Active anti-collision control system for industrial vehicle reversing and control method thereof
阅读说明：本技术 一种工业车辆倒车主动防撞控制系统及其控制方法 (Active anti-collision control system for industrial vehicle reversing and control method thereof ) 是由 刘大庆 李婧 余香琴 金盈超 于 2021-09-14 设计创作，主要内容包括：本发明公开了一种工业车辆倒车主动防撞控制系统及其控制方法,控制系统包括：主控制器；用以测量车辆当前车速的车载传感器；用以测量车辆与障碍物的相对距离和相对速度的探测器组件；用以发出警报的报警器；发动机控制器；用以控制车辆刹车的电比例刹车系统。倒车时,主控制器根据车载传感器和探测器组件采集的数据计算车辆制动所需距离,并根据车辆制动所需距离计算制动余量距离、限速起始距离、刹车起始距离、中间刹车距离和终端刹车距离,通过建立动态数学模型,以实现根据动态数学模型控制报警器、发动机控制器和电比例刹车系统工作,从而可以在倒车时自动采取防撞措施,进而可以提高低速车辆制动的安全性和可靠性。(The invention discloses an active anti-collision control system for industrial vehicle backing and a control method thereof, wherein the control system comprises: a main controller; the vehicle-mounted sensor is used for measuring the current speed of the vehicle; a probe assembly to measure a relative distance and a relative speed of the vehicle to the obstacle; an alarm for issuing an alarm; an engine controller; an electric proportional brake system for controlling the braking of a vehicle. When backing a car, the main controller calculates the distance required by the braking of the car according to the data collected by the vehicle-mounted sensor and the detector assembly, and calculates the braking margin distance, the speed limit starting distance, the braking starting distance, the intermediate braking distance and the terminal braking distance according to the distance required by the braking of the car.)
1. An active collision avoidance control system for industrial vehicle backing, comprising:
a main controller;
is connected with the main controller and is used for measuring the current speed v of the vehicle0The vehicle-mounted sensor of (1);
is connected with the main controller and is used for measuring the relative distance S between the vehicle and the obstaclecAnd relative velocity vcThe detector assembly of (1);
the alarm is connected with the main controller and used for giving an alarm;
an engine controller connected to the master controller;
the electric proportional brake system is connected with the main controller and is used for controlling the brake of the vehicle;
when backing a car, the main controller calculates the distance S required by the braking of the car according to the data collected by the vehicle-mounted sensor and the detector assembly0And according to the distance S required for braking the vehicle0Calculating braking margin distance delta S and speed limit starting distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnTo realize the purpose of realizing the function according to the braking margin distance delta S and the speed limit starting distance SkThe brake starting distance SlThe intermediate braking distance SmAnd the terminal braking distance SnAnd controlling the alarm, the engine controller and the electric proportional brake system to work.
2. An industrial vehicle reversing active collision avoidance control system according to claim 1, wherein the electrical proportional brake system comprises an oil tank (1), an accumulator (8), a hydraulic brake valve (9), an electro-hydraulic brake valve (10), a shuttle valve (12) and a brake bridge (13);
an SP port of the hydraulic brake valve (9) is connected with the energy accumulator (8), a BR port of the hydraulic brake valve (9) is connected with one input port of the shuttle valve (12), and a T port of the hydraulic brake valve (9) is connected with the oil tank (1);
one end of an electromagnetic switch valve (101) of the electro-hydraulic brake valve (10) is connected with the energy accumulator (8), the other end of the electromagnetic switch valve is connected with an SP port of an electromagnetic proportional valve (102) of the electro-hydraulic brake valve (10), a BR port of the electromagnetic proportional valve (102) is connected with the other input port of the shuttle valve (12), and a T port of the electromagnetic proportional valve (102) is connected with the oil tank (1);
the output port of the shuttle valve (12) is connected with the input port of the brake bridge (13).
3. An active anti-collision control system for industrial vehicle reversing according to claim 2, characterized in that the electric proportional brake system further comprises an oil drain valve (11), one end of the oil drain valve (11) is connected with the oil tank (1), and the other end is connected with an input port of the brake bridge (13).
4. The active anti-collision control system for industrial vehicle reversing according to claim 2, characterized in that the electric proportional brake system further comprises an oil pump (3) and a brake charging valve (4), one end of the oil pump (3) is connected with the oil tank (1), the other end is connected with the brake charging valve (4), and the brake charging valve (4) is connected with the accumulator (8); when the pressure of the energy accumulator (8) is lower than a preset value, hydraulic oil in the oil tank (1) is conveyed to the brake liquid charging valve (4) through the oil pump (3) so as to charge the energy accumulator (8).
5. Active industrial vehicle reversing collision avoidance control system according to claim 4, wherein an oil suction oil filter (2) is connected between the oil pump (3) and the oil tank (1); and a circulating oil filter (5) and a radiator (6) are connected between the brake prefill valve (4) and the brake bridge (13).
6. The industrial vehicle reverse active collision avoidance control system of any one of claims 1-5, wherein the detector assembly includes a first radar and a second radar, both of which are configured to acquire a relative distance and a relative velocity of the vehicle from the obstacle.
7. The industrial vehicle reverse active collision avoidance control system of claim 6, further comprising a counterweight, wherein both the first radar and the second radar are disposed on the counterweight, and wherein the first radar is mounted on a left rear side of the counterweight and the second radar is mounted on a right rear side of the counterweight.
8. An active collision avoidance control method for industrial vehicle backing, which is applied to the active collision avoidance control system for industrial vehicle backing according to any one of claims 1 to 7, and comprises the following steps:
obtaining the current speed v of the vehicle0And the relative distance S between the vehicle and the obstaclecAnd relative velocity vc；
According toCalculating the required distance S for braking the vehicle0Wherein, Δ t is the action process time of the vehicle brake device, t1For the duration of the application of the braking force,is the ground friction coefficient, g is the gravitational acceleration;
according to Δ S ═ S0-ScCalculating a braking margin distance Δ S based on Sk＝S0Calculating speed limit starting distance S by multiplying kkAccording to Sl＝S0Calculating the braking initial distance S by x llAccording to Sm＝S0Calculating the middle brake distance S by x mmAccording to Sn＝S0Xn calculating terminal brake distance SnWherein the initial speed limiting coefficient k, the initial braking coefficient l, the intermediate braking coefficient m and the terminal braking coefficient n are all adjustable parameters, and k is an adjustable parameter>l>m>n>0；
According to the braking margin distance delta S and the speed limit starting distance SkThe brake starting distance SlThe intermediate braking distance SmAnd the terminal braking distance SnAnd controlling the alarm, the engine controller and the electric proportional brake system to work.
9. The active industrial vehicle reverse collision avoidance control method of claim 8, wherein the braking margin distance Δ S and the speed limit starting distance S are determined according to the braking margin distance Δ S and the speed limit starting distance SkThe brake starting distance SlThe intermediate braking distance SmAnd the terminal braking distance SnThe step of controlling the alarm, the engine controller and the electric proportional brake system to work comprises the following steps:
when Δ S>2SkWhen the electric proportional brake system is started, the alarm is controlled to be closed, the engine controller does not limit speed, the opening degree of an electromagnetic proportional valve (102) of the electric proportional brake system is zero, an electromagnetic switch valve (101) of the electric proportional brake system is closed, and an oil drain valve (11) of the electric proportional brake system is opened;
when S isk<ΔS≤2SkWhen the engine is started, the alarm is controlled to sound a stop circulating alarm, the engine controller does not limit speed, the opening degree of the electromagnetic proportional valve (102) is zero, the electromagnetic switch valve (101) is closed, and the oil drain valve (11) is opened;
when S isl<ΔS≤SkWhen the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is v, the opening degree of the electromagnetic proportional valve (102) is zero, the electromagnetic switch valve (101) is closed, the oil drain valve (11) is opened, and the speed limit value is controlledvmIs an adjustable parameter;
when S ism<ΔS≤SlWhen the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is zero, and the opening degree of the electromagnetic proportional valve (102) is controlled to be a first preset opening degree x1The electromagnetic switch valve(101) The oil drain valve (11) is opened and closed, wherein, the first preset opening degree
When S isn<ΔS≤SmWhen the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is zero, and the opening degree of the electromagnetic proportional valve (102) is controlled to be a second preset opening degree x2The electromagnetic switch valve (101) is opened, the oil drain valve (11) is closed, and the second preset opening degree is
When Delta S is less than or equal to SnAnd when the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is zero, the opening degree of the electromagnetic proportional valve (102) is 100%, the electromagnetic switch valve (101) is opened, and the oil drain valve (11) is closed.
Technical Field
The invention relates to the technical field of industrial vehicles, in particular to an industrial vehicle reversing active anti-collision control system and an industrial vehicle reversing active anti-collision control method.
Background
With the development of the logistics industry, the active safety requirements on the forklift are higher and higher. The problems of a reversing view blind area of a forklift and fatigue driving of a driver are serious hidden dangers of safety accidents of vehicles, and once the accidents happen, huge personal injury and economic loss can be caused.
At present, the common private car automatic braking system in the market measures distance through a laser radar, a millimeter wave radar and a vehicle-mounted camera, and controls alarming and braking according to the distance between a car and an obstacle. However, the automatic brake system is not suitable for industrial vehicles with relatively low speed such as forklifts because a dynamic mathematical model is not established according to the working condition of the forklifts, the implementation cost is high, and the automatic brake system is not suitable for the reversing active brake system aiming at the forklifts in the current market.
Therefore, how to avoid the situation that the low-speed industrial vehicle cannot ensure the reversing safety is a technical problem to be solved by the technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide an active anti-collision control system for industrial vehicle reversing and a control method thereof, which can automatically take anti-collision measures during reversing, thereby improving the safety and reliability of low-speed vehicle braking.
In order to achieve the above object, the present invention provides an active anti-collision control system for industrial vehicle backing, comprising:
a main controller;
is connected with the main controller and is used for measuring the current speed v of the vehicle0The vehicle-mounted sensor of (1);
is connected with the main controller and is used for measuring the relative distance S between the vehicle and the obstaclecAnd relative velocity vcThe detector assembly of (1);
the alarm is connected with the main controller and used for giving an alarm;
an engine controller connected to the master controller;
the electric proportional brake system is connected with the main controller and is used for controlling the brake of the vehicle;
when backing a car, the main controller calculates the distance S required by the braking of the car according to the data collected by the vehicle-mounted sensor and the detector assembly0And according to the distance S required for braking the vehicle0Calculating braking margin distance delta S and speed limit starting distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnTo realize the purpose of realizing the function according to the braking margin distance delta S and the speed limit starting distance SkThe brake starting distance SlThe intermediate braking distance SmAnd the terminal braking distance SnAnd controlling the alarm, the engine controller and the electric proportional brake system to work.
Optionally, the electric proportional brake system comprises an oil tank, an accumulator, a hydraulic brake valve, an electro-hydraulic brake valve, a shuttle valve and a brake bridge;
an SP port of the hydraulic brake valve is connected with the energy accumulator, a BR port of the hydraulic brake valve is connected with one input port of the shuttle valve, and a T port of the hydraulic brake valve is connected with the oil tank;
one end of an electromagnetic switch valve of the electro-hydraulic brake valve is connected with the energy accumulator, the other end of the electromagnetic switch valve of the electro-hydraulic brake valve is connected with an SP port of an electromagnetic proportional valve of the electro-hydraulic brake valve, a BR port of the electromagnetic proportional valve is connected with the other input port of the shuttle valve, and a T port of the electromagnetic proportional valve is connected with the oil tank;
and the output port of the shuttle valve is connected with the input port of the brake bridge.
Optionally, the electric proportional brake system further comprises an oil drain valve, wherein one end of the oil drain valve is connected with the oil tank, and the other end of the oil drain valve is connected with an input port of the brake bridge.
Optionally, the electric proportional brake system further comprises an oil pump and a brake charging valve, one end of the oil pump is connected with the oil tank, the other end of the oil pump is connected with the brake charging valve, and the brake charging valve is connected with the energy accumulator; when the pressure of the accumulator is lower than a preset value, the hydraulic oil in the oil tank is conveyed to the brake liquid charging valve through the oil pump, so that the accumulator is charged.
Optionally, an oil suction oil filter is connected between the oil pump and the oil tank; and a circulating oil filter and a radiator are connected between the brake prefill valve and the brake bridge.
Optionally, the detector assembly comprises a first radar and a second radar, both to gather the relative distance and relative speed of the vehicle from the obstacle.
Optionally, the radar system further comprises a counterweight, the first radar and the second radar are both arranged on the counterweight, the first radar is arranged on the left rear side of the counterweight, and the second radar is arranged on the right rear side of the counterweight.
The invention also provides an active anti-collision control method for industrial vehicle backing, which is applied to any one of the active anti-collision control systems for industrial vehicle backing, and comprises the following steps:
obtaining the current speed v of the vehicle0And the relative distance S between the vehicle and the obstaclecAnd relative velocity vc；
According toCalculating the required distance S for braking the vehicle0Wherein, Δ t is the action process time of the vehicle brake device，t1For the duration of the application of the braking force,is the ground friction coefficient, g is the gravitational acceleration;
according to Δ S ═ S0-ScCalculating a braking margin distance Δ S based on Sk＝S0Calculating speed limit starting distance S by multiplying kkAccording to Sl＝S0Calculating the braking initial distance S by x llAccording to Sm＝S0Calculating the middle brake distance S by x mmAccording to Sn＝S0Xn calculating terminal brake distance SnWherein the initial speed limiting coefficient k, the initial braking coefficient l, the intermediate braking coefficient m and the terminal braking coefficient n are all adjustable parameters, and k is an adjustable parameter>l>m>n>0；
According to the braking margin distance delta S and the speed limit starting distance SkThe brake starting distance SlThe intermediate braking distance SmAnd the terminal braking distance SnAnd controlling the alarm, the engine controller and the electric proportional brake system to work.
Optionally, the distance Δ S according to the braking margin and the starting distance S of speed limitkThe brake starting distance SlThe intermediate braking distance SmAnd the terminal braking distance SnThe step of controlling the alarm, the engine controller and the electric proportional brake system to work comprises the following steps:
when Δ S>2SkWhen the electric proportional brake system is started, the alarm is controlled to be closed, the engine controller does not limit speed, the opening degree of the electromagnetic proportional valve of the electric proportional brake system is zero, the electromagnetic switch valve of the electric proportional brake system is closed, and the oil drain valve of the electric proportional brake system is opened;
when S isk<ΔS≤2SkWhen the engine is started, the alarm is controlled to sound a stop circulation alarm, the engine controller does not limit speed, the opening degree of the electromagnetic proportional valve is zero, the electromagnetic switch valve is closed, and the oil drain valve is opened;
when S isl<ΔS≤SkAnd when the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is v, the opening degree of the electromagnetic proportional valve is zero, the electromagnetic switch valve is closed, the oil drain valve is opened, and the speed limit value is setvmIs an adjustable parameter;
when S ism<ΔS≤SlWhen the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is zero, and the opening of the electromagnetic proportional valve is a first preset opening x1The electromagnetic switch valve is opened, the oil drain valve is closed, and a first preset opening degree is formed
When S isn<ΔS≤SmWhen the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is zero, and the opening of the electromagnetic proportional valve is a second preset opening x2The electromagnetic switch valve is opened, the oil drain valve is closed, and the second preset opening degree is
When Delta S is less than or equal to SnAnd when the engine is started, the alarm is controlled to sound all the time, the speed limit of the engine controller is zero, the opening degree of the electromagnetic proportional valve is 100%, the electromagnetic switch valve is opened, and the oil drain valve is closed.
Compared with the background art, the active anti-collision control system for industrial vehicle backing provided by the embodiment of the invention comprises a main controller, a vehicle-mounted sensor, a detector assembly, an alarm, an engine controller and an electric proportional brake system, wherein the vehicle-mounted sensor is connected with the main controller and is used for measuring the current vehicle speed v of a vehicle0(ii) a The detector assembly is connected with the main controller and is used for measuring the relative distance S between the vehicle and the obstaclecAnd relative velocity vc(ii) a The alarm is connected with the main controller and used for giving an alarm; engine controllerThe engine controller is connected with the main controller and is used for controlling the running speed of the vehicle; the electric proportional brake system is connected with the main controller and is used for controlling the vehicle to brake.
Thus, when backing a car, the main controller calculates the distance S required by the braking of the vehicle according to the data collected by the vehicle-mounted sensor and the detector assembly0And according to the required braking distance S of the vehicle0Calculating braking margin distance delta S and speed limit starting distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnThe braking margin distance delta S and the speed limit starting distance S are realized according to the establishment of a dynamic mathematical model, the determination of a dangerous area and the identification of a dangerous statekInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnThe (dynamic mathematical model) controls the alarm, the engine controller and the electric proportional brake system to work, so that anti-collision measures can be automatically taken during reversing, and the safety and the reliability of braking of the low-speed vehicle can be improved.
The embodiment of the invention also provides an active anti-collision control method for reversing the industrial vehicle, which has the beneficial effects as described above, and is not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic circuit diagram of an active anti-collision control system for industrial vehicle backing according to an embodiment of the present invention;
FIG. 2 is a hydraulic schematic diagram of an electric proportional brake system;
FIG. 3 is a schematic view of the arrangement of the detector assembly;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a top view of FIG. 3;
fig. 6 is a flowchart of an active reverse collision avoidance control method for an industrial vehicle according to an embodiment of the present invention.
Wherein:
1-oil tank, 2-oil absorption oil filter, 3-oil pump, 4-brake liquid charging valve, 5-circulating oil filter, 6-radiator, 7-one-way valve, 8-energy accumulator, 9-hydraulic brake valve, 10-electrohydraulic brake valve, 101-electromagnetic switch valve, 102-electromagnetic proportional valve, 11-oil drain valve, 12-shuttle valve, 13-brake bridge and 14-ball valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide an active anti-collision control system for industrial vehicle backing and a control method thereof, which can automatically take anti-collision measures during backing, thereby improving the safety and reliability of low-speed vehicle braking.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following directional terms such as "upper end, lower end, left side, right side" and the like are defined based on the drawings of the specification.
Referring to fig. 1 to 6, fig. 1 is a schematic circuit diagram of an active anti-collision control system for backing an industrial vehicle according to an embodiment of the present invention; FIG. 2 is a hydraulic schematic diagram of an electric proportional brake system; FIG. 3 is a schematic view of the arrangement of the detector assembly; FIG. 4 is a side view of FIG. 3; FIG. 5 is a top view of FIG. 3; fig. 6 is a flowchart of an active reverse collision avoidance control method for an industrial vehicle according to an embodiment of the present invention.
The embodiment of the invention provides active anti-collision control for reversing industrial vehiclesThe system comprises a main controller E1, a vehicle-mounted sensor G1, a detector assembly, an alarm H01, an engine controller E2 and an electric proportional brake system, wherein the vehicle-mounted sensor G1 is connected with the main controller E1, and the vehicle-mounted sensor G1 is used for measuring the current speed v of the vehicle0(ii) a The detector assembly is connected with a main controller E1 and is used for measuring the relative distance S between the vehicle and the obstaclecAnd relative velocity vc(ii) a The alarm H01 is connected with the main controller E1, and the alarm H01 is used for giving an alarm; the engine controller E2 is connected with the main controller E1, and the engine controller E2 is used for controlling the running speed of the vehicle; and the electric proportional brake system is connected with the main controller E1 and is used for controlling the brake of the vehicle.
Thus, when backing up, the main controller E1 calculates the required braking distance S of the vehicle according to the data collected by the vehicle-mounted sensor G1 and the detector assembly0And according to the required braking distance S of the vehicle0Calculating braking margin distance delta S and speed limit starting distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnEstablishing a dynamic mathematical model, determining a dangerous area and identifying a dangerous state through certain algorithm processing so as to realize the purpose of realizing the purpose of limiting the initial distance S according to the braking margin distance Delta S and the speed limit initial distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnThe (dynamic mathematical model) controls the alarm H01, the engine controller E2 and the electric proportional brake system to work, so that the anti-collision measures can be automatically taken during reversing, and the safety and the reliability of braking of the low-speed vehicle can be improved.
It should be noted that the detector assembly includes a first radar and a second radar, and the first radar and the second radar are both used for acquiring the relative distance and the relative speed between the vehicle and the obstacle.
In addition, the system further comprises a counterweight, wherein the counterweight is arranged on the vehicle and used for adjusting the gravity center of the vehicle, the first radar and the second radar are arranged on the counterweight, the first radar is arranged on the left rear side of the counterweight, and the second radar is arranged on the right rear side of the counterweight.
Of course, according to actual needs, the first radar and the second radar are both millimeter wave radars.
Specifically, the first millimeter wave radar E3 is mounted on the left rear side of the counterweight, and the second millimeter wave radar E4 is mounted on the right rear side of the counterweight.
It should be noted that, when the radar is arranged, firstly, the millimeter wave transmitting area of the radar needs to be prevented from interfering with the counterweight, so as to determine the transverse distance X and the longitudinal distance Y of the two millimeter wave radar arrangements. Wherein the height value of the radar installation is Z,alpha is the monitoring angle of the radar in the up-down direction, S is the maximum distance of the allowed blind area, and h is the minimum height of the obstacle required to be detected.
On the basis, the active anti-collision control system for industrial vehicle backing further comprises electric system accessories, wherein the electric system accessories mainly comprise a storage battery B, an ignition switch S1, a backing switch S2, an enabling switch S3, a first fuse F1, a second fuse F2 and a third fuse F3; meanwhile, a brake pedal opening degree sensor G2 and a pressure sensor G3 are included in addition to the vehicle-mounted sensor G1, the first millimeter wave radar E3, and the second millimeter wave radar E4.
The circuit connection mode of the industrial vehicle reversing active anti-collision control system is specifically described below.
The 4 feet at the common end of the ignition switch S1 are connected with the anode of the battery B through a first fuse F1; the power supply end of the main controller E1 is connected with the pin No. 2 of the ignition switch S1 through a second fuse F2, and the power supply end of the engine controller E2, the power supply end of the first millimeter wave radar E3 and the power supply end of the second millimeter wave radar E4 are connected with the pin No. 2 of the ignition switch S1 through a third fuse F3; the second fuse F2 is simultaneously connected with one end of a reversing switch S2, one end of an enable switch S3, one end of an on-vehicle sensor G1, one end of a brake pedal opening sensor G2 and one end of a pressure sensor G3; the other end of the reversing switch S2, the other end of the enabling switch S3, the signal end of the vehicle-mounted sensor G1, the signal end of the brake pedal opening sensor G2 and the other end of the pressure sensor G3 are connected with a main controller E1; the engine controller E2, the first millimeter wave radar E3, the second millimeter wave radar E4 and the main controller E1 are subjected to information interaction through a CAN bus; one end of an electric brake switch valve 101 of the electric proportional brake system is connected with a main controller E1, and the other end is grounded; one end of an electric brake proportional valve 102 of the electric proportional brake system is connected with a main controller E1, and the other end of the electric brake proportional valve is grounded; one end of an oil drain valve 11 of the electric proportional brake system is connected with a main controller E1, and the other end of the oil drain valve is grounded; one end of the alarm H01 is connected with the main controller E1, and the other end is grounded.
More specifically, the electric proportional brake system comprises an oil tank 1, an oil suction filter 2, an oil pump 3, a brake charging valve 4, a circulating oil filter 5, a radiator 6, a one-way valve 7, an accumulator 8, a hydraulic brake valve 9, an electro-hydraulic brake valve 10 (the electro-hydraulic brake valve 10 comprises an electromagnetic switch valve 101 and an electromagnetic proportional valve 102), an oil drain valve 11, a shuttle valve 12, a brake bridge 13 and a ball valve 14. Wherein, the brake bridge 13 is a wet brake bridge, and the bleeder valve 11 is an electromagnetic bleeder valve.
In order to ensure the safety of braking, a mechanical hydraulic braking circuit is designed redundantly, specifically, an SP port of a hydraulic braking valve 9 is connected with an energy accumulator 8, a BR port of the hydraulic braking valve 9 is connected with an input port of a shuttle valve 12, an output port of the shuttle valve 12 is connected with an input port of a brake bridge 13, and a T port of the hydraulic braking valve 9 is connected with an oil tank 1.
When the automatic brake fails, a driver can control the hydraulic brake valve 9 to open an internal oil circuit by stepping on the brake pedal, hydraulic oil is conveyed to an input port at the other end of the shuttle valve 12 through the energy accumulator 8, an output port of the shuttle valve 12 is connected with the brake bridge 13, and at the moment, if the electro-hydraulic brake valve 10 does not act or the opening degree is smaller than that of the hydraulic brake valve 9, the oil can still flow through the shuttle valve 12 through the hydraulic proportional valve 9 and then enters the brake bridge 13, so that the mechanical brake can be realized.
In order to realize service braking by means of electric signals and machinery, an electro-hydraulic brake valve 10 is further arranged on the basis of the hydraulic proportional valve 9, and the electro-hydraulic brake valve 10 comprises an electromagnetic switch valve 101 and an electromagnetic proportional valve 102. Specifically, an SP port of a hydraulic brake valve 9 is connected with an energy accumulator 8, a BR port of the hydraulic brake valve 9 is connected with one input port of a shuttle valve 12, and a T port of the hydraulic brake valve 9 is connected with an oil tank 1; one end of an electromagnetic switch valve 101 of the electro-hydraulic brake valve 10 is connected with the energy accumulator 8, the other end of the electromagnetic switch valve 101 is connected with an SP port of an electromagnetic proportional valve 102 of the electro-hydraulic brake valve 10, a BR port of the electromagnetic proportional valve 102 is connected with the other input port of the shuttle valve 12, a T port of the electromagnetic proportional valve 102 is connected with the oil tank 1, and an output port of the shuttle valve 12 is connected with an input port of the brake bridge 13.
The design combines electric braking and hydraulic braking, and service braking can be realized through two control modes of electric signals and machinery, so that safety can be guaranteed while economy can be considered, and space can be saved.
In addition, the system is also provided with an oil drain valve 11, the oil drain valve 11 is an electromagnetic oil drain valve, one end of the oil drain valve 11 is connected with the oil tank 1, and the other end of the oil drain valve 11 is connected with an input port (an output port of the shuttle valve 12) of the brake bridge 13. When the brake is stopped, the main controller E1 controls the oil drain valve 11 to be electrified, the input port of the brake bridge 13 (the output port of the shuttle valve 12) is communicated with the oil tank 1, the pressure of the output port of the shuttle valve 12 at the moment can be ensured to be 0, and hidden dangers are eliminated.
Therefore, when the controller E1 controls the electric proportional brake system to perform electric braking through a corresponding algorithm, the electromagnetic switch valve 101 is electrically opened, the electromagnetic proportional valve 102 opens a corresponding proportion according to the calculation result, so as to control the conduction of the internal oil path of the electro-hydraulic brake valve 10, the hydraulic oil is delivered to the input port at one end of the shuttle valve 12 through the accumulator 8, and the output port of the shuttle valve 12 is connected with the brake bridge 13. At the moment, if the hydraulic brake valve 9 does not act or the opening degree is smaller than that of the electro-hydraulic brake valve 10, the oil flows through the shuttle valve 12 through the electro-hydraulic brake valve 10 and enters the brake bridge 13 to realize automatic braking; when the vehicle is in a safe state, an oil path in the electro-hydraulic brake valve 10 is disconnected (the electromagnetic switch valve 101 is powered off and the electromagnetic proportional valve 102 is powered off), the oil drain valve 11 is powered on and opened, the brake part of the brake bridge 13 is directly communicated with the oil tank 1, and service braking is released.
It should be noted that the pressure sensor G3 may be connected to the input port of the brake bridge 13 to facilitate the collection of motion.
On the basis, in order to conveniently charge the energy accumulator 8, the electric proportional brake system further comprises an oil pump 3 and a brake charging valve 4, and the brake charging valve 4 is used for supplying oil to the energy accumulator 8. Specifically, one end of the oil pump 3 is connected with the oil tank 1, the other end of the oil pump is connected with the brake liquid charging valve 4, and the brake liquid charging valve 4 is connected with the energy accumulator 8; when the pressure of the energy accumulator 8 is lower than the preset value, the liquid filling signal switch of the energy accumulator 8 sends a signal, and the hydraulic oil in the oil tank 1 is conveyed to the brake liquid filling valve 4 through the oil pump 3 so as to realize the liquid filling of the energy accumulator 8.
An oil suction filter 2 is connected between the oil pump and the oil tank, and a circulation oil filter 5 and a radiator 6 are connected between a brake charging valve 4 and a brake bridge 13. Meanwhile, in order to ensure the safety of the oil circuit, a pipeline between the brake charging valve 4 and the accumulator 8 is connected with the oil tank 1 through a pipeline with a ball valve 14, and a pipeline between the radiator 6 and the brake bridge 13 is connected with the oil tank 1 through a pipeline with a one-way valve 7.
Meanwhile, an embodiment of the present invention further provides an active anti-collision control method for industrial vehicle reversing, which is applied to the active anti-collision control system for industrial vehicle reversing, and includes:
s1: obtaining the current speed v of the vehicle0And the relative distance S between the vehicle and the obstaclecAnd relative velocity vc；
S2: according toCalculating the required distance S for braking the vehicle0Wherein, Δ t is the action process time of the vehicle brake device, t1For the duration of the application of the braking force,is the ground friction coefficient, g is the gravitational acceleration;
s3: according to Δ S ═ S0-ScCalculating a braking margin distance Δ S based on Sk＝S0Calculating speed limit starting distance S by multiplying kkAccording to Sl＝S0Calculating the braking initial distance S by x llAccording to Sm＝S0Calculating the middle brake distance S by x mmAccording to Sn＝S0Xn calculating terminal brake distance SnWherein the initial speed limiting coefficient k, the initial braking coefficient l, the intermediate braking coefficient m and the terminal braking coefficient n are all adjustable parameters，k>l>m>n>0；
S4: according to the braking margin distance delta S and the speed limit starting distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnAnd the control alarm, the engine controller and the electric proportional brake system work.
Specifically, when the ignition/key switch S1 is closed, first, the main controller E1 collects the relative distance S between the vehicle and the obstacle measured by two millimeter wave radarscAnd relative velocity vcAnd obtaining the current speed v of the vehicle through the vehicle-mounted sensor G1 by taking the reverse direction of the vehicle as positive0The action process time (namely the response time of the brake device) deltat and the continuous action time t of the braking force of the vehicle brake device can be obtained through the time sequence identification of the input pin and the output pin of the brake pedal opening sensor G2, the pressure sensor G3 and the master controller E11While setting the ground friction coefficientAn initial speed limiting coefficient k, an initial braking coefficient l, a middle braking coefficient m and a terminal braking coefficient n, wherein,k. l, m and n are all adjustable parameters, k>l>m>n>0; then, according toCalculating the required distance S for braking the vehicle0(ii) a Further, according to Δ S ═ S0-ScCalculating a braking margin distance Δ S based on Sk＝S0Calculating speed limit starting distance S by multiplying kkAccording to Sl＝S0Calculating the braking initial distance S by x llAccording to Sm＝S0Calculating the middle brake distance S by x mmAccording to Sn＝S0Xn calculating terminal brake distance Sn。
Further, on the basis of the calculation, a dynamic mathematical model is suggested, so that a dangerous area is determined, a dangerous state is identified, and an alarm, an engine controller and an electric proportional brake system are controlled to work.
Specifically, step S4 is executed according to the braking margin distance Δ S and the speed limit starting distance SkInitial braking distance SlMiddle braking distance SmAnd a terminal braking distance SnThe step of controlling the operation of alarm, engine controller and electric proportional brake system includes:
when Δ S>2SkWhen the control alarm H01 is closed, the engine controller E2 does not limit the speed, the opening degree of an electromagnetic proportional valve 102 of the electric proportional brake system is zero, an electromagnetic switch valve 101 of the electric proportional brake system is closed, and an oil drain valve 11 of the electric proportional brake system is opened;
when S isk<ΔS≤2SkWhen the control alarm H01 gives a stop cycle alarm, the engine controller E2 does not limit the speed, the opening of the electromagnetic proportional valve 102 is zero, the electromagnetic switch valve 101 is closed, and the oil drain valve 11 is opened;
when S isl<ΔS≤SkWhen the engine is started, the control alarm H01 is sounded all the time, the speed limit of the engine controller E2 is v, the opening degree of the electromagnetic proportional valve 102 is zero, the electromagnetic switch valve 101 is closed, the oil drain valve 11 is opened, wherein the speed limit valuevmThe parameters are adjustable and are set by a client according to the actual condition;
when S ism<ΔS≤SlWhen the control alarm H01 is sounded all the time, the speed limit of the engine controller E2 is zero, and the opening of the electromagnetic proportional valve 102 is a first preset opening x1The electromagnetic switch valve 101 is opened, the oil drain valve 11 is closed, wherein the first preset opening degree is
When S isn<ΔS≤SmWhen the control alarm H01 is sounded all the time, the speed limit of the engine controller E2 is zero, and the opening of the electromagnetic proportional valve 102 is a second preset opening x2The electromagnetic switch valve 101 is opened, the oil drain valve 11 is closed, wherein the second preset opening degree
When Delta S is less than or equal to SnWhen the control alarm H01 is sounded all the time, the speed limit of the engine controller E2 is zero, the opening degree of the electromagnetic proportional valve 102 is 100 percent, the electromagnetic switch valve 101 is opened, and the oil drain valve 11 is closed.
Therefore, the industrial vehicle with the reversing active anti-collision control system is provided with an economic and reliable reversing active anti-collision system, and the system combines electric braking and hydraulic braking by establishing a quantitative dynamic mathematical model and matching with a reliable electro-hydraulic double-braking system, namely braking can be realized by two control modes, namely an electric signal control mode and a mechanical control mode. Meanwhile, through an automatic brake response mechanism and an alarm mechanism, according to the mathematical model of the relevant grade and state, the dangerous state is identified and combined with the electric proportional brake system, and the anti-collision measures are taken under the condition that a driver does not intervene, so that the safety and the reliability of the braking of the low-speed vehicle can be improved.
In addition, a parameter delta S, S is introduced into the dynamic mathematical modelk、Sl、SmAnd SnThe comfort of braking can be adjusted by setting the values of these parameters; and the parameter delta S, v is introduced into the calculation of the speed limit value vm，SlAnd SkThe smoothness of the speed limit mode to brake mode transition can be adjusted by setting the values of these parameters.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The active anti-collision control system for industrial vehicle backing and the active anti-collision control method for industrial vehicle backing provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understand the concepts of the present invention and the core concepts thereof. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
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