JPS6226939B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a braking device for an unmanned vehicle.

Conventionally, there have been few examples of unmanned vehicles having an automatic steering function and a pneumatic braking device, so a vehicle such as a truck having a general pneumatic braking device will be described as an example here. In the case of manned operation, the driver always makes judgments and adjusts the amount of braking force depending on the situation. That is, in a general foot-operated braking mechanism, braking is performed by actuating a brake valve by pressing the foot, and the braking force changes depending on the pressing force. That is, the driver changes the force applied to his/her foot depending on the degree of danger that the driver perceives. For example, when a driver is about to collide with something right in front of them, they press the brake pedal with all their might. Therefore, at this time, the entire braking force possessed by the vehicle is generated. Also, when you are driving alongside another car and the distance between you and the car in front gradually approaches, you can lightly press the brake pedal, which will generate a small braking force and slow the car down. . In unmanned vehicles, determining the degree of danger based on the situation requires the installation of various detection and calculation devices, which is unreasonable from an economic standpoint, and it is necessary to analyze and classify possible phenomena in advance. Therefore, it is reasonable to compare it with the magnitude of braking force. In the above example, the former is called emergency braking, the latter is called stopping braking, and the braking that normally applies the brakes and brings the vehicle to a stop is called regular braking.

In the case of unmanned driving, a further problem is how to detect failures in the braking system. In the case of manned operation, if a failure is detected in the braking system, the system will determine the situation and take measures such as decelerating by downshifting the transmission, applying the parking brake, or bringing the vehicle into contact with another object. However, in unmanned operation, these judgments cannot be made immediately and appropriate measures cannot be taken.

In view of the above points, the present invention makes it possible to perform safe braking control by patterning failure modes in a braking system for an unmanned vehicle that does not have a judgment function as described above, and making judgments for manned driving. The purpose is to obtain a braking device.

In order to differentiate the magnitude of the braking force step by step, the present invention includes a plurality of air reservoirs and changes the filling pressure of each of the air reservoirs to provide a difference in braking force depending on the pressure of the air reservoir used. Furthermore, the front and rear braking systems are separated and independent to improve safety.
Either one or both of the braking devices is actuated and the magnitude of the braking force is controlled step by step, so that control similar to braking control during manned operation can be performed. Furthermore, a spring brake is used in the brake chamber to prevent a non-braking state from occurring due to failure or leakage of the air system.

Next, the present invention will be explained in detail with reference to the drawings. FIG. 1 is a circuit diagram showing an embodiment of a braking device according to the present invention.
1 is an air compressor, 2 and 3 are source air reservoirs, and 4 and 4' are check valves. The pressure is accumulated by ′. A governor 5 controls the air compressor 1 using the pressure of the source air reservoir 2 or 3 as a signal. When the brake valve 6 is operated, the compressed air in the source air reservoirs 2 and 3 becomes a signal pressure and is transmitted to the relay valve 9 and the other to the relay valve 10 through the double check valves 7 and 8, respectively. The relay valves 9 and 10 to which the signal pressure is applied discharge the compressed air from the source air reservoirs 2 and 3 from separately connected ports, and send it to the brake chambers 13 and 14 via the double check valve 11. , on the other hand, through the double check valve 12, the spring brake chamber 15
and 16. Each brake chamber 13, 14 and spring brake chamber 15, 16 is connected to a mechanical expansion brake mechanism to generate braking force. Original air reservoir 2 is air chamber 2
a and 2b, and a check valve 17 prevents backflow. Similarly, source air reservoir 3 is also air chamber 3.
A and 3b are separated, and a check valve 18 prevents backflow. The air chambers 2a and 3b are independent from each other, and form a dual system brake in which the front wheel braking system and the rear wheel braking system are operated separately. The spring brake chambers 15 and 16 feed compressed air into the air chamber on the rod side, and when the spring is compressed, the brake chamber 13
and 14, and when the compressed air is below a specified value, a braking action is performed by the force of the spring, and the compressed air is filled into the air chamber on the rod side from the source air reservoir 2b. It is supplied through a pressure release valve 19, a control valve 20, and a pressure control valve 21.

The control valve 20 can be operated to release the pressure in the chamber circuit to the atmosphere and operate the spring brake, and the emergency release valve 19 can be used to release the pressure in the chamber circuit to the atmosphere and operate the spring brake. When there is no compressed air and it is necessary to move the car in an emergency, the compressed air in the air chamber 3a is sent to the rod side air chambers of spring brake chambers 15, 16 and used to release the spring brake. In addition to the above, there is also an exhaust brake that uses engine braking by blocking exhaust from the engine, but this explanation will be omitted in this explanation.

The above-mentioned configuration is the same as a system in which the driver manually applies braking while riding in the vehicle, and the magnitude of the braking force is adjusted by the amount of operation of the brake valve 6.

Next, the configuration of the present invention will be explained. In unmanned operation, complex control is required to adjust the braking force in the same system, so the air reservoir 2
2 is provided separately, the air chambers 22a and 22b are connected to the air chambers 3b and 2a of the former air reservoirs 2 and 3, respectively, and pressure reducing valves 23 and 24 are provided in the middle to separate the air chambers 2 and 2.
The pressures 2a and 23b can be adjusted according to the required braking force. Since electricity is used as a medium for signal commands for unmanned operation, electromagnetic valves 25, 26, 27, 28 and pressure switches 29, 30, 31, 32 are provided in each system. All of the solenoid valves 25, 26, 27 are off valves in consideration of safety, and are normally energized, and in this state, the solenoid valves 25, 26, 27 are closed. When the electromagnetic valve 25 is de-energized, a signal pressure is sent to the relay valve 33, whereby the compressed air in the air chamber 22a is sent into the brake chambers 13 and 14 through the double check valve 11. It can be done. next,
When the electric valve 26 is de-energized, the relay valve 3
4, compressed air in the air chamber 22b is sent to the spring brake chambers 15 and 16. Further, when the electromagnetic valve 27 is de-energized, the relay valve 1 passes through the double check valves 7 and 8.
0 and 9 to direct compressed air to the respective brake chambers 13, 14 and spring brake chambers 15, 16. Pressure switches 29 and 31 are connected to each brake chamber 1.
3, 14 and spring brake chamber 1
It is a switch that closes when compressed air is sent to ports 5 and 16, and in addition to being used as a strap lamp switch, it is also used to check whether the brake is working. The pressure switch 30 is a switch for monitoring the pressure of the source air reservoirs 2 and 3, and is used to issue an alarm when the pressure is below a specified pressure. Pressure switch 32 is used to monitor the operation of the spring brake. The solenoid valve 28 is an on-valve and opens in an open state, and when electricity is applied, the pressure on the chamber side is released to the atmosphere, and a brake command is issued to the solenoid valve 25 or 26 (energized). When the pressure switch 29 or 31 does not close after a time corresponding to the air activation delay, the solenoid valve 28 is energized and the spring brake is activated.

As explained above, according to the present invention, in addition to the artificial braking function by directly operating the brake valve,
Depending on the urgency of the conditions that require braking that occur during automatic operation, a solenoid valve is activated to send high-pressure air from a predetermined air chamber into the brake chamber to apply braking, or other electromagnetic brakes. A service brake that operates a valve to send depressurized compressed air from a separate air reservoir into the brake chamber for braking, and a service brake that operates each of the solenoid valves individually to partially send compressed air to the brake chamber. In addition, when the compressed air in the braking system runs out due to a malfunction, it is possible to activate the emergency brake that automatically activates the spring brake. It is possible to make an emergency stop, and it is possible to provide braking performance that is safe and does not subject the vehicle to harsh operating conditions.

[Brief explanation of the drawing]

The figure is a circuit diagram showing an embodiment of a braking device for an unmanned vehicle according to the present invention. 1... Air compressor, 2, 3... Original air reservoir, 4...
...Check valve, 5...Governor, 6...Brake valve, 7,8...Double check valve, 9,10...Relay valve, 11,12...Double check valve, 13,14
... Brake chamber, 15, 16 ... Spring brake chamber, 17, 18 ... Check valve, 1
9...Emergency release valve, 20...
Control valve, 21... Pressure control valve, 22... Air reservoir, 23, 24...
Pressure reducing valve, 25, 26, 27, 28... Solenoid valve, 2
9, 30, 31, 32...pressure switch, 33,
34...Relay valve.

Claims (1)

[Claims] 1. In a braking system for an unmanned vehicle, which has corresponding source air reservoirs at the front and rear of the vehicle body, and which is equipped with a control system consisting of a control valve and piping from the source air reservoirs to the brake chamber, An unmanned operation characterized in that air reservoirs are respectively connected to each other via pressure reducing valves, and a control system consisting of a control valve and piping from the air reservoirs to the brake chamber is provided in parallel with each of the control systems. car braking system.