阅读说明：本技术 转向制动液压泵站及其应用 (Steering brake hydraulic pump station and application thereof ) 是由 梁科峰 王锐 张亚 孙舒畅 吴迪 姚远 于 2019-04-23 设计创作，主要内容包括：本发明提供了一转向制动液压泵站及其应用,其中所述转向制动液压泵站,应用于一无人驾驶车辆并且所述转向制动液压泵站包括一液压泵、一电机、一制动阀组、一转向阀组以及一泵站控制器,其中所述液压泵、所述制动阀组以及所述转向阀组被分别可控制地连接于所述泵站控制器,所述泵站控制器用于接收控制指令并且将其转换为电信号,所述泵站控制器基于所述电信号控制所述电机、所述液压泵、所述制动阀组以及所述转向阀组,所述液压泵在所述泵站控制器的控制下朝向所述制动阀组和所述转向阀组泵出压力油。(The invention provides a steering brake hydraulic pump station and application thereof, wherein the steering brake hydraulic pump station is applied to an unmanned vehicle and comprises a hydraulic pump, a motor, a brake valve bank, a steering valve bank and a pump station controller, wherein the hydraulic pump, the brake valve bank and the steering valve bank are respectively and controllably connected with the pump station controller, the pump station controller is used for receiving a control command and converting the control command into an electric signal, the pump station controller controls the motor, the hydraulic pump, the brake valve bank and the steering valve bank based on the electric signal, and the hydraulic pump pumps pressure oil towards the brake valve bank and the steering valve bank under the control of the pump station controller.)

1. A steering brake hydraulic pump station for use in an unmanned vehicle, comprising:

a hydraulic pump;

an electric motor, wherein said hydraulic pump is drivably connected to said electric motor;

a brake valve block, wherein said brake valve block is communicably connected to said hydraulic pump;

a steering valve set, wherein the steering valve set is communicably connected to the hydraulic pump; and

a pump station controller, wherein the hydraulic pump, the brake block and the steering block are respectively controllably connected to the pump station controller, the pump station controller is configured to receive control commands and convert them into electrical signals, the pump station controller controls the motor, the hydraulic pump, the brake block and the steering block based on the electrical signals, and the hydraulic pump pumps pressure oil towards the brake block and the steering block under control of the pump station controller.

2. The steering brake hydraulic pump station according to claim 1, wherein said steering brake hydraulic pump station further comprises a brake accumulator, wherein said brake accumulator is communicably connected to said hydraulic pump and to said brake valve bank.

3. The steering brake hydraulic pump station according to claim 2, wherein the steering brake hydraulic pump station further comprises a charge valve, wherein the charge valve is communicably connected to the hydraulic pump, the brake valve block and the brake accumulator, respectively, and the pressure oil is delivered toward the hydraulic pump and the brake valve block, respectively, after passing through the charge valve.

4. The steering brake hydraulic pump station according to claim 3, wherein when the pressure in the brake accumulator is lower than the charge start value of the charge valve, the hydraulic pump outputs the pressure oil toward the brake accumulator to a charge pressure upper limit value of the brake accumulator such that the hydraulic pump is in a low-pressure standby state.

5. The steering brake hydraulic pump station according to claim 3, wherein the steering brake hydraulic pump station further comprises a high pressure oil filter, wherein the high pressure oil filter is communicably connected to the hydraulic pump, the steering valve block, and the brake valve block, respectively, and the pressure oil is filtered through the high pressure oil filter and then transported toward the steering valve block and the charge valve, respectively.

6. The steering brake hydraulic pump station according to any one of claims 1 to 5, wherein the steering brake hydraulic pump station further comprises a start unloading valve, wherein the start unloading valve is controllably connected to the pump station controller, when the vehicle is started, the start unloading valve is energized to allow the X port of the hydraulic pump to be depressurized, the hydraulic pump operates at a low pressure, when the motor speed is normal, the start unloading valve is de-energized, and the hydraulic pump supplies oil according to an actual demand.

7. The steering brake hydraulic pump station according to any one of claims 1 to 5, wherein the brake valve set includes a service brake solenoid valve and a parking brake solenoid valve, wherein the service brake solenoid valve and the parking brake solenoid valve are communicably connected to the hydraulic pump, respectively, and the service brake solenoid valve and the parking brake solenoid valve are controllably connected to the pump station controller, respectively.

8. The steering brake hydraulic pump station according to claim 7, wherein the brake valve block includes a pressure reducing valve, wherein the pressure reducing valve is respectively communicated with the hydraulic pump and the parking brake solenoid valve, and the pressure oil is delivered toward the parking brake solenoid valve after being reduced in pressure by the pressure reducing valve.

9. The steering brake hydraulic pump station according to claim 7, wherein the service brake solenoid valve of the brake valve bank is an electromagnetic proportional pressure reducing valve.

10. The steering brake hydraulic pump station according to any one of claims 1 to 5, wherein the steering brake hydraulic pump station further comprises a frame, wherein the hydraulic pump, the motor, the steering valve block, and the brake valve block are disposed at the frame.

11. The steering brake hydraulic pump station according to any one of claims 1 to 5, wherein said motor is an inverter motor and said hydraulic pump is a variable displacement plunger pump, wherein said variable displacement plunger pump is speed-controllably connected to said inverter motor.

12. An unmanned port AGV vehicle, comprising:

a vehicle body;

a walking unit, wherein the vehicle body is supported on the walking unit, and the walking unit is used for driving the vehicle body to move;

a drive unit, wherein the drive unit is provided to the vehicle body, and the traveling unit is drivably connected to the drive unit;

an external detection unit, wherein the external detection unit is disposed outside the vehicle body, the external detection unit being configured to detect an environment around the vehicle body;

a brake unit, wherein the brake unit is provided to the vehicle body, and the traveling unit is brakeably connected to the brake unit;

a steering unit, wherein the steering unit is provided to the vehicle body, and the traveling unit is steerably connected to the steering unit;

a hydraulic pump station according to any of claims 1-11, wherein the brake unit is controllably connected to the brake valve block and the steering unit is controllably connected to the steering valve block; and

a control unit, wherein the traveling unit, the driving unit, the braking unit, and the steering unit are controllably connected to the control unit, respectively, the external detection unit is communicably connected to the control unit, wherein the control unit and the hydraulic pump station are communicably connected to each other, and the pump station controller controls the motor, the hydraulic pump, the steering valve group, and the brake valve group based on instructions from the control unit.

13. The port unmanned AGV vehicle of claim 12 wherein the control unit is communicatively coupled to the hydraulic power unit via a CAN bus.

14. The port unmanned AGV vehicle of claim 12 wherein the vehicle includes a pump station detection unit, wherein the pump station detection unit is disposed at the hydraulic pump station, wherein the pump station detection unit is communicatively coupled to the control unit.

15. The port unmanned AGV vehicle of claim 12 wherein the hydraulic pump station is removably mounted to the vehicle body.

16. The working method of the steering brake hydraulic pump station is characterized by comprising the following steps:

a steering brake hydraulic pump station receives a control command from a control unit of an unmanned vehicle;

converting the control command into an electric signal through a pump station controller; and

and conveying pressure oil from a hydraulic pump of the steering brake hydraulic pump station towards a brake valve bank and a steering valve bank based on the electric signal.

17. The method of claim 16, wherein in said method said pressurized oil from said hydraulic pump is delivered through a charge valve towards said brake valve block and a brake accumulator, respectively, wherein said brake accumulator is communicably connected to said brake valve block.

18. The operating method according to claim 17, wherein in the above method, when the unmanned vehicle is started, an unloading valve of the steering brake hydraulic pump station is actuated to allow an X port of the hydraulic pump to be depressurized.

19. The operating method according to claim 18, wherein in the above method, when the rotation speed of the motor of the unmanned vehicle is normal, the unloading valve is controlled to stop operating so that the hydraulic pump supplies oil based on an actual demand.

20. A method of operation as claimed in claim 16 wherein in the method the hydraulic pump is a variable displacement plunger pump and is driven by a variable frequency motor of the steering brake pump station.

21. The method of claim 20, wherein in the method, when the unmanned vehicle is in a standby state, the rotation speed of the variable frequency motor is reduced.

Technical Field

The invention relates to the field of wheel type engineering, in particular to a steering brake hydraulic pump station and application thereof.

Background

In order to meet the requirements of complex field use, the traditional vehicles, especially the engineering vehicles, put forward higher requirements on the steering system of the vehicles.

Current steering systems are primarily based on signals from the driver during driving of the vehicle, and then the associated hydraulic steering control system controls the front wheels or the rear wheels of the vehicle in cooperation with the front wheels based on signals from the driver so that the steering of the front or rear wheels of the vehicle meets the operational expectations of the driver. In general, a driver needs to control a steering wheel of a vehicle to control the steering of the vehicle, for example, in a vehicle steering control system based on a multi-mode steering valve, when the driver operates the steering wheel, a full hydraulic steering device determines the output direction of hydraulic oil supplied by a steering pump based on the left and right rotation of the steering wheel, thereby realizing the steering control of front wheels or rear wheels of the vehicle.

Currently, automobile manufacturers are focusing on developing unmanned vehicles, and the developed objects are not only common household cars, but also the unmanned technology of large engineering vehicles is actively developed. The advent of large construction vehicles based on unmanned driving would greatly improve the efficiency of production.

It is apparent that the existing steering system based on driver's operation cannot be applied to an unmanned vehicle. Further, the conventional vehicle brake depends on the direct operation of the driver on the vehicle, for example, the driver brakes the vehicle by stepping on the brake. Once the vehicle adopts the unmanned technology, how to realize the braking of the vehicle under the premise of the original braking mechanism becomes an important problem.

Disclosure of Invention

An object of the present invention is to provide a steering brake hydraulic pump station and an application thereof, wherein the hydraulic pump station for an unmanned vehicle can be applied to an unmanned vehicle to achieve steering and braking of the vehicle.

Another object of the present invention is to provide a steering brake hydraulic pump station and use thereof, wherein the hydraulic pump station for an unmanned vehicle is of a modular design, and can be conveniently matched with various vehicles.

Another object of the present invention is to provide a steering brake hydraulic pump station and its use, wherein the hydraulic pump station for an unmanned vehicle is of a modular design, and the respective modules of the hydraulic pump station can be designed and assembled as appropriate for practical use.

Another object of the present invention is to provide a steering brake hydraulic pump station and its use, in which the hydraulic pump station for an unmanned vehicle can be loaded at the time of vehicle start.

Another object of the present invention is to provide a steering brake hydraulic pump station and its use, wherein the hydraulic pump station for an unmanned vehicle can perform braking at different braking deceleration speeds.

It is another object of the present invention to provide a steering brake hydraulic pump station and use thereof, in which the operating state of the hydraulic pump station for an unmanned vehicle can be monitored in real time.

Another object of the present invention is to provide a steering brake hydraulic pump station and its use, wherein the steering speed of the hydraulic pump station for an unmanned vehicle is linearly adjustable and has high accuracy in steering.

Another object of the present invention is to provide a steering brake hydraulic pump station and its application, wherein the brake intensity of the hydraulic pump station for unmanned vehicles is linearly adjustable during braking.

According to one aspect of the present invention, there is provided a steering brake hydraulic pump station for use with an unmanned vehicle, wherein the steering brake hydraulic pump station comprises:

a hydraulic pump;

an electric motor, wherein said hydraulic pump is drivably connected to said electric motor;

a brake valve block, wherein said brake valve block is communicably connected to said hydraulic pump;

a steering valve set, wherein the steering valve set is communicably connected to the hydraulic pump; and

a pump station controller, wherein the hydraulic pump, the brake block and the steering block are respectively controllably connected to the pump station controller, the pump station controller is configured to receive control commands and convert them into electrical signals, the pump station controller controls the motor, the hydraulic pump, the brake block and the steering block based on the electrical signals, and the hydraulic pump pumps pressure oil towards the brake block and the steering block under control of the pump station controller.

According to some embodiments of the invention, the steering brake hydraulic pump station further comprises a brake accumulator, wherein the brake accumulator is communicably connected to the hydraulic pump and communicably connected to the brake valve pack.

According to some embodiments of the invention, the steering brake hydraulic pump station further comprises a charge valve, wherein the charge valve is communicably connected to the hydraulic pump, the brake valve block and the brake accumulator, respectively, and the pressure oil is delivered toward the hydraulic pump and the brake valve block, respectively, after passing through the charge valve.

According to some embodiments of the invention, when the pressure in the brake accumulator is lower than the charge start value of the charge valve, the hydraulic pump outputs the pressure oil to the brake accumulator to a charge pressure upper limit value of the brake accumulator so that the hydraulic pump is in a low-pressure standby state.

According to some embodiments of the invention, the steering brake hydraulic pump station further comprises a high pressure oil filter, wherein the high pressure oil filter is communicably connected to the hydraulic pump, the steering valve block and the brake valve block, respectively, and the pressure oil is filtered by the high pressure oil filter and then transported toward the steering valve block and the charging valve, respectively.

According to some embodiments of the present invention, the steering brake hydraulic pump station further comprises a start unloading valve, wherein the start unloading valve is controllably connected to the pump station controller, when the vehicle is started, the start unloading valve is energized to release pressure at the X port of the hydraulic pump, the hydraulic pump operates at a low pressure, when the motor rotates normally, the start unloading valve is de-energized, and the hydraulic pump supplies oil according to actual demand.

According to some embodiments of the invention, the brake valve set comprises a service brake solenoid valve and a parking brake solenoid valve, wherein the service brake solenoid valve and the parking brake solenoid valve are respectively communicably connected to the hydraulic pump, and the service brake solenoid valve and the parking brake solenoid valve are respectively controllably connected to the pump station controller.

According to some embodiments of the present invention, the brake valve assembly includes a pressure reducing valve, wherein the pressure reducing valve is communicated with the hydraulic pump and the parking brake solenoid valve, respectively, and the pressure oil is delivered toward the parking brake solenoid valve after being reduced in pressure by the pressure reducing valve.

According to some embodiments of the invention, the service braking solenoid valve of the brake valve block is an electromagnetic proportional pressure reducing valve.

According to some embodiments of the invention, the steering brake hydraulic pump station further comprises a frame, wherein the hydraulic pump, the motor, the steering valve block and the brake valve block are arranged to the frame.

According to some embodiments of the invention, the motor is an inverter motor and the hydraulic pump is a variable displacement piston pump, wherein the variable displacement piston pump is speed controllable connected to the inverter motor.

According to another aspect of the present invention, there is provided a port unmanned AGV comprising:

a vehicle body;

a walking unit, wherein the vehicle body is supported on the walking unit, and the walking unit is used for driving the vehicle body to move;

a drive unit, wherein the drive unit is provided to the vehicle body, and the traveling unit is drivably connected to the drive unit;

an external detection unit, wherein the external detection unit is disposed outside the vehicle body, the external detection unit being configured to detect an environment around the vehicle body;

a brake unit, wherein the brake unit is provided to the vehicle body, and the traveling unit is brakeably connected to the brake unit;

a steering unit, wherein the steering unit is provided to the vehicle body, and the traveling unit is steerably connected to the steering unit;

a hydraulic pump station according to the above, wherein said brake unit is controllably connected to said brake valve block and said steering unit is controllably connected to said steering valve block; and

a control unit, wherein the traveling unit, the driving unit, the braking unit, and the steering unit are controllably connected to the control unit, respectively, the external detection unit is communicably connected to the control unit, wherein the control unit and the hydraulic pump station are communicably connected to each other, and the pump station controller controls the motor, the hydraulic pump, the steering valve group, and the brake valve group based on instructions from the control unit.

According to some embodiments of the invention, the control unit and the hydraulic pump station are communicatively connected to each other via a CAN bus.

According to some embodiments of the invention, the vehicle comprises a pump station detection unit, wherein the pump station detection unit is arranged at the hydraulic pump station, wherein the pump station detection unit is communicatively connected to the control unit.

According to some embodiments of the invention, the hydraulic pump station is detachably mounted to the vehicle body.

According to another aspect of the present invention, there is provided a method of operating a steering brake hydraulic pump station, comprising the steps of:

a steering brake hydraulic pump station receives a control command from a control unit of an unmanned vehicle;

converting the control command into an electric signal through a pump station controller; and

and conveying pressure oil from a hydraulic pump of the steering brake hydraulic pump station towards a brake valve bank and a steering valve bank based on the electric signal.

According to some embodiments of the invention, in the above method, the pressure oil from the hydraulic pump is delivered through a charging valve towards the brake valve block and a brake accumulator, respectively, wherein the brake accumulator is communicably connected to the brake valve block.

According to some embodiments of the present invention, in the above method, when the unmanned vehicle is started, an unloading valve of the steering brake hydraulic pump station is activated to allow the X port of the hydraulic pump to be depressurized.

According to some embodiments of the present invention, in the above method, after the rotation speed of the motor of the unmanned vehicle is normal, the unloading valve is controlled to stop operating so that the hydraulic pump supplies oil based on an actual demand.

According to some embodiments of the invention, in the above method, the hydraulic pump is a variable displacement plunger pump and the hydraulic pump is driven by a variable frequency motor of the steering brake pump station.

According to some embodiments of the invention, in the above method, when the unmanned vehicle is in a standby state, the rotation speed of the variable frequency motor is reduced.

Drawings

FIG. 1 is a schematic diagram of an unmanned vehicle according to a preferred embodiment of the present invention.

Fig. 2 is a schematic view of the unmanned vehicle according to the above preferred embodiment of the present invention.

Fig. 3A is a schematic view of a steer brake hydraulic pump station according to a preferred embodiment of the present invention.

Fig. 3B is a schematic view of the steering brake hydraulic pump station according to the above preferred embodiment of the present invention.

FIG. 4 is a schematic diagram of a brake valve assembly according to a preferred embodiment of the present invention.

FIG. 5 is a schematic view of a high pressure filter assembly according to a preferred embodiment of the present invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Referring to fig. 1 and 2, and to fig. 3A and 3B, an embodiment of a port unmanned AGV vehicle 1 according to the invention is illustrated.

AGV means Automated Guided Vehicle, and the port unmanned AGV Vehicle 1 means a Vehicle 1 for port work that does not require a driver and can automatically guide transportation. For convenience of description, the port unmanned AGV vehicle 1 is simply referred to as "vehicle 1" in the following description.

The vehicle 1 includes a vehicle body 10, a traveling unit 20, a driving unit 30, an energy supplying unit 40, a control unit 50 and a steering brake hydraulic pump station 60, wherein the traveling unit 20 the driving unit 30 the energy supplying unit 40 the control unit 50 and the steering brake hydraulic pump station 60 are respectively provided in the vehicle body 10, the traveling unit 20 can drive the vehicle body 10 to move, the traveling unit 20 is drivably connected to the driving unit 30 so that the traveling unit 20 can be driven by the driving unit 30 to move the vehicle body 10, wherein the driving unit 30 is energizably connected to the energy supplying unit 40, the steering brake hydraulic pump station 60 is used for controlling the steering and braking of the vehicle 1. The traveling unit 20, the driving unit 30, the power supply unit 40, and the steering brake hydraulic pump station 60 are controllably connected to the control unit 50, respectively.

Further, the vehicle 1 comprises a steering unit 70 and a braking unit 80, wherein the steering unit 70 is used for steering the vehicle 1, the braking unit 80 is used for braking the vehicle 1, and the steering unit 70 and the braking unit 80 are controllably connected to the control unit 50 and the steering brake hydraulic pump station 60, respectively. The control unit 50 is configured to receive an external signal, and when the control unit 50 receives the external signal, the steering brake hydraulic pump station 60 communicably connected to the control unit 50 controls steering and braking of the vehicle 1 based on an external instruction.

It should be noted that the vehicle 1 is an unmanned vehicle 1, so that the vehicle body 10 does not need to be equipped with a hand brake or a foot brake, and the steering and braking of the vehicle 1 can be controlled by the steering brake hydraulic pump station 60.

Specifically, the steering brake hydraulic pump station 60 includes a hydraulic pump 61, a motor assembly 62, a steering brake valve assembly 63, a fuel tank 64, and a pump station controller 65, wherein the motor assembly 62 includes a motor 621 and a motor controller 622, wherein the motor 621 is controllably connected to the motor 621, wherein the hydraulic pump 61 is drivably connected to the motor 621, wherein the steering brake valve assembly 63 is communicably connected to the fuel tank 64 and the hydraulic pump 61, wherein the steering brake valve assembly 63 includes a steering valve set 631 and a brake valve set 632, wherein the steering unit 70 is controllably connected to the steering valve set 631, and the brake unit 80 is controllably connected to the brake valve set 632. The steering valve group 631 and the brake valve group 632 are communicably connected to the hydraulic pump 61, respectively.

The oil tank 64 is used to store oil, and the hydraulic pump 61 is communicably connected to the oil tank 64. The hydraulic pump 61, the motor assembly 62 and the steering brake bank 632 are each controllably connected to the pump station controller 65.

The pump station controller 65 can receive an external command, then convert the external command into an electric signal, and then control each component of the steering brake hydraulic pump station 60 to be operated according to the electric signal. For example, the motor controller 622 controls the motor 621 to start operating at a certain operating efficiency within a certain time period based on the electric signal, the hydraulic pump 61 is driven by the motor 621, and then pumps the pressure oil in the oil tank 64 to the steering valve set 631 and the brake valve set 632 of the steering valve set 632 63, respectively, so that the steering valve set 631 and the brake valve set 632 can control the operation of the steering unit 70 and/or the brake unit 80 according to the electric signal, thereby achieving steering and/or braking of the vehicle 1.

More specifically, the pump station controller 65 is communicatively connected to the control unit 50. In the present example, the steering brake hydraulic pump stations 60 are communicably connected to each other via a CAN bus and the control unit 50, wherein the pump station controllers 65 of the steering brake hydraulic pump stations 60 are communicably connected to each other via a CAN bus and the control unit 50. The control unit 50 of the vehicle 1 may send a signal to the pump station controller 65, the pump station controller 65 steering and/or braking at a corresponding speed based on the signal of the control unit 50.

The pump station detection unit of the steering brake hydraulic pump station 60 is communicably connected to the control unit 50. In this example, the pump station detection units are communicatively connected to each other via a CAN bus and the control unit 50. The control unit 50 monitors the operating state of the steering brake hydraulic pump station 60 in real time based on the detection data of the pump station detection unit.

The control unit 50 is capable of receiving control instructions. The pump station controller 65 converts the control command received by the control unit 50 into an electrical signal and controls the hydraulic pump 61, the motor 621, and the steering brake valve block 632 assembly 63, respectively.

For example, based on a control command from the outside, the motor 621 can drive the hydraulic pump 61 to operate, the hydraulic pump 61 can pump out the pressure oil in the oil tank 64, and the pressure oil can be sent toward the steering valve group 631 through a pipe to enable the steering valve group 631 to operate, so that the steering unit 70 realizes steering of the vehicle 1 under the control of the steering valve group 631.

For example, based on a control command from the outside, the motor 621 can drive the hydraulic pump 61 to operate, the hydraulic pump 61 can pump out the pressure oil in the oil tank 64, and the pressure oil can be conveyed toward the brake valve group 632 through a pipe to enable the brake valve group 632 to operate, so that the brake unit 80 realizes braking of the vehicle 1 under the control of the brake valve group 632.

Further, the walking unit 20 includes a plurality of wheels, and the number of the wheels may be two, three or more. The number of said wheels is four, two at the front of said vehicle 1 and two at the rear of said vehicle 1. At least one of the wheels of the traveling unit 20 can be steered by the steering unit 70 or braked by the braking unit 80.

Further, the steering brake hydraulic pump station 60 includes a frame 66, wherein the hydraulic pump 61, the motor assembly 62, the steering brake valve assembly 63, the oil tank 64, and the pump station controller 65 are disposed at the frame 66. The whole steering brake hydraulic pump station 60 adopts a modular design, so that the whole steering brake hydraulic pump station 60 can be installed on the vehicle body 10, and the maintenance and the replacement of the steering brake hydraulic pump station 60 are also facilitated.

In this example, the steering brake hydraulic pump station 60 is modularly arranged at the rear of the vehicle body 10. The steering brake hydraulic pump station 60 is reserved with a plurality of ports to connect to an external cylinder of the vehicle 1, the brake unit 80, the steering unit 70, and the like.

It is understood that the steering brake hydraulic pump station 60 of a modular design can be conveniently mounted to the vehicle body 10. The plurality of components of the steering brake hydraulic pump station 60 need not be mounted to the vehicle body 10 one by one, but may be mounted to the vehicle body 10 at a time. At the time of disassembly, a plurality of components of the steering brake hydraulic pump station 60 may be integrally disassembled from the vehicle body 10.

The steering brake hydraulic pump station 60 may be applied to a conventional vehicle 1 that requires a driver to drive, and the steering brake hydraulic pump station 60 may also be applied to an unmanned vehicle 1. In the present example, the steering brake hydraulic pump station 60 is applied to the unmanned vehicle 1.

The pump station controller 65 of the steering brake hydraulic pump station 60 may receive the signal from the control unit 50 and convert it into an electrical signal.

For example, a user may control the vehicle 1 from a remote location through a remote control device, such as controlling the steering of the vehicle 1, the control unit 50 of the vehicle 1 receives a wireless signal from the remote control device, and then the control unit 50 generates a control command based on the wireless signal of the remote control device and sends the control command to the pump station controller 65, and the pump station controller 65 controls the operation of the hydraulic pump 61 based on the control command. The hydraulic pump 61 is operated under the direction of the control command to pump the pressure oil in the oil tank 64 to the steering valve set 631, so that the steering of the traveling unit 20 is controlled by the steering valve set 631.

The wireless signal from the remote control device can be passed on by the control unit 50, which the pump station controller 65 can then convert into an electrical signal. The steering valve set 631 and the brake valve set 632 can both adopt electric proportional control, so that the steering speed of the vehicle 1 can be linearly adjusted, the precision is high, and the braking strength of the vehicle 1 can be linearly adjusted.

In the conventional vehicle 1 requiring driver driving, the operation of the steering brake hydraulic pump station 60 requires driver operation to complete steering or braking of the vehicle 1, for example, when the vehicle 1 requires steering, the driver needs to operate a steering wheel to control the steering brake hydraulic pump station 60 so as to achieve steering, for example, when the vehicle 1 requires braking, the driver needs to operate a hand brake or a foot brake to control the steering brake hydraulic pump station 60 so as to achieve braking.

In this example, the turning and braking of the vehicle 1 can be achieved without a driver, the user can achieve remote control of the vehicle 1, and even the vehicle 1 can automatically advance according to a preset route, once the vehicle 1 moves to a section of the preset route that needs to be turned, the control unit 50 sends a command to the pump station controller 65, and then the pump station controller 65 controls the operation of the hydraulic pump 61. The hydraulic pump 61 pumps the pressure oil in the oil tank 64 to the steering valve group 631, so that steering of the traveling unit 20 of the vehicle 1 is achieved by means of the steering valve group 631.

Further, in this example, the vehicle 1 includes a detection unit 90, wherein the detection unit 90 is provided to the vehicle body 10 or the steering brake hydraulic pump station 60. The detecting unit 90 includes an external detecting unit 91, the external detecting unit 91 is used for detecting the external state of the vehicle body 10, wherein the external detecting unit 91 is disposed on the vehicle body 10. The external detection unit 91 may be provided at a front portion of the vehicle body 10, a rear portion of the vehicle body 10, and a side portion of the vehicle body 10.

When the external detection unit 91 is disposed at the front portion of the vehicle body 10, the external detection unit 91 may be used to detect the surrounding environment in front of the vehicle body 10, such as an obstacle. When the external detection unit 91 is disposed at the rear portion of the vehicle body 10, the external detection unit 91 may be used to detect the surrounding environment behind the vehicle body 10, for example, another vehicle behind the vehicle body 10. When the external detection unit 91 is provided at the side portion of the vehicle body 10, the external detection unit 91 may be used to detect the surrounding environment at the side of the vehicle body 10, for example, another vehicle at the side of the vehicle body 10.

The external detection unit 91 may comprise a plurality of detectors, which may be of the same or different type, such as optical detectors, infrared detectors, etc.

The external detection unit 91 is communicably connected to the control unit 50. The control unit 50 generates a control instruction to control steering and braking of the vehicle 1 based on the real-time state in the vicinity of the vehicle 1 detected by the external detection unit 91.

For example, when the vehicle 1 advances along a predetermined route, the external detection unit 91 detects that an obstacle exists in front of the vehicle 1, and if the vehicle 1 continues to advance, the obstacle will collide with the external detection unit. Based on the state of the obstacle detected by the external detection unit 91 and the environmental information in front of the vehicle body 10, the control unit 50 generates a control command and sends the control command to the steering brake hydraulic pump station 60. The hydraulic pump 61 steers the traveling unit 20 by pumping the pressure oil to the steering valve group 631.

It is to be noted that, after the running unit 20 turns, the vehicle body 10 bypasses the obstacle and continues to follow a preset route.

For example, when the vehicle 1 travels along a predetermined route, the external detection unit 91 detects that an obstacle suddenly appears in front of the vehicle 1, and if the vehicle 1 continues to travel, the obstacle collides with the obstacle. Based on the state of the obstacle detected by the external detection unit 91 and the environmental information in front of the vehicle body 10, the control unit 50 generates a control command and sends the control command to the steering brake hydraulic pump station 60. The hydraulic pump 61 causes the traveling unit 20 to be braked by pumping the pressure oil to the brake valve block 632 so that the vehicle 1 can be braked to avoid a collision with the obstacle.

It is noted that after the vehicle 1 is braked, the vehicle body 10 may choose to bypass the obstacle and continue to follow a preset route.

Referring to fig. 3A to 5, an embodiment of the steering brake hydraulic pump station 60 according to the present invention is illustrated.

The steering brake hydraulic pump station 60 includes a hydraulic pump 61, a motor assembly 62, a steering brake valve assembly 63, an oil tank 64, and a pump station controller 65. The motor assembly 62 includes a motor 621 and a motor controller 622, the motor 621 being controllably connected to the motor controller 622. The steering brake valve assembly 63 includes a steering valve block 631 and a brake valve block 632, wherein the steering valve block 631 and the brake valve block 632 are communicably connected to the hydraulic pump 61, respectively. The hydraulic pump 61, the motor 621, the steering valve block 631, and the brake valve block 632 are each controllably connected to the pump station controller 65. The hydraulic pump 61 is communicably connected to the oil tank 64. The oil tank 64 stores the pressure oil. The hydraulic pump 61 may pump the pressure oil in the oil tank 64 to deliver the pressure oil toward the steering valve group 631 and the brake valve group 632.

Further, the steering brake hydraulic pump station 60 includes an oil filter assembly 67, wherein the pressure oil is pumped out from the oil tank 64 by the hydraulic pump 61 and is delivered toward the steering valve set 631 and the brake valve set 632.

The oil filter assembly 67 is located between the hydraulic pump 61 and the steering valve block 631 and between the hydraulic pump 61 and the brake valve block 632 to filter the pressure oil. The pressure oil is transported towards the diverter valve block 631 and the brake valve block 632 after filtering by the oil filter assembly 67.

The oil filter assembly 67 includes a high pressure oil filter 671, wherein the high pressure oil filter 671 is located between the hydraulic pump 61 and the diverter valve block 631, or the high pressure oil filter 671 is located between the hydraulic pump 61 and the brake valve block 632. The pressurized oil is pumped by the hydraulic pump 61, passes through the high-pressure oil filter 671, and is then transported toward the diverter valve block 631 and the brake valve block 632, respectively.

The high-pressure oil filter 671 further includes a plate-type high-pressure oil filter 6711 and a main relief valve 6712, wherein the plate-type high-pressure oil filter 6711 is integrated with the main relief valve 6712, the plate-type high-pressure oil filter 6711 is communicably connected to the hydraulic pump 61, and the main relief valve 6712 is communicably connected to the oil tank 64. A pressure sensor is provided in the high-pressure oil filter 671. The high-pressure oil filter 671 is directly communicated with the hydraulic pump 61 through a pipe. The pressure sensor is used to detect the pressure of the hydraulic pump 61 at that location. Once the pressure of the steering brake hydraulic pump station 60 exceeds the set value of the primary relief valve 6712 of the high-pressure oil filter 671, the pressure oil is relieved back to the oil tank 64 through the primary relief valve 6712 to prevent the oil line pressure of the steering brake hydraulic pump station 60 from being too high.

Further, it is worth mentioning that the steering brake hydraulic pump station 60 comprises a brake accumulator 68, wherein the brake accumulator 68 is communicably connected to the hydraulic pump 61 and to the brake valve block 632. The brake accumulator 68 is capable of storing the pressure oil and re-transporting the pressure oil stored within the brake accumulator 68 toward the brake valve block 632 when needed by the brake valve block 632.

The pressure oil from the oil tank 64 can be transported toward the steering valve block 631, the brake valve block 632, and the brake accumulator 68, respectively, by the hydraulic pump 61.

Further, the steering brake hydraulic pump station 60 includes a charging valve 69, wherein the brake accumulator 68 and the brake valve block 632 are communicably connected to the charging valve 69, respectively.

The pressure oil from the oil tank 64 is transported toward the steering valve block 631 and the brake valve block 632, respectively, by the hydraulic pump 61. The charge valve 69 is located between the hydraulic pump 61 and the set of diverter valves 631. The pressurized oil passes through the charging valve 69 and then is transmitted to the brake valve block 632 and the steering valve block 631 respectively.

That is, after the pressure oil is pumped by the hydraulic pump 61, first, a portion of the pressure oil is transferred toward the steering valve group 631, a portion of the pressure oil is transferred toward the charge valve 69, and then the pressure oil is transferred toward the brake accumulator 68 and the brake valve group 632 through the charge valve 69, respectively.

When the pressure in the brake accumulator 68 is lower than the preset charging value of the charging valve 69, the LS port of the charging valve 69 outputs a signal to the X port of the hydraulic pump 61, and then the hydraulic pump 61 outputs the pressure oil to the brake accumulator 68 until the pressure of the charging valve 69 reaches the charging pressure upper limit value, and the hydraulic pump 61 is in the low-pressure standby state.

When the brake valve block 632 needs the pressure oil, the brake accumulator 68 can directly supply the pressure oil to the brake valve block 632, because the hydraulic pump 61 is in the low-pressure standby state, the pressure needed by the brake valve block 632 cannot be reached in a short time.

In this way, the hydraulic pump 61 can be in the low-pressure standby state, and the brake accumulator 68 can function as an auxiliary output, thereby being beneficial to saving energy of the whole steering brake hydraulic pump station 60.

It is worth mentioning that the steering brake hydraulic pump station 60 can achieve thermal balance without a special radiator through a load sensing technology and a reasonable design of the oil tank 64.

Further, the oil filter assembly 67 comprises an air filter 672, wherein the air filter 672 is arranged in the oil tank 64 for preventing contaminants from being mixed into the oil tank 64 following air due to a change in the amount of oil in the oil tank 64.

The oil filter assembly 67 further comprises an oil suction filter 673, wherein the oil suction filter 673 is arranged between the oil tank 64 and the hydraulic pump 61. The oil suction filter 673 is capable of filtering contaminants from the oil tank 64 to facilitate normal operation and service life of the hydraulic pump 61.

Further, the detection unit 90 includes a pump station detection unit 92, wherein the pump station detection unit 92 is configured to detect an operation state of the steering brake hydraulic pump station 60. The pump station detection unit 92 is communicatively connected to the control unit 50. In this example, the pump station detection unit 92 and the control unit 50 are communicatively connected to each other via a CAN bus. The control unit 50 monitors the operating state of the steering brake hydraulic pump station 60 in real time based on the detection data of the pump station detection unit 92.

The pump station detection unit 92 may comprise a plurality of detectors, wherein the detectors may be liquid level detectors, temperature sensors, pressure sensors, etc. The data detected by the pump station detection unit 92 may be sent to the control unit 50, and the control unit 50 then sends the relevant data outwards to facilitate remote monitoring of the vehicle 1 by a user. The level detector of the pump station detection unit 92 may be provided to the oil tank 64 to obtain stored data of the oil in the oil tank 64. The temperature sensor of the pump station detection unit 92 may be provided to the oil tank 64 to obtain temperature data about the oil tank 64. The pressure sensor of the pump station detection unit 92 may also be provided to the tank 64 to obtain the operating pressure of the tank 64. Of course, it is understood that the pump station detection unit 92 may also be provided at other locations of the steering brake hydraulic pump station 60, which obtain operational status data of other components of the steering brake hydraulic pump station 60.

In this example, the pump station detection unit 92 includes a temperature sensor 921, a fluid level sensor 922, a visual fluid level thermometer 923, a pump pressure sensor 924, a brake accumulator pressure sensor 925, and a parking brake pressure sensor 926. The temperature sensor 921 is provided to the steering brake hydraulic pump station 60, and is configured to detect an operating temperature of the steering brake hydraulic pump station 60. The level sensor 922 is provided in the oil tank 64, and detects a remaining pressure oil level of the oil tank 64. The visual liquid level gauge 923 is provided in the steering brake hydraulic pump station 60, and is configured to detect a liquid level and a liquid temperature at a preset position of the steering brake hydraulic pump station 60.

The pump pressure sensor 924 is provided at the steering brake hydraulic pump station 60, and detects a pressure of the hydraulic pump at a predetermined position. In detail, the pump pressure sensor 924 is disposed in the high-pressure oil filter 671. The high-pressure oil filter 671 is directly communicated with the hydraulic pump 61 through a pipe. The pump pressure sensor 924 is used to detect the pressure of the hydraulic pump 61 at that location.

The brake accumulator pressure sensor 925 is disposed in the brake valve bank and is configured to detect a pressure of the brake accumulator 67 when delivering oil toward the brake valve bank 632. The parking brake pressure sensor 926 is provided to the brake valve block 632

Further, the motor 621 of the steering brake hydraulic pump station 60 is an inverter motor 621, wherein the operation of the hydraulic pump 61 can be controlled by the inverter motor 621, and the rotation speed of the inverter motor 621 can be timely adjusted based on the demand of the hydraulic pump 61, so that the operation of the entire steering brake hydraulic pump station 60 is more energy-saving.

In the present example, the hydraulic pump 61 is implemented as a variable displacement piston pump. Further, a main relief valve 6712 is integrated in the high-pressure oil filter 671 of the oil filter assembly 67, so as to be beneficial to ensuring the pressure safety in the steering brake hydraulic pump station 60.

The operating speed of the hydraulic pump 61 can be controlled by the motor controller 622 of the motor 621. When the vehicle 1 is on standby, the operating speed of the hydraulic pump 61 may be reduced to reduce power consumption. When the vehicle 1 is in the in-gear running state, the rotation speed of the hydraulic pump 61 may be increased to supply oil to the steering valve group 631.

When the vehicle 1 needs to turn, the pump station controller 65 of the steering brake hydraulic pump station 60 receives a steering command from the control unit 50. The steering command of the control unit 50 may be generated based on the detection data of the detection unit 90 or may be from an operator. The pump station controller 65 converts the steering commands to electrical signals that are sent to the steering valve block 631.

The pressurized oil is pumped by the hydraulic pump 61 and filtered and output toward the steering valve group 631. In this example, the number of the wheels of the traveling unit 20 of the vehicle 1 is four, and each of the wheels can be controlled to turn.

The four electromagnets of the steering valve group 631 control the left and right steering of the two wheels located at the front of the vehicle body 10 and the left and right steering of the two wheels located at the rear of the vehicle body 10, respectively.

It should be noted that the electromagnet of the steering valve set 631 is a proportional quantity, so that the steering valve set 631 can output corresponding flow according to a certain proportion based on the magnitude of the current input to the steering valve set 631, thereby implementing the control of steering the vehicle 1 at different steering speeds.

The steering speed of the vehicle 1 is linearly adjustable and has high accuracy.

When the vehicle 1 requires braking, the pump station controller 65 of the steering brake hydraulic pump station 60 is based on a braking command received from the control unit 50. The braking command of the control unit 50 may be generated based on the detection data of the detection unit 90, for example, an obstacle existing in front of the vehicle, or may be from an operator. The pump station controller 65 converts the braking command into an electrical signal and sends the electrical signal to the brake valve block 632.

The pressure oil is pumped by the hydraulic pump 61 and filtered and then output towards the brake valve block 632, so that the control of the brake unit 80 and thus the braking of the vehicle 1 is realized through the brake valve block 632.

Referring now to fig. 5, fig. 5 illustrates an embodiment of the brake valve block 632 of the steering brake hydraulic pump station 60, according to a preferred embodiment of the present invention.

The brake valve group 632 includes a service brake solenoid valve 6321, a parking brake solenoid valve 6322, and a pressure reducing valve 6323, wherein the service brake solenoid valve 6321 and the parking brake solenoid valve 6322 are respectively communicably connected to the brake accumulator 68, and the pressure oil reaches the parking brake solenoid valve 6322 after being reduced in pressure by the pressure reducing valve 6323.

In this example, the pressure relief valve 6323 is implemented as a three-way pressure relief valve.

Taking the example that the vehicle 1 requires parking brake, the brake accumulator 68 is connected to the parking brake solenoid 6322 of the brake valve group 632 and the P port of the pressure reducing valve 6323. The pump station controller 65 of the steering brake hydraulic pump station 60 converts the parking brake control command of the control unit 50 into an electric signal after receiving the command. After the pump station controller 65 controls the parking brake solenoid valve 6322 to be energized, the pressure oil is depressurized by the pressure reducing valve 6323 of the brake valve block 632, passes through the parking brake solenoid valve 6322, and is then transported toward a parking brake of the brake unit 80.

Taking the example that the vehicle 1 needs service braking, the pump station controller 65 of the steering brake hydraulic pump station 60 receives a parking brake control command from the control unit 50 and converts the parking brake control command into an electric signal. The pump station controller 65 controls the service brake solenoid valve 6321 based on the electric signal. The service brake solenoid valve 6321 is implemented as an electromagnetic proportional pressure reducing valve 6323. The port a of the service brake solenoid valve 6321 proportionally outputs the corresponding pressure oil to a service brake of the brake unit 80 according to the magnitude of the input current, so that braking at different braking speeds can be realized.

Further, the brake valve set 632 of the steering brake hydraulic pump station 60 includes a start unloading valve 6324 and a shuttle valve 6325, and the start unloading valve 6324 is controlled by the shuttle valve 6325. When the vehicle 1 starts, the start unloading valve 6324 is simultaneously energized to operate, and the X port of the hydraulic pump 61 is depressurized, so that the hydraulic pump 61 can operate at a low pressure. When the rotation speed of the motor 621 is normal, the pump station controller 65 controls the start unloading valve 6324 to change from the power-on state to the power-off state, and the hydraulic pump 61 can supply oil according to the actual requirement.

In this way, the load at the time of starting the vehicle 1 can be reduced, and the impact on the motor 621 can be reduced, which is advantageous for extending the service life of the steering brake hydraulic pump station 60. It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.