Hydropneumatic suspension system, control method and remote-controlled vehicle

Abstract

The present invention relates to an oil-gas suspension device of a remote-controlled vehicle, a control method and a remote-controlled vehicle, wherein the suspension device has four suspension oil cylinders, which are respectively used to be connected to the two ends of the front and rear axles under the vehicle chassis; four displacement sensors, which are respectively used to detect the displacement of the piston rods of the four suspension oil cylinders; a first accumulator; a plurality of on-off valves, which are arranged on the oil path between the first accumulator and each suspension oil cylinder; and a controller, which is used to configure the on-off state of each on-off valve according to the remote control command when receiving a remote control command to put the vehicle in a special driving state, so as to lock the high-position suspension oil cylinder of the two suspension oil cylinders to be locked, and to replenish oil for the low-position suspension oil cylinder through the first accumulator until the extension amount of the piston rod is consistent with that of the high-position suspension oil cylinder, so that only the remaining two suspension oil cylinders are in an elastic working state. The device can be applied to different types of driving conditions.

Description

Technical Field

[0001] The invention relates to the technical field of wheeled vehicle suspension, and in particular to an oil-gas suspension device of a remote-controlled vehicle, a control method and a remote-controlled vehicle. Background Art

[0002] Suspension is an important part of vehicles, especially off-road vehicles. Since the ground resistance of unpaved roads is greater than that of paved roads, and some roads are undulating, the suspension performance has an important impact on the movement of the vehicle body and the safety, comfort and maneuverability of the vehicle. Hydro-pneumatic suspension has excellent nonlinear elasticity, damping characteristics, vibration reduction performance and suspension height lifting function, and is widely used in engineering vehicles. The roads and working conditions of engineering vehicles are diversified. Relying solely on passive suspension can no longer meet the performance requirements of the whole vehicle. For example, in the case of sharp turns, fast starts and sudden braking, the center of gravity of the whole vehicle will change. If the change is too large, it will cause the vehicle to roll over when turning, lean back when starting, and nod when braking. Not only will the wear of automobile parts such as tires and brake pads increase, but it will also reduce ride comfort, and even threaten driving safety, such as causing the car to roll over and damage key equipment. Therefore, how to design a reliable, applicable, and economical suspension system and control method to improve the driving comfort and safety of the whole vehicle is of great significance. Summary of the invention

[0003] The embodiments of the present invention provide an oil-gas suspension device of a remote-controlled vehicle, a control method and a remote-controlled vehicle, which can be applicable to different types of driving conditions.

[0004] An embodiment of the present invention provides, on one hand, an oil-gas suspension device for a remote-controlled vehicle, comprising:

[0005] Four suspension cylinders are used to connect the front and rear axles under the vehicle chassis at both ends;

[0006] Four displacement sensors, used to detect the piston rod displacements of four suspension cylinders respectively;

[0007] First accumulator;

[0008] A plurality of on-off valves are arranged on the oil circuit between the first accumulator and each suspension oil cylinder; and

[0009] The controller is used for, when receiving a remote control command to put the vehicle in a special driving state, configuring the on-off state of each on-off valve according to the remote control command, so as to lock the high-position suspension cylinder of the two suspension cylinders to be locked, and replenish oil for the low-position suspension cylinder through the first accumulator until the extension amount of the piston rod is consistent with that of the high-position suspension cylinder, and also lock it, so that only the remaining two suspension cylinders are in an elastic working state.

[0010] In some embodiments, the remote control command in a special driving state is a control amount applied to the vehicle that exceeds a preset control amount threshold corresponding to a normal driving state.

[0011] In some embodiments, the controller is used to determine the suspension cylinder to be locked according to the remote control command;

[0012] Among them, if the remote control command is a braking command, the suspension cylinders to be locked include two suspension cylinders at both ends of the front axle; if the remote control command is an acceleration command, the suspension cylinders to be locked include two suspension cylinders at both ends of the rear axle; and / or if the remote control command is a steering command, the suspension cylinders to be locked include two suspension cylinders located on the outside of the steering.

[0013] In some embodiments, the hydro-pneumatic suspension device of the remotely controlled vehicle further comprises:

[0014] Dual-axis tilt sensor, used to detect the left and right tilt angles and the front and rear tilt angles of the vehicle body;

[0015] Among them, the controller is used to restore each suspension cylinder to an elastic state and a neutral position according to the detection values ​​of the displacement sensor and the dual-axis inclination sensor after completing the execution of the remote control command, so as to keep the chassis level.

[0016] In some embodiments, the multiple on-off valves corresponding to any suspension cylinder include: a first valve, a second valve and a third valve. The rodless chamber of any suspension cylinder is connected to the rod chamber of the suspension cylinder at the other end of the same axle through the first valve and the second valve in sequence. The oil inlet of the third valve is connected to the first accumulator, and the oil outlet is connected to the oil circuit between the first valve and the second valve.

[0017] In some embodiments, the oil supply circuit of the first accumulator includes a common oil circuit and four branch oil circuits, the multiple on-off valves also include a fourth valve, the fourth valve is arranged on the common oil circuit, and each branch oil circuit is provided with a third valve.

[0018] In some embodiments, the multiple on-off valves further include a fifth valve, and the oil inlets of the third valves corresponding to the suspension cylinders at both ends of the same axle are connected via the fifth valve.

[0019] In some embodiments, the multiple on-off valves also include two sixth valves, the oil inlet of the sixth valve is connected to the oil circuit between the first valve and the third valve corresponding to a suspension cylinder of the first axle, and the oil outlet of the sixth valve is connected to the oil circuit between the first valve and the third valve corresponding to the suspension cylinder on the opposite side of the second axle.

[0020] In some embodiments, the oil-gas suspension device of the remote-controlled vehicle further includes four second accumulators, each of which is disposed in the oil circuit between the first valve and the second valve corresponding to one of the suspension cylinders.

[0021] Another aspect of the embodiments of the present invention provides a remote-controlled vehicle, comprising the oil-pneumatic suspension device of the remote-controlled vehicle of the above-mentioned embodiment.

[0022] Another aspect of the embodiments of the present invention provides a method for controlling an oil-gas suspension device of a remote-controlled vehicle based on the above embodiments, comprising:

[0023] responding to a remote control command to place the vehicle in a particular driving state;

[0024] The on-off state of each on-off valve is configured according to the remote control command to lock the high suspension cylinder of the two suspension cylinders to be locked, and the low suspension cylinder is replenished with oil through the first accumulator;

[0025] When the piston rod of the low-position suspension oil cylinder is extended to the same extension amount as that of the high-position suspension oil cylinder, it is also locked, leaving only the remaining two suspension oil cylinders in an elastic working state.

[0026] In some embodiments, the control method further comprises:

[0027] It is determined whether the control amount applied to the vehicle by the remote control command exceeds the control amount threshold corresponding to the preset normal driving state. If it exceeds, the on-off state of each on-off valve is configured according to the remote control command.

[0028] In some embodiments, the control method further comprises:

[0029] Determine the suspension cylinder to be locked according to the remote control command;

[0030] Among them, if the remote control command is a braking command, the suspension cylinders to be locked include the two suspension cylinders at both ends of the front axle; if the remote control command is an acceleration command, the suspension cylinders to be locked include the two suspension cylinders at both ends of the rear axle; and / or if the remote control command is a steering command, the suspension cylinders to be locked include the two suspension cylinders located on the outside of the steering.

[0031] In some embodiments, before configuring the on-off state of each on-off valve according to the remote control instruction, the control method further includes:

[0032] Detecting the piston rod displacement of two suspension cylinders to be locked by means of displacement sensors;

[0033] The piston rod displacements of the two suspension cylinders to be locked are compared to determine the low suspension cylinder and the high suspension cylinder.

[0034] In some embodiments, the control method further comprises:

[0035] The displacement of the piston rod of each suspension cylinder is detected by a displacement sensor;

[0036] The left and right tilt angles and the front and rear tilt angles of the vehicle body are detected by a dual-axis tilt sensor;

[0037] After the remote control command is executed, each suspension cylinder is restored to an elastic state and a neutral position according to the detection values ​​of the displacement sensor and the dual-axis inclination sensor to keep the chassis level.

[0038] The oil-gas suspension device of the remote-controlled vehicle of the embodiment of the present invention can trigger different suspension system control signals according to the remote control commands received by the remote-controlled vehicle, so as to dynamically adjust the suspension system to adapt to different working conditions, improve the comfort, operational stability and driving safety of the whole vehicle, eliminate the complex monitoring system and analysis and calculation controller of the whole vehicle, and is easy to implement, safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0040] Figure 1 A schematic diagram of a hydraulic system of an embodiment of an oil-gas suspension device for a remote-controlled vehicle of the present invention;

[0041] Figure 2 The figure is a schematic diagram of the working principle of the oil-gas suspension device of the remote-controlled vehicle of the present invention. DETAILED DESCRIPTION

[0042] The invention is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Each aspect defined in this way can be combined with any other aspect or aspects, unless explicitly stated not to be combined. In particular, any feature considered to be preferred or advantageous can be combined with one or more other features considered to be preferred or advantageous by the remote control vehicle.

[0043] The terms "first", "second" and the like appearing in the present invention are only for the convenience of description to distinguish different components with the same name, and do not indicate a priority or primary and secondary relationship.

[0044] In addition, when an element is referred to as being "on" another element, the element may be directly on the other element, or may be indirectly on the other element with one or more intermediate elements interposed therebetween. In addition, when an element is referred to as being "connected to" another element, the element may be directly connected to the other element, or may be indirectly connected to the other element with one or more intermediate elements interposed therebetween. Hereinafter, the same reference numerals represent the same elements.

[0045] In the present invention, descriptions of directions or positional relationships indicated by “upper”, “lower”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are used only to facilitate the description of the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as limiting the scope of protection of the present invention.

[0046] At present, after the suspension system design of most passive suspension vehicles is finalized, installed and adjusted, the system parameters and driving connectivity will not be adjusted accordingly with the changes in road conditions. The balance between vehicle driving smoothness and operational stability is poor. The vehicle performance is good under certain working conditions, but particularly poor under other working conditions. There are certain limitations.

[0047] At present, most active or semi-active suspension vehicles focus on monitoring the vehicle's operating state parameters and actively adjusting the suspension's stiffness, damping, and connectivity based on the controller's analysis results to improve the vehicle's adaptability to multiple road conditions. These solutions all rely on the driver driving the vehicle and the sensor system monitoring the vehicle's operating state, and then adjusting the actuators after complex algorithm calculations to improve the vehicle's performance. However, the sensor measurement system is expensive and easy to damage, and the control system algorithm is difficult to develop and the cost is high.

[0048] Passive oil-gas suspension cannot coordinately resolve the contradiction between vehicle operational stability and smoothness, and the vehicle has poor adaptability to all working conditions. The current active suspension requires complex vehicle monitoring systems, complex analysis and processing systems, etc. to improve the comfort and safety of the vehicle. The actuators have a certain lag in high-speed situations and are relatively expensive. Moreover, as the number of components increases, the reliability of the vehicle suspension system deteriorates.

[0049] Moreover, for remote-controlled vehicles, there is currently no existing technology for controlling the oil-gas suspension to adapt to different working conditions. Therefore, it is of great significance to develop a suspension system that is low-cost, highly reliable, easy to operate, has stable and reliable vehicle performance, and is suitable for unmanned off-road vehicles.

[0050] like Figure 1 As shown, the present invention provides an oil-gas suspension device for a remote-controlled vehicle, comprising four suspension cylinders, four displacement sensors, a first accumulator 34, a plurality of on-off valves and a controller.

[0051] The four suspension cylinders are respectively used to connect to the two ends of the front and rear axles below the vehicle chassis 1, and the four suspension cylinders include a first suspension cylinder 2, a second suspension cylinder 5, a third suspension cylinder 10 and a fourth suspension cylinder 12, wherein the first suspension cylinder 2 and the second suspension cylinder 5 are respectively located at the left and right ends of the front axle, and the third suspension cylinder 10 and the fourth suspension cylinder 12 are respectively located at the left and right ends of the rear axle. A displacement sensor is respectively provided on the four suspension cylinders, corresponding to the numbers 3, 4, 11 and 13 in sequence, and the four displacement sensors are respectively used to detect the piston rod displacements of the four suspension cylinders 2, 5, 10 and 12.

[0052] A plurality of on-off valves are provided on the oil path between the first accumulator 34 and each suspension oil cylinder. For example, the on-off valve may be a two-position two-way solenoid valve or the like.

[0053] The controller is used to configure the on-off state of each on-off valve according to the remote control command when receiving a remote control command to put the vehicle in a special driving state, so as to lock the high suspension cylinder of the two suspension cylinders to be locked, and to replenish oil for the low suspension cylinder through the first accumulator 34 until the extension amount of the piston rod is consistent with that of the high suspension cylinder, so as to lock the low suspension cylinder and only put the other two suspension cylinders in an elastic working state. The controller can be a PLC controller, a hardware circuit, etc.

[0054] The oil-gas suspension device of the remote-controlled vehicle of the embodiment of the present invention can trigger different suspension system control signals according to the remote control commands received by the remote-controlled vehicle, and dynamically adjust the suspension system by configuring the on-off states of each on-off valve, so as to adapt to different working conditions, improve the comfort, operational stability and driving safety of the whole vehicle, eliminate the complex monitoring system and analysis and calculation controller of the whole vehicle, and realize easy, safe and reliable operation.

[0055] In this embodiment, the remote control command in the special driving state is that the control amount applied to the vehicle exceeds the control amount threshold corresponding to the preset normal driving state. The normal driving state includes the vehicle going straight, or the vehicle braking, accelerating or turning with a small amount, at which time the suspension system can function reliably. The special driving state includes the vehicle braking, accelerating or turning with a large amount, for example, the deceleration of the vehicle during braking exceeds the preset deceleration threshold, the acceleration during acceleration exceeds the preset acceleration threshold, the centrifugal acceleration during turning exceeds the preset centrifugal acceleration threshold, etc.

[0056] In some embodiments, the controller is used to determine the suspension cylinder to be locked according to the remote control command. After the suspension cylinder to be locked is locked, only part of the suspension cylinder plays an elastic role, which can increase the stiffness of the suspension system to meet the needs of special driving conditions.

[0057] Among them, if the remote control command is a braking command, the suspension cylinders to be locked include two suspension cylinders at both ends of the front axle, namely the first suspension cylinder 2 and the second suspension cylinder 5. The front suspension is in a rigid state, and the rear suspension is in an elastic state, which increases the anti-pitch stiffness of the vehicle and enables the first accumulator 34 to have a higher pre-charge pressure to increase the adjustment speed. This system can effectively avoid the serious forward tilt of the vehicle caused by sudden braking, improve the driving safety of the vehicle, and protect the safety of personnel and equipment.

[0058] If the remote control command is an acceleration command, the suspension cylinders to be locked include two suspension cylinders at both ends of the rear axle, including the third suspension cylinder 10 and the fourth suspension cylinder 12. The front suspension is in an elastic state, and the rear suspension is in a rigid state, which increases the anti-pitch stiffness of the vehicle and enables the first accumulator 34 to have a higher pre-charge pressure to increase the adjustment speed. This system can effectively avoid the serious backward pitch of the vehicle caused by sudden acceleration, improve the driving safety of the vehicle, and protect the safety of personnel and equipment.

[0059] And / or if the remote control command is a steering command, the suspension cylinders to be locked include two suspension cylinders located on the outside of the steering direction. If turning to the right, the suspension cylinders to be locked include the first suspension cylinder 2 and the third suspension cylinder 10. If turning to the left, the suspension cylinders to be locked include the second suspension cylinder 5 and the fourth suspension cylinder 12.

[0060] The outer suspension cylinder becomes rigid and the inner suspension cylinder becomes elastic, which can increase the roll stiffness of the vehicle during steering and enable the first accumulator 34 to have a higher pre-charge pressure to increase the adjustment speed. The instantaneous full rigidity of the outer side of the suspension has a lower impact on the shock absorption performance of the vehicle, avoiding severe roll or even rollover of the vehicle during sudden steering, and reducing the risk of damage to personnel or vehicles due to steering.

[0061] In some embodiments, the oil-gas suspension device of the present invention also includes: a dual-axis inclination sensor for detecting the left and right inclination angles and the front and rear inclination angles of the vehicle body; wherein the controller is used to restore each suspension cylinder to an elastic state and a neutral position according to the detection values ​​of the displacement sensor and the dual-axis inclination sensor after completing the execution of the remote control command, so as to keep the chassis 1 level, so that the elasticity of each suspension cylinder can play a vibration reduction role under normal driving conditions.

[0062] For the above embodiment, Figure 1As shown, the multiple on-off valves corresponding to any suspension oil cylinder include: a first valve, a second valve and a third valve. The rodless chamber of any suspension oil cylinder is connected to the rod chamber of the suspension oil cylinder at the other end of the same axle through the first valve and the second valve in sequence. The oil inlet of the third valve is connected to the first accumulator 34, and the oil outlet is connected to the oil path between the first valve and the second valve. Corresponding to the four suspension oil cylinders 2, 5, 10 and 12, the first valves are marked as 25, 6, 8 and 27, the second valves are marked as 7, 26, 28 and 9, and the third valves are marked as 15, 16, 22 and 19.

[0063] Specifically, Figure 1 As shown, for a group of suspension cylinders corresponding to the front axle, the rodless chamber of the first suspension cylinder 2 is connected to the rod chamber of the second suspension cylinder 5 through the first valve 25 and the second valve 7 in sequence, the oil inlet of the third valve 15 is connected to the first accumulator 34, and the oil outlet is connected to the oil path between the first valve 25 and the second valve 7. The rodless chamber of the second suspension cylinder 5 is connected to the rod chamber of the first suspension cylinder 2 through the first valve 6 and the second valve 26 in sequence, the oil inlet of the third valve 16 is connected to the first accumulator 34, and the oil outlet is connected to the oil path between the first valve 25 and the second valve 7. The suspension cylinders corresponding to the rear axle are connected in the same way as the suspension cylinders corresponding to the front axle. For the same group of suspension cylinders, by adopting a through-type suspension cylinder, it has the function of anti-rolling.

[0064] Furthermore, a throttle check valve can be arranged on the oil circuit between the first valve and the second valve, which is formed by connecting the throttle valve and the check valve in parallel. Specifically, the throttle check valve is arranged between the second valve and the third valve to dampen the vibration during the suspension adjustment process, thereby making the entire driving smoother.

[0065] like Figure 1 As shown, the oil supply circuit of the first accumulator 34 includes a common oil circuit and four branch oil circuits, and the multiple on-off valves also include a fourth valve 29, which is arranged on the common oil circuit, and each branch oil circuit is provided with a third valve, and the third valves are marked as 15, 16, 22 and 19. This structure only has one first accumulator 34, and can selectively replenish oil to at least one suspension oil cylinder by controlling the on-off state of the third valve on the branch oil circuit when the fourth valve 29 is connected, and the control is flexible; and the oil replenishment is stopped when the fourth valve 29 is disconnected, and the control is convenient.

[0066] like Figure 1As shown, the multiple on-off valves also include a fifth valve 21, and the oil inlets of the third valves corresponding to the suspension cylinders at both ends of the same axle are connected through the fifth valve 21. Specifically, for the first suspension cylinder 2 and the second suspension cylinder 5 at both ends of the front axle, the oil inlets of the third valves 15 and 16 are connected through the fifth valve 21, and for the third suspension cylinder 10 and the fourth suspension cylinder 12 at both ends of the rear axle, the oil inlets of the third valves 22 and 19 are also connected through the fifth valve 21.

[0067] like Figure 1 As shown, the multiple on-off valves also include two sixth valves, marked as 17 and 23, the oil inlet of the sixth valve is connected to the oil circuit between the first valve and the third valve corresponding to a suspension cylinder of the first axle, and the oil outlet of the sixth valve is connected to the oil circuit between the first valve and the third valve corresponding to the suspension cylinder on the opposite side of the second axle.

[0068] Specifically, the first oil port of the sixth valve 33 is connected to the oil circuit between the first valve 25 and the third valve 15 corresponding to the first suspension oil cylinder 2 of the front axle; the second oil port of the sixth valve 33 is connected to the oil circuit between the first valve 27 and the third valve 19 corresponding to the fourth suspension oil cylinder 12 of the rear axle. The first oil port of the sixth valve 17 is connected to the oil circuit between the first valve 6 and the third valve 16 corresponding to the second suspension oil cylinder 5 of the front axle; the second oil port of the sixth valve 17 is connected to the oil circuit between the first valve 8 and the third valve 28 corresponding to the third suspension oil cylinder 10 of the rear axle.

[0069] By setting the sixth valve, when the sixth valve is connected, the suspension cylinders of the front and rear axles can be connected, so as to balance the loads of the front and rear axles and balance the forces of the suspension cylinders corresponding to the front and rear axles. When the sixth valve 33 is connected, the rodless cavity of the first suspension cylinder 2 can be connected to the rod cavity of the third suspension cylinder 10 on the same side; when the sixth valve 17 is connected, the rodless cavity of the second suspension cylinder 5 can be connected to the rod cavity of the fourth suspension cylinder 12 on the same side.

[0070] like Figure 1 As shown, the oil-gas suspension device of the present invention further includes four second accumulators, respectively marked as 30, 32, 31 and 33, each of which is arranged in the oil path between the first valve and the second valve corresponding to one of the suspension oil cylinders. Further, a seventh valve, marked as 14 and 24, can be arranged between the second accumulator and the first valve, and the second accumulator will only work when the seventh valve is connected.

[0071] The second accumulator can absorb the pressure pulsation when adjusting the extension length of the suspension cylinder piston rod, so that the piston rod can be accurately adjusted; when the vehicle is in a normal driving state, the second accumulator acts as an oil-gas spring. When the vehicle is driving on an uneven road, the hydraulic oil in the rodless chamber of the suspension cylinder can enter the second accumulator through the first valve and the seventh valve, and can also release the hydraulic oil through the second accumulator and enter the rodless chamber of the suspension cylinder through the seventh valve and the first valve.

[0072] Specifically, the second accumulator 32 is provided on the oil circuit between the first valve 25 and the third valve 15 of the first suspension cylinder 2, and the seventh valve 24 is provided between the second accumulator 32 and the first valve 25. The second accumulator 30 is provided on the oil circuit between the first valve 6 and the third valve 16 of the second suspension cylinder 5, and the seventh valve 14 is provided between the second accumulator 30 and the first valve 6. The second accumulator 31 is provided on the oil circuit between the first valve 8 and the sixth valve 17 of the third suspension cylinder 10. The second accumulator 33 is provided on the oil circuit between the first valve 27 and the sixth valve 33 of the fourth suspension cylinder 12.

[0073] The front and rear two groups of suspension cylinders of the oil-gas suspension control device of the present invention can realize left-right cross-connection, front-back mixed connection and rigid-elastic mode switching and other working conditions. The system mainly includes a vehicle controller, 4 suspension cylinders, 4 displacement detection sensors, 5 accumulators, multiple electromagnetic on-off valves and other accessories. The above components are combined and assembled to form the suspension system. The vehicle equipped with the suspension system has the function of dynamically adjusting the suspension system based on the driving control command, adapts to multiple working conditions, and improves the comfort, operational stability and driving safety of the whole vehicle in a safe, reliable and easy-to-implement manner.

[0074] Combine the following Figure 1 , the following combination Figure 1 and Figure 2 The vehicle controller receives the remote control command and the detection signals of the displacement sensor and the dual-axis tilt sensor of the suspension cylinder to control the pump, the on-off valve and the suspension cylinder. The working principle of the embodiment of the present invention is as follows.

[0075] 1. The remote control command is a braking command:

[0076] When the remote control sends a braking command to the vehicle and the deceleration of the vehicle exceeds the preset deceleration threshold, the displacement sensors of the two suspension cylinders corresponding to the front axle transmit the cylinder position data to the vehicle controller. After comparison, the vehicle controller sends a solenoid valve control signal to lock the high-position suspension cylinder. The low-position suspension cylinder first replenishes oil through the first accumulator 34 (if the pressure of the first accumulator 34 is insufficient, the pump station can also be used to replenish oil) to increase the pressure to the same amount as the extension of the high-position suspension cylinder, and then locks the corresponding on-off valve. The front suspension becomes rigid as a whole, while the rear suspension remains elastic, thereby increasing the anti-pitch stiffness, avoiding severe forward tilting of the vehicle or nodding of the vehicle caused by sudden braking at high speed, and reducing damage to personnel or equipment caused by sudden braking.

[0077] If the remote control sends a brake signal, the vehicle controller detects that the first suspension cylinder 2 at the left front position is in a high position, the second suspension cylinder 5 at the right front position is in a low position, the on-off valves 14, 17, 18, 19, 22, 23, 24, 25, 26 are powered off and in a disconnected state, the three-position four-way reversing valve 20 is in a neutral position, the on-off valves 6, 7, 8, 9, 15, 16, 21, 27, 28, 29 are powered on, and the second suspension cylinder 5 extends under the action of the first accumulator 34 until the displacement and extension are consistent with the first suspension cylinder 2, the on-off valves 6, 7, 15, 16, 21, 29 are powered off and in a disconnected state, the on-off valves 8, 9, 27, 28 are powered on, the front suspension is in a rigid state, and the rear suspension is in an elastic state, which increases the anti-pitch stiffness of the vehicle. The pre-charge pressure is high, and the adjustment process is very fast. This system can effectively avoid the serious forward tilt of the vehicle caused by emergency braking, improve the driving safety of the vehicle, and protect the safety of personnel and equipment. During emergency braking, the displacement of the right suspension cylinder is higher than that of the left suspension cylinder, which is similar to the above adjustment and control principles, improving the driving safety of the vehicle and protecting the safety of personnel and equipment. After completing the remote control command for the vehicle brake control, the vehicle controller restores the elastic state and balance position of the suspension system before braking based on the leveling program, the displacement sensor of the suspension cylinder and the feedback signal of the dual-axis inclination sensor.

[0078] 2. The remote control command is an acceleration command:

[0079] When the remote control sends an acceleration command to the vehicle and the acceleration of the vehicle exceeds the set acceleration threshold, the displacement sensors of the two suspension cylinders corresponding to the rear axle transmit the cylinder position data to the vehicle controller. After comparison, the vehicle controller sends a solenoid valve control signal to lock the high-position suspension cylinder. The low-position suspension cylinder first increases the oil pressure through the first accumulator 34 (if the pressure of the first accumulator 34 is insufficient, the pump station can be started to replenish oil) to be consistent with the stroke of the high-position suspension cylinder, and then the corresponding on-off valve is locked. The rear suspension becomes rigid, while the front suspension remains elastic, thereby increasing the anti-pitch stiffness, avoiding severe backward tilt of the vehicle during sudden acceleration, and reducing damage to personnel or equipment caused by emergency braking.

[0080] If the remote control sends an acceleration signal, the vehicle controller detects that the third suspension cylinder 10 at the left rear position is in a high position, the fourth suspension cylinder 12 at the right rear position is in a low position, the on-off valves 8, 9, 15, 16, 17, 19, 23 are powered off and in a disconnected state, the three-position four-way reversing valve 20 is in a neutral position, the on-off valves 6, 7, 14, 18, 21, 22, 24, 25, 26, 27, 28, 29 are powered on, and the fourth suspension cylinder 12 is extended under the action of the first accumulator 34 until the displacement and extension amount are consistent with the third suspension cylinder 10, and the on-off valves 21, 27, 28, 29 power failure lock, the front suspension is in an elastic state, the rear suspension is in a rigid state, increasing the anti-pitch stiffness of the vehicle. Since the pre-charge pressure of the first accumulator 34 is relatively high, the adjustment process is very fast. This system can effectively avoid the serious backward tilt of the vehicle caused by sudden acceleration, improve the driving safety of the vehicle, and protect the safety of personnel and equipment. After completing the remote control command for the vehicle acceleration, the vehicle controller restores the elastic state and balance position of the suspension system before braking based on the leveling program, the displacement sensor of the suspension and the feedback signal of the dual-axis inclination sensor.

[0081] 3. The remote control command is a steering command:

[0082] When the remote control sends a steering command to the vehicle and the centrifugal acceleration of the vehicle exceeds the preset centrifugal acceleration threshold, the displacement sensors of the two suspension cylinders on the steering outside transmit the cylinder position data to the vehicle controller. After comparison, the vehicle controller sends a solenoid valve control signal, the high-position suspension cylinder is locked, and the low-position suspension cylinder firstly increases the stroke of the high-position suspension cylinder through the first accumulator 34 (the pressure of the first accumulator is insufficient, and the oil pump can be started), and then the outer suspension cylinder is locked and becomes rigid, and the inner suspension cylinder becomes elastic, thereby increasing the roll stiffness of the vehicle during steering. This adjustment process takes an extremely long time, and the instantaneous full rigidity of the option has a low impact on the vibration reduction performance of the vehicle, thereby avoiding severe roll or even rollover of the vehicle during sudden steering, and reducing the risk of damage to personnel or vehicle caused by steering.

[0083] If the remote control sends a turn signal, the vehicle controller detects that the first suspension cylinder 2 at the front of the steering outside is in a high position, and the third suspension cylinder 10 at the rear of the steering outside is in a low position, the on-off valves 18, 21, 22, 27, 28, and 29 are energized and in an on state, and the other solenoid valves are de-energized. The third suspension cylinder 10 is rapidly raised to the same displacement height as the first suspension cylinder 2 under the action of the accumulator 34. Since the pre-charge pressure of the first accumulator 34 is relatively high, this adjustment process is very fast and the time required is extremely short. The instantaneous rigidity of the vehicle does not affect the vibration reduction performance of the vehicle. The on-off valves 6, 7, 15, 16, 17, 18, 19, 21, 23, 27, 28, 29 are powered off, the three-position four-way valve 20 is in the middle position, the other solenoid valves are powered on, the suspension on the inner side is in an elastic state, the suspension on the outer side is in a rigid state, and the vehicle rolls stiffly. This system can effectively avoid serious vehicle rollover and even rollover accidents caused by over-speed steering, improve vehicle driving safety, and protect personnel and equipment safety. After completing the remote control command for the vehicle steering, the vehicle controller restores the elastic state and balance position of the suspension system before braking based on the leveling program, suspension displacement sensor and dual-axis tilt sensor feedback signals.

[0084] Secondly, the present invention also provides a remote-controlled vehicle, such as a special vehicle, an engineering vehicle, a manned vehicle, etc., including the oil-gas suspension device of the remote-controlled vehicle of the above embodiment.

[0085] Since the control of the driving parameters of the remote-controlled vehicle during driving is completely dependent on the remote control command issued by the remote control, the driver cannot change the control parameters or intervene in the driving process under special driving conditions. This is the difference between remote-controlled vehicles and manned vehicles. Therefore, triggering different suspension system control signals according to remote control commands to dynamically adjust the suspension system to adapt to different working conditions is very necessary for improving the comfort, operational stability and driving safety of the whole vehicle, and it can save the complex monitoring system and analysis and calculation controller of the whole vehicle, which is easy to implement, safe and reliable.

[0086] Again, the present invention also provides a control method for an oil-gas suspension device of a remotely controlled vehicle based on the above embodiment, which in some embodiments includes:

[0087] Step 101, responding to a remote control command to put the vehicle in a special driving state;

[0088] Step 102, configuring the on-off state of each on-off valve according to the remote control command, so as to lock the high suspension cylinder of the two suspension cylinders to be locked, and replenishing oil for the low suspension cylinder through the first accumulator 34;

[0089] Step 103, when the piston rod of the low-position suspension oil cylinder is extended to the same amount as the extension amount of the high-position suspension oil cylinder, it is also locked, so that only the remaining two suspension oil cylinders are in an elastic working state.

[0090] The oil-gas suspension device control method of the embodiment of the present invention can trigger different suspension system control signals according to the remote control command received by the remote control vehicle, and dynamically adjust the suspension system by configuring the on-off state of each on-off valve, so as to adapt to different working conditions, improve the comfort, operational stability and driving safety of the whole vehicle, eliminate the complex monitoring system and analysis and calculation controller of the whole vehicle, and is easy to implement, safe and reliable.

[0091] In some embodiments, after step 101, the control method of the present invention further includes:

[0092] Step 101A, determine whether the control amount applied to the vehicle by the remote control command exceeds the control amount threshold corresponding to the preset normal driving state. If it exceeds, execute step 102 to configure the on-off state of each on-off valve according to the remote control command; otherwise, execute the control method of the normal driving state.

[0093] In some embodiments, after step 101, the control method of the present invention further includes:

[0094] Step 101B, determining the suspension cylinder to be locked according to the remote control command;

[0095] Among them, if the remote control command is a braking command, the suspension cylinders to be locked include the two suspension cylinders at both ends of the front axle; if the remote control command is an acceleration command, the suspension cylinders to be locked include the two suspension cylinders at both ends of the rear axle; and / or if the remote control command is a steering command, the suspension cylinders to be locked include the two suspension cylinders located on the outside of the steering.

[0096] In some embodiments, before configuring the on / off state of each on / off valve according to the remote control command in step 102, the control method of the present invention further includes:

[0097] Step 101C, detecting the displacement of the piston rods of the two suspension cylinders to be locked by means of a displacement sensor;

[0098] Step 101D: Compare the piston rod displacements of the two suspension cylinders to be locked to determine the low suspension cylinder and the high suspension cylinder, lock the high suspension cylinder, and adjust the low suspension cylinder to the same extension as the high suspension cylinder.

[0099] In some embodiments, the control method of the present invention further includes:

[0100] Step 104, detecting the displacement of the piston rod of each suspension cylinder by means of a displacement sensor;

[0101] Step 105, detecting the left and right tilt angles and the front and rear tilt angles of the vehicle body by means of a dual-axis tilt sensor;

[0102] Step 106: After the remote control command is executed, each suspension cylinder is restored to an elastic state and a neutral position according to the detection values ​​of the displacement sensor and the dual-axis inclination sensor, so that the chassis 1 remains level.

[0103] The above is a detailed introduction to a remote-controlled vehicle oil-gas suspension device, a control method and a remote-controlled vehicle provided by the present invention. Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A hydro-pneumatic suspension device for a remote-controlled vehicle, comprising: Four suspension cylinders (2; 5; 10; 12), respectively used to connect to the two ends of the front and rear axles below the vehicle chassis (1); Four displacement sensors (3; 4; 11; 13) are used to detect piston rod displacements of four suspension cylinders (2; 5; 10; 12) respectively; a first accumulator (34); a plurality of on-off valves, arranged on the oil circuit between the first accumulator (34) and each suspension oil cylinder (2; 5; 10; 12); and A controller, for, upon receiving a remote control command for placing the vehicle in a special driving state, configuring the on-off state of each of the on-off valves according to the remote control command, so as to lock the high-position suspension cylinder (2; 5; 10; 12) of the two suspension cylinders (2; 5; 10; 12) to be locked, and replenishing oil for the low-position suspension cylinder (2; 5; 10; 12) through the first accumulator (34) until the extension amount of the piston rod is consistent with that of the high-position suspension cylinder (2; 5; 10; 12), so as to also lock the remaining two suspension cylinders (2; 5; 10; 12) in an elastic working state, wherein the remote control command for placing the vehicle in a special driving state is a control amount applied to the vehicle exceeding a preset control amount threshold corresponding to a normal driving state; The controller is further used to determine the suspension cylinders (2; 5; 10; 12) to be locked according to the remote control command; wherein, if the remote control command is a braking command, the suspension cylinders (2; 5; 10; 12) to be locked include two suspension cylinders (2; 5; 10; 12) at both ends of the front axle; if the remote control command is an acceleration command, the suspension cylinders (2; 5; 10; 12) to be locked include two suspension cylinders (2; 5; 10; 12) at both ends of the rear axle; and / or if the remote control command is a steering command, the suspension cylinders (2; 5; 10; 12) to be locked include two suspension cylinders (2; 5; 10; 12) located on the steering outer sides.

2. The oil-gas suspension device of a remote-controlled vehicle according to claim 1, characterized in that: Also includes: Dual-axis tilt sensor, used to detect the left and right tilt angles and the front and rear tilt angles of the vehicle body; The controller is used to restore each of the suspension cylinders (2; 5; 10; 12) to an elastic state and a neutral position according to the detection values ​​of the displacement sensor (3; 4; 11; 13) and the dual-axis inclination sensor after executing the remote control command, so as to keep the chassis (1) level.

3. The oil-pneumatic suspension device of a remote-controlled vehicle according to claim 1, characterized in that: The multiple on-off valves corresponding to any of the suspension cylinders (2; 5; 10; 12) include: a first valve (25; 6; 8; 27), a second valve (7; 26; 28; 9) and a third valve (15; 16; 22; 19). For the suspension cylinders at both ends of the same axle, the rodless chamber of the suspension cylinder at one end is connected to the rod chamber of the suspension cylinder at the other end through the first valve, and the rodless chamber of the suspension cylinder at the other end is connected to the rod chamber of the suspension cylinder at one end through the second valve. The oil inlet of the third valve (15; 16; 22; 19) is connected to the first accumulator (34), and the oil outlet is connected to the oil circuit between the first valve (25; 6; 8; 27) and the second valve (7; 26; 28; 9).

4. The oil-pneumatic suspension device for a remote-controlled vehicle according to claim 3, characterized in that: The oil supply circuit of the first accumulator (34) comprises a common oil circuit and four branch oil circuits, the plurality of on-off valves further comprise a fourth valve (29), the fourth valve (29) being arranged on the common oil circuit, and each of the branch oil circuits is provided with a third valve (15; 16; 22; 19).

5. The oil-pneumatic suspension device for a remote-controlled vehicle according to claim 3, characterized in that: The multiple on-off valves also include a fifth valve (21), and the oil inlets of the third valves (15; 16; 22; 19) corresponding to the suspension oil cylinders (2; 5; 10; 12) at both ends of the same axle are connected via the fifth valve (21).

6. The oil-pneumatic suspension device for a remote-controlled vehicle according to claim 3, characterized in that: The multiple on-off valves also include two sixth valves (17; 23), the oil inlets of the sixth valves (17; 23) being connected to the oil circuit between the first valve (25; 6; 8; 27) corresponding to a suspension oil cylinder (2; 5; 10; 12) of the first axle and the third valve (15; 16; 22; 19), and the oil outlets of the sixth valves (17; 23) being connected to the oil circuit between the first valve (25; 6; 8; 27) corresponding to the suspension oil cylinder (2; 5; 10; 12) on the opposite side of the second axle and the third valve (15; 16; 22; 19).

7. The oil-pneumatic suspension device for a remote-controlled vehicle according to claim 1, characterized in that: It also includes four second accumulators (30; 32; 31; 33), each of which is arranged in the oil circuit between the first valve (25; 6; 8; 27) and the second valve (7; 26; 28; 9) corresponding to one of the suspension cylinders (2; 5; 10; 12).

8. A remote-controlled vehicle, characterized in that: A hydro-pneumatic suspension device for a remote-controlled vehicle comprising any one of claims 1 to 7.

9. A control method for an oil-gas suspension device of a remote-controlled vehicle according to any one of claims 1 to 7, characterized in that: include: responding to a remote control command to place the vehicle in a particular driving state; configuring the on-off state of each of the on-off valves according to the remote control command, so as to lock the high-position suspension cylinder (2; 5; 10; 12) of the two suspension cylinders (2; 5; 10; 12) to be locked, and replenishing oil for the low-position suspension cylinder (2; 5; 10; 12) through the first accumulator (34); When the piston rod of the low-position suspension oil cylinder (2; 5; 10; 12) is extended to the same extension amount as that of the high-position suspension oil cylinder (2; 5; 10; 12), it is also locked, so that only the remaining two suspension oil cylinders (2; 5; 10; 12) are in an elastic working state.

10. The control method according to claim 9, characterized in that: Also includes: It is determined whether the control amount applied to the vehicle by the remote control command exceeds a preset control amount threshold corresponding to a normal driving state. If it exceeds, the on-off state of each on-off valve is configured according to the remote control command.

11. The control method according to claim 9, characterized in that: Also includes: Determining the suspension cylinder (2; 5; 10; 12) to be locked according to the remote control command; Wherein, if the remote control command is a braking command, the suspension cylinders (2; 5; 10; 12) to be locked include two suspension cylinders (2; 5; 10; 12) at both ends of a front axle; if the remote control command is an acceleration command, the suspension cylinders (2; 5; 10; 12) to be locked include two suspension cylinders (2; 5; 10; 12) at both ends of a rear axle; and / or if the remote control command is a steering command, the suspension cylinders (2; 5; 10; 12) to be locked include two suspension cylinders (2; 5; 10; 12) located on the steering outer sides.

12. The control method according to claim 9, characterized in that: Before configuring the on-off state of each on-off valve according to the remote control instruction, the method further includes: Detecting the piston rod displacement of the two suspension cylinders (2; 5; 10; 12) to be locked by means of a displacement sensor (3; 4; 11; 13); The piston rod displacements of the two suspension cylinders (2; 5; 10; 12) to be locked are compared to determine the low-position suspension cylinder (2; 5; 10; 12) and the high-position suspension cylinder (2; 5; 10; 12).

13. The control method according to claim 9, characterized in that: Also includes: The displacement sensors (3; 4; 11; 13) detect the displacement of each suspension cylinder (2; 5; 10; 12) Piston rod displacement; The left and right tilt angles and the front and rear tilt angles of the vehicle body are detected by a dual-axis tilt sensor; After the remote control command is executed, each of the suspension cylinders (2; 5; 10; 12) is restored to an elastic state and a neutral position according to the detection values ​​of the displacement sensor (3; 4; 11; 13) and the dual-axis inclination sensor, so that the chassis (1) remains horizontal.

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