when the 12V low-voltage power grid fails and cannot supply power, each automatic control component of the vehicle cannot normally work, automatic parking cannot be realized, and accidents are easy to happen.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment provides a redundant braking system, an automatic driving system and a vehicle, so as to solve the problems that in the prior art, when a 12V low-voltage power grid fails and cannot supply power, each automatic control component of the vehicle cannot normally work, cannot realize automatic parking, and is prone to accidents.
A first aspect of the present embodiments provides a redundant braking system, comprising: the system comprises a power generation device, a battery, an isolation component, a parking controller, a first brake subsystem and a second brake subsystem;
the first end of the isolation component is respectively connected with the battery and the second braking subsystem, and the second end of the isolation component is respectively connected with the power generation device, the parking controller and the first braking subsystem;
an isolation member for being disconnected when a power supply circuit of the battery or a power supply circuit of the power generation device fails;
the power generation device is used for supplying power to the parking controller, the first braking subsystem and the second braking subsystem and charging the battery when the isolation component is in a conducting state; when the isolation component is in a disconnected state, power is supplied to the parking controller and the first braking subsystem;
a battery for powering the second braking subsystem when the isolation component is in the open state.
Optionally, the parking controller is configured to send a braking instruction to the first braking subsystem and/or the second braking subsystem;
the first braking subsystem is used for braking when a braking instruction of the parking controller is received;
and the second braking subsystem is used for braking when a braking instruction of the parking controller is received or in an automatic parking mode.
Optionally, the isolation component includes an isolation switch and an isolation controller;
the first end of the isolating switch is connected with the first end of the isolating component, the second end of the isolating switch is connected with the second end of the isolating component, and the control end of the isolating switch is connected with the isolating controller;
and the isolation controller is used for controlling the isolation switch to be switched off when the power supply loop of the battery or the power supply loop of the power generation device is detected to be in fault.
Optionally, the isolation controller is further connected to the battery and the power generation device, respectively, and is configured to monitor operating states of the battery and the power generation device.
Optionally, the first braking subsystem comprises a sensor, a brake controller and an actuator;
the brake controller is respectively connected with the sensor, the actuator, the parking controller, the power generation device and the second end of the isolation component.
Optionally, the redundant braking system further comprises a battery monitoring device connected to the battery;
and the battery monitoring device is used for monitoring the working state of the battery.
Optionally, the redundant braking system further comprises a load connected to the second end of the isolation member.
Optionally, the load comprises at least one of a power subsystem, a steering subsystem, a lighting subsystem and a comfort entertainment subsystem.
A second aspect of the present embodiment provides an autopilot system comprising a redundant braking system as in any one of the first aspects.
A third aspect of the present embodiment provides a vehicle including the automatic driving system as in the second aspect.
Compared with the prior art, the embodiment has the beneficial effects that: the power generation device and the battery are separated through the isolation component, two independent power supply architectures are achieved, power supply redundancy can be achieved, when any one of the two independent power supply architectures fails, the isolation component is disconnected, one of the power supplies in the system can be guaranteed to supply power normally, at least one of the first braking subsystem and the second braking subsystem can work normally, automatic braking of a vehicle can be achieved, and accidents are prevented.
Drawings
In order to more clearly illustrate the technical solution of the present embodiment, the drawings needed to be used in the description of the embodiment or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a redundant braking system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a redundant braking system according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a prior art low voltage grid architecture;
fig. 4 is a schematic flow chart illustrating a control method of a redundant braking system according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the present embodiments. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical solution of the present invention, the following description is made by using specific examples.
Fig. 1 is a schematic structural diagram of a redundant braking system according to an embodiment of the present invention, and only the portions related to the embodiment are shown for convenience of description.
As shown in fig. 1, the redundant braking system may include: a power generation device 10, a battery 20, an isolation component 30, a parking controller 40, a first braking subsystem 50 and a second braking subsystem 60;
a first end of the isolation component 30 is respectively connected with the battery 20 and the second braking subsystem 60, and a second end of the isolation component 30 is respectively connected with the power generation device 10, the parking controller 40 and the first braking subsystem 50;
an isolation member 30 for being disconnected when a failure occurs in a power supply circuit of the battery 20 or a power supply circuit of the power generation device 30;
the power generation device 10 is used for supplying power to the parking controller 40, the first braking subsystem 50 and the second braking subsystem 60 and charging the battery 20 when the isolation component 30 is in a conducting state; powering the parking controller 40 and the first braking subsystem 50 while the isolation component 30 is in the disconnected state;
a battery 20 for powering the second brake subsystem 60 when the isolation member 30 is in the open state.
Specifically, the battery 20 is connected to the second braking subsystem 60, the power generation device 10 is connected to both the parking controller 40 and the first braking subsystem 50, and the parking controller 40 is connected to the first braking subsystem 50.
The battery 20 may be a storage battery, and when the main power circuit connected to the power generation device 10 fails and the isolation component 30 is disconnected, the battery 20 may independently provide electric energy for the second brake subsystem 60, so as to implement the functions of automatic braking and automatic parking of the vehicle. The battery 20 can provide instantaneous large current for the starter, and the engine can be reliably started under various conditions; when the vehicle is not started, the power is supplied to the load of the whole vehicle; when the engine is idling or stopped, part or all of the electric energy needed by other important systems can be ensured in a certain time.
The power generation device 10 can supply power to the electric equipment of the whole vehicle after the vehicle is started, and can charge the battery 20 when the isolation component 30 is conducted.
The separator 30 connects the battery 20 and the power generator 10 to each other, and can turn on and off the main power circuit. The isolation component 30 has logic diagnosis and calculation capabilities, and is disconnected when the redundant braking system has faults such as overvoltage, undervoltage and overcurrent, so that the power supply loops corresponding to the storage battery 20 and the power generation device 10 are independent and do not influence each other. The main power circuit may be a circuit for supplying power to the parking controller 40, the first braking subsystem 50 and the second braking subsystem 60 and charging the battery 20 by the power generation device 10 when the isolation component 30 is turned on.
In this embodiment, the power generation device 10 and the battery 20 are separated by the isolation component 30, so that two independent power supply architectures are realized, redundancy of power supply can be realized, when any one of the two independent power supply architectures fails, the isolation component 30 is disconnected, so that one of the two independent power supply architectures can be ensured to normally supply power, at least one of the first braking subsystem 50 and the second braking subsystem 60 can normally work, automatic braking of a vehicle can be realized, and accidents are prevented.
In one embodiment of the present invention, parking controller 40 is configured to send braking commands to first braking subsystem 50 and/or second braking subsystem 60;
a first braking subsystem 50 for braking upon receiving a braking instruction from the parking controller 40;
and a second braking subsystem 60 for braking upon receiving a braking command from the parking controller 40 or in an automatic parking mode.
The parking controller 40 is a main controller for automatic parking, and can interact with other controller modules of the whole vehicle by acquiring sensor signals to perform logical judgment of an automatic parking function, so as to realize automatic driving control of the vehicle in a specific scene; and when a preset fault influencing the implementation of the driving function is detected, outputting a braking instruction to implement the emergency braking of the vehicle. Parking controller 40 may preferentially send braking commands to first braking subsystem 50 and, if first braking subsystem 50 fails, to second braking subsystem 60.
In one embodiment of the present invention, the first braking subsystem 50 includes a sensor, a brake controller, and an actuator;
the brake controller is connected to the sensor, the actuator, the parking controller 40, the power generation device 10, and the second end of the isolation member 30, respectively.
The first braking subsystem 50 is a main braking subsystem and may include a braking sensor, a braking controller, an actuator, and the like. In the scenario of the automatic driving function, the brake controller receives a work instruction, such as a braking instruction, from the parking controller 40, and controls the actuator based on the sensor, thereby implementing the parking function of the automatic brake.
The second braking subsystem 60 is an auxiliary braking subsystem, and when the first braking subsystem 50 fails, the second braking subsystem 60 receives a working instruction of the parking controller 40 to realize an automatic braking function. In the automatic parking mode, the vehicle braking function is automatically performed even when the second braking subsystem 60 does not detect the interaction signal with the parking controller 40, i.e., the interaction signal for automatic parking.
Alternatively, in the automatic parking mode, the second braking subsystem 60 may perform vehicle braking itself when no interaction signals with the parking controller 40 and the first braking subsystem 50 are detected.
In one embodiment of the present invention, referring to fig. 2, the isolation component 30 includes an isolation switch 31 and an isolation controller 32;
a first end of the isolating switch 31 is connected with a first end of the isolating component 30, a second end of the isolating switch 31 is connected with a second end of the isolating component 30, and a control end of the isolating switch 31 is connected with the isolating controller 32;
and an isolation controller 32 for controlling the isolation switch 31 to be opened when a fault is detected in the power supply circuit of the battery 20 or the power supply circuit of the power generation device 10.
In the present embodiment, the isolation controller 32 may control the isolation switch 31 to be turned on or off, so as to turn on or off the isolation component 30.
In one embodiment of the present invention, the isolation controller 32 is further connected to the battery 20 and the power generation device 10, respectively, for monitoring the operating states of the battery and the power generation device.
Specifically, the isolation controller 32 may also be connected to the output of the battery 20 and the output of the power generation device 10, and is configured to monitor the operating states of the battery and the power generation device and determine whether the respective power supply circuits of the battery and the power generation device are faulty.
In one embodiment of the present invention, referring to fig. 2, the redundant braking system further comprises a battery monitoring device 70 connected to the battery 20;
and a battery monitoring device 70 for monitoring the operating state of the battery 20.
The battery monitoring device 70 may monitor information such as a voltage value and a current value of the battery 20, that is, a remaining power value, and may also monitor whether the values exceed a corresponding preset range, and may also monitor whether a power supply loop connected to the battery 20 is turned on, and the like.
In one embodiment of the present invention, referring to fig. 2, the redundant braking system further includes a load 80 connected to the second end of the isolation member 30.
The load 80 may be connected to the power generation device 10.
In one embodiment of the present invention, the load 80 includes at least one of a power subsystem, a steering subsystem, a lighting subsystem, and a comfort entertainment subsystem.
The load 80 may be an electrical load connected for normal operation of the vehicle and may include vehicle electrical components such as a power subsystem, a steering subsystem, a light subsystem, a comfort subsystem, etc.
The power subsystem is used to power the vehicle, and may be powered by an engine, a series of power transmissions, and finally to wheels, for example. A steering subsystem is a device used to change or maintain the direction of travel or reverse of an automobile. The light subsystem is one of the necessary systems for safe running of the vehicle and mainly comprises an external lighting lamp, an internal lighting lamp, an external signal lamp, an internal signal lamp and the like. The comfort entertainment subsystem may provide a comfort environment, entertainment facilities, and the like, and may include, for example, air conditioning, sound boxes, and the like.
The embodiment adds an isolation component 30, and the power generation device 10 is used as a power supply system, so that the redundancy of low-voltage power supply can be realized during the operation of the system. In the embodiment, the isolation component 30 is added on the basis of the existing low-voltage power grid architecture (see fig. 3, the existing low-voltage power grid architecture includes the generator 90, the 12V low-voltage battery 91, the conventional parking controller 92 and the brake system 93), and the existing low-voltage power grid architecture can coexist, so that the existing low-voltage power grid architecture cannot be collided, a lower cost, a shorter period and a smaller change amount are realized, and the existing low-voltage power grid architecture can be applied.
Corresponding to the redundant brake system, the embodiment also provides an automatic driving system, which comprises the redundant brake system, and has the same beneficial effects as the redundant brake system.
Corresponding to the automatic driving system, the embodiment also provides a vehicle comprising the automatic driving system, and the vehicle has the same advantages as the automatic driving system.
Corresponding to the redundant brake system, the embodiment also provides a control method of the redundant brake system, which is applied to any one of the redundant brake systems. Referring to fig. 4, the control method includes:
s301: a power supply operation mode and an operation mode of the isolation member 30 are obtained.
S302: the isolation element 30 is controlled to be turned on or off according to the power supply operation module and the operation mode of the isolation element 30.
The power supply operation mode includes ON and OFF, and when the power supply operation mode is OFF, the power generation device 10 does not operate, and when the power supply operation mode is ON, the power generation device 10 may operate.
The operation mode of the isolation member 30 may include a first preset mode and a second preset mode. The first preset mode is a normal mode in which the isolation element 30 is connected in the circuit only as a normally closed switch, and the isolation element 30 is opened only when a functional abnormality exceeding the hardware itself occurs in the circuit. The second preset mode is a set mode, in which the isolation component 30 can diagnose the loop where the isolation component is located, and if faults such as overvoltage, overcurrent or undervoltage occur, the isolation component is controlled to be disconnected, so that independence of the loops corresponding to the battery 20 and the power generation device 10 is achieved.
Alternatively, the execution subject of the control method of the self-determined brake system may be the isolation controller 32 described above. The isolation component 30 is controlled to be turned on or off, and specifically, the isolation controller 32 controls the isolation switch 31 to be turned on or off.
In this embodiment, the isolation component 30 can be controlled to be turned on or off according to the working modes of the power supply working module and the isolation component 30, so as to ensure that at least one braking subsystem is in a working state, and thus automatic emergency braking can be realized.
In one embodiment, the step S302 may include:
if the power supply operating mode is ON and the operating mode of the isolation component 30 is the first preset mode, controlling the isolation component 30 to be conducted;
if the power supply operation mode is ON and the operation mode of the isolation component 30 is the second preset mode, the operation state of the power supply circuit of the battery 20 and the operation state of the power supply circuit of the power generation device 10 are determined, and the isolation component 30 is controlled to be turned ON or off according to the operation state of the power supply circuit of the battery 20 and the operation state of the power supply circuit of the power generation device 10.
In the present embodiment, when the power supply operation mode is ON and the operation mode of the isolation component 30 is the first preset mode, if the vehicle is in the operation state, the isolation component 30 is controlled to be ON regardless of whether the circuit is faulty, and the power supply circuit of the battery 20 and the power supply circuit of the power generation device 10 are both in the normally ON state.
The power supply loop of the battery 20 is a power supply loop formed by the battery 20 and the second braking subsystem 60, and the power supply loop of the power generation device 10 is a power supply loop formed by the power generation device 10, the parking controller 40, the first braking subsystem 50 and the load 80.
When the power supply operation mode is ON and the operation mode of the isolation member 30 is the second preset mode, if the vehicle is in an operation state, the isolation member 30 is controlled to be turned ON or off according to the operation state of the power supply circuit of the battery 20 and the operation state of the power supply circuit of the power generation apparatus 10.
In one embodiment, controlling the isolation member 30 to be turned on or off according to the operating state of the power supply circuit of the battery 20 and the operating state of the power supply circuit of the power generation apparatus 10 includes:
if the working state of the power supply circuit of the battery 20 and the working state of the power supply circuit of the power generation device 10 are both in a non-fault state, the isolation component 30 is controlled to be conducted, the power generation device 10 supplies power to the parking controller 40, the first braking subsystem 50 and the second braking subsystem 60, and the power generation device 10 charges the battery 20;
if the working state of the power supply circuit of the battery 20 is a fault state and the working state of the power supply circuit of the power generation device 10 is a non-fault state, the isolation component 30 is controlled to be disconnected, and the power generation device 10 supplies power to the parking controller 40 and the first braking subsystem 50;
if the operating state of the power supply circuit of the battery 20 is the no-fault state and the operating state of the power supply circuit of the power generation device 10 is the fault state, the isolation component 30 is controlled to be disconnected, and the battery 20 supplies power to the second brake subsystem 60.
The operating state of the power supply circuit of the battery 20 and the operating state of the power supply circuit of the power generation device 10 include a fault state and a non-fault state.
When the working state of the power supply circuit of the battery 20 and the working state of the power supply circuit of the power generation device 10 are both a non-fault state, the isolation component 30 is controlled to be conducted, at this time, the power generation device 10 supplies power to the parking controller 40, the first braking subsystem 50, the second braking subsystem 60 and the load 80, the power generation device 10 charges the battery 20, and the first braking subsystem 50 or the second braking subsystem 60 realizes an automatic braking function according to a working instruction of the parking controller 40.
When the operating state of the power supply circuit of the battery 20 is a failure state or the operating state of the power supply circuit of the power generation device 10 is a failure state, the control isolation member 30 is turned off and the power generation device 10 and the battery 20 are not connected. If the working state of the power supply circuit of the battery 20 is a fault state, the power generation device 10 supplies power to the parking controller 40, the first braking subsystem 50 and the load 80, and the first braking subsystem 50 realizes an automatic braking function according to a working instruction of the parking controller 40. If the operating state of the power supply circuit of the power generation device 10 is a fault state, the battery 20 supplies power to the second braking subsystem 60 at this time, and the second braking subsystem 60 realizes an automatic braking function.
In one embodiment, controlling the isolation component 30 to be turned on or off according to the power supply operation module and the operation mode of the isolation component 30 further includes:
if the power mode is OFF, the isolation component 30 is controlled to be on, and the battery 20 supplies power to the parking controller 40, the first braking subsystem 50 and the second braking subsystem 60.
When the power mode of operation is OFF, the isolation device 30 is controlled to conduct, regardless of the mode of operation of the isolation device 30, and after conduction, the parking controller 40, the first brake subsystem 50, the second brake subsystem 60, and the load 80 are powered by the battery 20. The first braking subsystem 50 or the second braking subsystem 60 implements an automatic braking function according to the work order of the parking controller 40.
In the present embodiment, the isolation component 30 has two working modes, in the first preset mode, the isolation component 30 is used as a conductor, and the circuit fault does not trigger the action thereof; in the second preset mode, the isolation component 30 responds to the circuit failure, so that the requirement of supplying power by two independent power supplies of the redundant braking system can be met, and when one power supply fails, the other power supply can still work normally.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of this embodiment.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A redundant braking system, comprising: the system comprises a power generation device, a battery, an isolation component, a parking controller, a first brake subsystem and a second brake subsystem;
the first end of the isolation component is respectively connected with the battery and the second braking subsystem, and the second end of the isolation component is respectively connected with the power generation device, the parking controller and the first braking subsystem;
the isolation component is used for being disconnected when a power supply loop of the battery or a power supply loop of the power generation device fails;
the power generation device is used for supplying power to the parking controller, the first brake subsystem and the second brake subsystem and charging the battery when the isolation component is in a conduction state; when the isolation component is in a disconnected state, supplying power to the parking controller and the first braking subsystem;
the battery is used for supplying power to the second brake subsystem when the isolation component is in an off state.
2. The redundant braking system of claim 1, wherein the parking controller is configured to send braking commands to the first and/or second braking subsystems;
the first braking subsystem is used for braking when a braking instruction of the parking controller is received;
and the second braking subsystem is used for braking when a braking instruction of the parking controller is received or in an automatic parking mode.
3. The redundant brake system of claim 1 wherein said isolation component comprises an isolation switch and an isolation controller;
the first end of the isolating switch is connected with the first end of the isolating component, the second end of the isolating switch is connected with the second end of the isolating component, and the control end of the isolating switch is connected with the isolating controller;
and the isolation controller is used for controlling the isolation switch to be switched off when the power supply loop of the battery or the power supply loop of the power generation device is detected to be in fault.
4. The redundant braking system of claim 3 wherein said isolation controller is further connected to said battery and said generator for monitoring the operating conditions of said battery and said generator, respectively.
5. The redundant braking system of any one of claims 1 to 4, wherein the first braking subsystem includes sensors, a brake controller, and an actuator;
the brake controller is respectively connected with the sensor, the actuator, the parking controller, the power generation device and the second end of the isolation component.
6. The redundant braking system of any one of claims 1 to 4, further comprising a battery monitoring device connected to the battery;
the battery monitoring device is used for monitoring the working state of the battery.
7. The redundant braking system of any one of claims 1 to 4 further comprising a load connected to the second end of the isolation member.
8. The redundant braking system of claim 7 wherein said load comprises at least one of a power subsystem, a steering subsystem, a lighting subsystem, and a comfort entertainment subsystem.
9. An autopilot system comprising a redundant brake system according to any one of claims 1 to 8.
10. A vehicle characterized by comprising an autopilot system according to claim 9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291130A (en) * | 2022-01-06 | 2022-04-08 | 中车株洲电力机车有限公司 | Brake cylinder pressure safety guiding control device and method |
| CN115107730A (en) * | 2022-08-31 | 2022-09-27 | 北京路凯智行科技有限公司 | Mine unmanned vehicle |
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2021
- 2021-03-29 CN CN202120635622.7U patent/CN214450872U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291130A (en) * | 2022-01-06 | 2022-04-08 | 中车株洲电力机车有限公司 | Brake cylinder pressure safety guiding control device and method |
| CN115107730A (en) * | 2022-08-31 | 2022-09-27 | 北京路凯智行科技有限公司 | Mine unmanned vehicle |
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