Brake control system and agricultural machine

Abstract

Embodiments of the present application provide a brake control system and agricultural machinery equipment, and relate to the field of agricultural machinery. The brake control system comprises an electronic control unit, an oil tank, an oil guide valve group, an energy storage member, a pedal member and a brake member; the oil tank supplies oil to the oil guide valve group through an oil inlet path, and the oil guide valve group is connected to the energy storage member, the pedal member and the brake member; the pedal member is connected to the energy storage member and the brake member, so that a certain amount of oil is kept in the energy storage member. In manual braking or automatic braking, the energy storage member first supplies oil to the brake member through the oil guide valve group, so that the brake member can quickly perform a braking action, and then the oil tank supplies oil to the brake member through the oil guide valve group to maintain pressure, thereby improving the brake response speed, overcoming the problem of long hydraulic oil supply reaction time, and ensuring the accuracy of the brake position.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and more specifically, to a braking control system and agricultural machinery equipment. Background Technology

[0002] Tractors are indispensable power machinery in agricultural production, and the braking system is a core component of the tractor's operation.

[0003] Existing braking systems, whether manual or automatic, suffer from slow response and hydraulic oil supply with a certain reaction time, which affects the accuracy of braking position. Summary of the Invention

[0004] This invention provides a braking control system that can solve the problem of slow response in existing braking systems.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] An embodiment of the present invention provides a braking control system, which includes:

[0007] Electronic control unit, fuel tank, fuel valve assembly, energy storage device, pedal components, and braking components;

[0008] The electronic control unit is electrically connected to the oil guide valve assembly, energy storage device, pedal device, and brake device.

[0009] The oil tank is connected to the oil guide valve assembly via an oil inlet circuit;

[0010] The oil guide valve assembly is connected to the energy storage device, pedal device, and brake device at the same time;

[0011] The pedal component is connected to both the energy storage component and the braking component.

[0012] When manual braking is applied, the pedal component sends a signal to the electronic control unit, which then sends a first signal to the oil guide valve assembly to connect the energy storage component with the braking component through the oil guide valve assembly.

[0013] When automatic braking occurs, the electronic control unit sends a second signal to the oil guide valve assembly to connect the energy storage device with the braking device through the oil guide valve assembly.

[0014] Optionally, the oil guide valve assembly includes a sequence valve and a brake control valve. The oil inlet of the sequence valve is connected to the oil inlet circuit, and the oil outlet of the sequence valve is simultaneously connected to the energy accumulator, the pedal component, and the brake component. The brake control valve is connected between the energy accumulator and the brake component, and both the sequence valve and the brake control valve are communicatively connected to the electronic control unit. The brake control valve is used to connect the energy accumulator and the brake component.

[0015] Optionally, the energy storage component includes a service brake accumulator, the braking component includes a service brake cylinder, and the brake control valve includes a service brake control valve; both the service brake accumulator and the service brake cylinder are connected to the oil outlet of the sequence valve, the service brake control valve is connected between the service brake accumulator and the service brake cylinder, the service brake cylinder is connected to the pedal component, and the electronic control unit is electrically connected to both the service brake accumulator and the service brake control valve.

[0016] Optionally, the energy storage device includes a parking brake accumulator, the braking device includes a parking brake cylinder, and the brake control valve includes a parking brake control valve; both the vehicle brake accumulator and the parking brake cylinder are connected to the oil outlet of the sequence valve, the parking brake control valve is connected between the parking brake accumulator and the parking brake cylinder, and the electronic control unit is electrically connected to both the vehicle brake accumulator and the parking brake control valve.

[0017] Optionally, the pedal assembly includes a brake pedal and a brake booster pump connected together. The inlet of the brake booster pump is connected to the service brake accumulator and the sequence valve, the outlet of the brake booster pump is connected to the service brake cylinder, and the brake booster pump is electrically connected to the electronic control unit.

[0018] Optionally, the braking component includes a shuttle valve, the inlet of which is connected to a sequence valve, a service brake control valve, and a brake booster pump, the outlet of which is connected to a service brake cylinder, and the shuttle valve is electrically connected to an electronic control unit.

[0019] Optionally, the oil guide valve assembly also includes a balance valve, the oil inlet of which is connected to both the oil inlet circuit and the energy accumulator, and the oil outlet of which is connected to the brake control valve.

[0020] Optionally, the oil guide valve assembly also includes a bypass valve. The oil inlet of the bypass valve is connected to the oil inlet circuit, and the oil outlet of the bypass valve is connected to the oil tank through the oil return circuit. The bypass valve is used to open the oil inlet circuit and the oil return circuit when the braking state is not in operation, so that the oil can circulate to the oil tank.

[0021] Optionally, the return oil circuit is equipped with a radiator and a return oil filter, with the oil outlet of the radiator connected to the oil inlet of the return oil filter. The inlet oil circuit is equipped with an inlet oil filter and a metering pump, with the oil outlet of the inlet oil filter connected to the oil inlet of the metering pump. The electronic control unit is electrically connected to both the radiator and the metering pump.

[0022] Embodiments of the present invention also provide an agricultural machinery device, including the above-described braking control system.

[0023] The beneficial effects of the braking control system of this invention include, for example:

[0024] The braking control system includes an electronic control unit (ECU), an oil tank, a guide valve assembly, an accumulator, a pedal assembly, and a brake assembly. The ECU is electrically connected to the guide valve assembly, the accumulator, the pedal assembly, and the brake assembly. The oil tank is connected to the guide valve assembly via an inlet circuit for oil supply. The guide valve assembly is simultaneously connected to the accumulator, the pedal assembly, and the brake assembly. The pedal assembly is connected to both the accumulator and the brake assembly, ensuring that the accumulator always maintains a certain amount of oil. During manual braking, the pedal assembly transmits a signal to the guide valve assembly via the ECU, enabling the accumulator to connect with the brake assembly through the guide valve assembly. During automatic braking, the ECU transmits a signal to the guide valve assembly, enabling the accumulator to connect with the brake assembly through the guide valve assembly. In both braking modes, the accumulator first supplies oil to the brake assembly via the guide valve assembly, allowing for rapid braking. Then, the oil tank supplies oil to the brake assembly via the guide valve assembly to maintain pressure, thereby improving braking response speed, overcoming the problem of long hydraulic oil supply response time, and ensuring the accuracy of braking position. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the braking control system provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the oil guide valve assembly provided in an embodiment of the present invention.

[0028] Icons: 100 - Brake control system; 110 - Electronic control unit; 120 - Fuel tank; 121 - Fuel inlet circuit; 1211 - Fuel inlet filter; 1212 - Metering pump; 122 - Fuel return circuit; 1221 - Radiator; 1222 - Fuel return filter; 123 - Second fuel return circuit; 130 - Fuel pilot valve assembly; 131 - Sequence valve; 132 - Brake control valve; 1321 - Service brake control valve; 1322 - Parking brake control valve; 133-Balance valve; 134-Bypass valve; 140-Accumulator; 141-Service brake accumulator; 142-Parking brake accumulator; 150-Pedal component; 151-Brake pedal; 152-Brake booster pump; 160-Brake component; 161-Service brake cylinder; 162-Parking brake cylinder; 163-Shuttle valve; 170-First check valve; 171-Second check valve; 180-Pressure relief valve; 190-Pressure sensor. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0033] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0034] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0035] Tractors are indispensable power machinery in agricultural production, and the tractor braking system is the core component of the tractor's operation. The traditional tractor braking system consists of components such as a brake oil pump, a brake booster pump, a mechanical foot pedal, a brake lever mechanism, and a brake. By manually stepping on the mechanical foot pedal, the hydraulic pump delivers oil to the brake booster pump. The pedal pushes the brake booster pump, opening the internal valve core of the brake booster pump, sending the pressurized oil to the brake, compressing the brake cylinder, and ultimately achieving the braking action of the tractor.

[0036] In recent years, with the development of modern agriculture and autonomous driving technology, the demand for reducing the intensity of manual labor and achieving precision agriculture has become increasingly apparent. This requires tractors to achieve autonomous driving through satellite navigation, which has placed revolutionary demands on traditional tractor braking systems. Tractor braking systems need to have autonomous driving braking functions. On the other hand, with the increase in agricultural machinery subsidies and operating efficiency, the market demand for high-power heavy-duty tractors and the requirement to reduce energy consumption are increasing year by year. Therefore, there is an urgent need for tractors with power braking, and a drive-by-wire braking system that can be used for both human and autonomous driving within the same system, integrating driving and parking.

[0037] Existing tractor braking systems mainly consist of a hydraulic oil tank, a fixed displacement gear pump, a foot brake pedal, a handbrake lever, a lever mechanism, a brake booster pump, a control valve, a pressure measuring device, an energy storage device, a return spring, and a brake steering wheel. Intelligent braking is achieved through the parallel connection of the foot brake pedal and the control valve. While existing tractor braking systems have undergone intelligent improvements, they still cannot achieve integrated driving and parking, process control of braking, or universal compatibility with both manned and unmanned driving systems; therefore, there is still room for improvement.

[0038] The braking control system provided in the embodiments of the present invention can solve this problem.

[0039] Please refer to Figures 1-2 This embodiment provides a braking control system 100, which will be described in detail below.

[0040] refer to Figure 1 The braking control system 100 includes an electronic control unit (ECU) 110, a fuel tank 120, a fuel valve assembly 130, an energy storage device 140, a pedal assembly 150, and a brake assembly 160. The ECU 110 is electrically connected to the fuel valve assembly 130, the energy storage device 140, the pedal assembly 150, and the brake assembly 160. The ECU 110 is an ECU, which can be considered as the vehicle's computer, and achieves intelligent control during the braking process through electrical connections with various components.

[0041] The oil tank 120 is connected to the oil guide valve assembly 130 via the oil inlet passage 121, so that the oil in the oil tank 120 is conducted to the oil guide valve assembly 130 for oil supply. The oil guide valve assembly 130 is also connected to the energy storage unit 140, the pedal unit 150, and the brake unit 160. The pedal unit 150 is also connected to the energy storage unit 140 and the brake unit 160, thereby conducting oil flow.

[0042] When manual braking is applied, the pedal component 150 triggers the electronic control unit 110, which sends a first signal to the guide valve assembly 130, enabling the energy storage unit 140 to connect with the brake component 160 through the guide valve assembly 130. When automatic braking is applied, the electronic control unit 110 sends a second signal to the guide valve assembly 130, enabling the energy storage unit 140 to connect with the brake component 160 through the guide valve assembly 130. By storing oil in the energy storage unit 140 and positioning it close to the brake component 160, when braking is required (whether manual or automatic), the electronic control unit 110 sends corresponding signals to the guide valve assembly 130 and the energy storage unit 140. The oil in the energy storage unit 140 is then conducted to the brake component 160 through the guide valve assembly 130, allowing the brake component 160 to quickly complete the braking action, greatly improving the braking response speed.

[0043] The energy storage unit 140 includes a service brake accumulator 141 and a parking brake accumulator 142, and the braking unit 160 includes a service brake cylinder 161 and a parking brake cylinder 162. The service brake accumulator 141, the service brake accumulator 141, the service brake cylinder 161, and the parking brake cylinder 162 are all connected to the oil guide valve assembly 130. The electronic control unit 110 is electrically connected to both the service brake accumulator 141 and the parking brake accumulator 142. The service brake accumulator 141 supplies oil to the service brake cylinder 161, and the parking brake accumulator 142 supplies oil to the parking brake cylinder 162.

[0044] The pedal component 150 includes a brake pedal 151 and a brake booster pump 152 connected to each other. The inlet of the brake booster pump 152 is connected to the service brake accumulator 141 and the oil guide valve assembly 130. The outlet of the brake booster pump 152 is connected to the service brake cylinder 161. The brake booster pump 152 is also electrically connected to the electronic control unit 110.

[0045] The braking component 160 also includes a shuttle valve 163. The inlet of the shuttle valve 163 is connected to both the oil guide valve assembly 130 and the brake booster pump 152, and the outlet of the shuttle valve 163 is connected to the service brake cylinder 161. The shuttle valve 163 is also electrically connected to the electronic control unit 110. The shuttle valve 163 can select the appropriate amount of fluid to enter the service brake cylinder 161 based on the pressure from the oil guide valve assembly 130 or the brake booster pump 152, thus enabling operation in both autonomous and unmanned driving environments.

[0046] The oil guide valve assembly 130 is also connected to the oil tank 120 via the return oil passage 122 to allow oil to circulate into the oil tank 120, which is beneficial for oil cooling. The return oil passage 122 is equipped with a radiator 1221 and a return oil filter 1222. The oil outlet of the radiator 1221 is connected to the oil inlet of the return oil filter 1222. The electronic control unit 110 is electrically connected to the radiator 1221. The radiator 1221 serves to cool the oil, and the return oil filter 1222 is used to filter impurities in the oil.

[0047] The oil guide valve assembly 130 and the oil tank 120 are also connected by a second return oil circuit 123. The second return oil circuit 123 facilitates the direct return of oil from other components in the oil guide valve assembly 130 to the oil tank 120, which helps to improve the oil circulation efficiency and avoids excessive return oil pressure in the return oil circuit 122.

[0048] The oil inlet circuit 121 is equipped with an oil inlet filter 1211 and a fixed displacement pump 1212. The oil outlet of the oil inlet filter 1211 is connected to the oil inlet of the fixed displacement pump 1212, and the electronic control unit 110 is electrically connected to the fixed displacement pump 1212. The fixed displacement pump 1212 is used to provide the circulating oil required by the overall system in a metered manner, while the oil inlet filter 1211 is used to filter impurities in the oil.

[0049] refer to Figure 2 The oil guide valve assembly 130 includes a sequence valve 131 and a brake control valve 132. The oil inlet of the sequence valve 131 is connected to the oil inlet circuit 121, and the oil outlet of the sequence valve 131 is simultaneously connected to the energy accumulator 140, the pedal component 150, and the brake component 160. The brake control valve 132 is connected between the energy accumulator 140 and the brake component 160. Both the sequence valve 131 and the brake control valve 132 are communicatively connected to the electronic control unit 110. The brake control valve 132 is used to connect the energy accumulator 140 and the brake component 160. When the oil pressure reaches a certain level, the sequence valve 131 is opened, and the oil is supplied in an orderly manner to the components corresponding to the oil outlet of the sequence valve 131.

[0050] The brake control valve 132 includes a service brake control valve 1321 and a parking brake control valve 1322. The service brake control valve 1321 is connected between the service brake accumulator 141 and the service brake cylinder 161, and the parking brake control valve 1322 is connected between the parking brake accumulator 142 and the parking brake cylinder 162. The service brake cylinder 161 is connected to the pedal component 150. The electronic control unit 110 is electrically connected to the service brake accumulator 141, the parking brake accumulator 142, the service brake control valve 1321, and the parking brake control valve 1322. The electronic control unit 110 can send a signal to the service brake control valve 1321 or the parking brake control valve 1322 to open the service brake control valve 1321 or the parking brake control valve 1322, so that the service brake accumulator 141 and the parking brake accumulator 142 can immediately supply oil to the service brake cylinder 161 and the parking brake cylinder 162 respectively.

[0051] Furthermore, the service brake control valve 1321 is an electromagnetic proportional valve, thereby realizing process control in automatic braking and fully simulating the intermediate process of manual braking.

[0052] The oil guide valve assembly 130 also includes a bypass valve 134. The oil inlet of the bypass valve 134 is connected to the oil inlet passage 121, and the oil outlet of the bypass valve 134 is connected to the oil tank 120 through the oil return passage 122. The bypass valve 134 is used to open the oil inlet passage 121 and the oil return passage 122 when the braking state is not in use, so that the oil can circulate to the oil tank 120.

[0053] The oil guide valve assembly 130 also includes a balance valve 133. The oil inlet of the balance valve 133 is connected to the oil inlet circuit 121, the service brake accumulator 141, and the parking brake accumulator 142. The oil outlet of the balance valve 133 is connected to the service brake control valve 1321 and the parking brake control valve 1322. When the service brake accumulator 141 or the parking brake accumulator 142 is damaged, the balance valve 133 can cut off the oil supply to the service brake accumulator 141 or the parking brake accumulator 142 according to the feedback pressure, ensuring system safety.

[0054] A first check valve 170 is also provided between the balance valve 133 and the oil inlet 121. The first check valve 170 is used to ensure the unidirectional flow of oil supplied from the oil inlet 121 to the balance valve 133.

[0055] In addition, the parking brake control valve 1322 is connected to the oil inlet circuit 121, and a second check valve 171 is provided between the two to ensure the unidirectional flow of oil supplied from the oil inlet circuit 121 to the parking brake control valve 1322.

[0056] The oil guide valve assembly 130 also includes two pressure relief valves 180. The oil inlets of the two pressure relief valves 180 correspond to the service brake accumulator 141 and the parking brake accumulator 142, respectively, and the oil outlets of the two pressure relief valves 180 correspond to the sequence valve 131. The main function is to automatically relieve pressure on the service brake accumulator 141 and the parking brake accumulator 142 when the system stops.

[0057] The braking control system 100 also includes multiple pressure sensors 190, which are used to detect the oil pressure at the oil inlet of the service brake accumulator 141, the oil inlet of the parking brake accumulator 142, the oil inlet of the service brake control valve 1321, and the oil inlet of the parking brake control valve 1322.

[0058] Embodiments of the present invention also provide an agricultural machinery device, including the above-described braking control system 100.

[0059] The braking control system 100 and agricultural machinery equipment mainly include the following operating conditions:

[0060] Operating Condition 1: Standby Status

[0061] When the engine of agricultural machinery is started, under typical idling conditions, the fixed displacement pump 1212 draws oil from the oil tank 120 through the oil inlet filter 1211 and sends the oil to various parts of the system through the oil inlet line 121. At this time, the bypass valve 134 is in a de-energized state (when the bypass valve 134 is de-energized, it opens the oil inlet line 121 and the oil return line 122). The system oil returns to the oil tank 120 through the bypass valve 134, radiator 1221, and oil return filter, which provides forced cooling and filtration for the system. At this time, after the electronic control unit 110 is started, it must force the bypass valve 134 to be energized (when the bypass valve 134 is energized, the oil inlet circuit 121 and the oil return circuit 122 are disconnected). Due to the sealing of various parts of the system, the oil volume increases, the system pressure increases, and the preset pressure of the sequence valve 131 is reached. The sequence valve 131 opens, and the system maintains the preset pressure. At the same time, the parking brake accumulator 142 and the service brake accumulator 141 begin to fill with fluid. When the parking brake accumulator 142 and the service brake accumulator 141... When the pressure value of the corresponding pressure sensor 190 reaches the set threshold, the electronic control unit 110 de-energizes the bypass valve 134. The parking brake accumulator 142 and the service brake accumulator 141 maintain pressure through the balance valve 133 and the first check valve 170. The system re-enters the forced cooling and filtration state. If the system leaks and the pressure value of the pressure sensor 190 is lower than the set threshold, the electronic control unit 110 controls the bypass valve 134 to be energized, causing the sequence valve 131 to build up pressure and replenish the accumulator pressure.

[0062] Operating Condition 2: Release the parking status

[0063] In standby mode, upon receiving a drive or release signal, the electronic control unit 110 energizes the parking brake control valve 1322. At this time, the oil guide valve assembly 130 connects to the parking brake cylinder 162. The system first charges the parking brake cylinder 162 with fluid from the parking brake accumulator 142. Simultaneously, the bypass valve 134 is energized, the forced cooling circulation closes, and the sequence valve 131 begins pressure build-up, replenishing the required fluid and pressure. The pressure sensor 190 monitors the pressure of the parking brake control valve 1322 and the parking brake accumulator 142. When the system pressure reaches a set threshold and the system stabilizes, the bypass valve 134 is de-energized, the forced cooling and filtration circulation opens, and the system maintains pressure through the first one-way valve 170. When the pressure sensor 190 detects a system leak and the pressure drops below the set threshold, the bypass valve 134 is energized again, causing the system to charge. After charging is complete, the bypass valve 134 is de-energized, returning to the forced cooling and filtration circulation state.

[0064] Operating Condition 3: Manual Driving and Braking Status

[0065] When the vehicle is released from parking, the brake pedal 151 is manually pressed. At this time, the brake pedal 151 generates a braking stroke, compressing the push rod (not shown) of the brake booster pump 152, moving the valve core (not shown) of the brake booster pump 152, opening the channel between the service brake accumulator 141 and the shuttle valve 163, allowing the oil in the service brake accumulator 141 to enter the shuttle valve 163 through the brake booster pump 152, pushing the steel ball (not shown) of the shuttle valve 163 to the other end, allowing the oil to enter the service brake cylinder 161, pushing the piston (not shown) to generate braking force. Simultaneously, the electronic control unit 110 detects a decrease in pressure in the service brake accumulator 141, and the angle sensor (not shown) on the brake pedal 151 exceeds a set threshold, indicating that the service brake is engaged. The bypass valve 134 is energized, and the system builds pressure to fill the service brake accumulator 141. Meanwhile, the electronic control unit 110 continues to monitor the service brake status via the pressure sensor 190 and the angle sensor on the brake pedal 151. If the pressure values ​​of each sensor remain unchanged for several seconds, the braking state is considered released, the bypass valve 134 is de-energized, and the system returns to forced cooling and filtration mode. The pressure inside the service brake cylinder 161 is proportional to the movement distance of the valve core of the brake booster pump 152 and the stroke of the brake pedal 151. The principle of single-sided braking is the same as that of double-sided braking.

[0066] Operating Condition 4: Automatic Driving Braking Status

[0067] In standby mode, when the autonomous driving system detects that braking action is required, it sends a signal to the electronic control unit 110. The electronic control unit 110 controls the service brake control valve 1321 to open the channel between the service brake accumulator 141 and the shuttle valve 163. The steel ball inside the shuttle valve 163 moves to the other end, and pressurized oil enters the interior of the service brake cylinder 161, pushing the piston of the service brake cylinder 161 to move and generate braking force. At the same time, the electronic control unit 110 detects that the pressure of the service brake accumulator 141 has decreased, and the angle sensor on the brake pedal 151 is greater than the set threshold. It determines that the service brake is activated, the bypass valve 134 is energized, the system builds up pressure, and the service brake accumulator 141 is filled with fluid. Meanwhile, the electronic control unit 110 continues to detect the service braking status through the pressure sensor 190 and the angle sensor of the brake pedal 151. If the pressure values ​​of each sensor remain unchanged for several seconds, the braking status is considered to be released, the bypass valve 134 is de-energized, and the system returns to the forced cooling and filtration state. The pressure inside the service brake cylinder 161 is proportional to the current given by the service brake control valve 1321. The principle of single-sided braking is the same as that of double-sided braking.

[0068] Operating Condition 5: Braking Overreach

[0069] In the autonomous driving braking state, if an emergency occurs such as valve core jamming, oil leakage, or autonomous driving system failure, and manual control of braking force is required, the brake pedal 151 is pressed. At this time, the electronic control unit 110 maintains the previous braking current and monitors the angle sensor of the brake pedal 151 until the pressure generated by the travel of the brake pedal 151 is equal to the pressure generated by the service brake control valve 1321. Then, the electronic control unit 110 shields the signal of the service brake control valve 1321 to ensure braking smoothness.

[0070] Operating Condition 6: Shutdown, Maintenance, and Damage to Energy Storage Devices

[0071] Before parking or performing maintenance, the pressure relief valve 180 must be turned on and off to ensure that the service brake accumulator 141 is emptied. When the parking brake accumulator 142 is damaged, the oil pressure from the outlet of the balance valve 133 to the parking brake accumulator 142 decreases. The right signal port of the valve core (not shown in the figure) of the balance valve 133 works together with the right spring to compress the left spring and move to the left. The pressurized oil is directly supplied to the oil circuit corresponding to the parking brake cylinder 162 to ensure the safety of the vehicle. The same applies when the service brake accumulator 141 is damaged.

[0072] According to the braking control system 100 provided in this embodiment, the working principle of the braking control system 100 is as follows:

[0073] The braking control system 100 includes: an electronic control unit 110, an oil tank 120, an oil guide valve assembly 130, an energy storage device 140, a pedal device 150, and a brake device 160. The electronic control unit 110 is electrically connected to the oil guide valve assembly 130, the energy storage device 140, the pedal device 150, and the brake device 160 respectively. The oil tank 120 is connected to the oil guide valve assembly 130 through an oil inlet passage 121 to supply oil. The oil guide valve assembly 130 is also connected to the energy storage device 140, the pedal device 150, and the brake device 160. The pedal device 150 is also connected to the energy storage device 140 and the brake device 160, so that a certain amount of oil is always maintained in the energy storage device 140. When manual braking occurs, the pedal component 150 transmits a signal to the oil guide valve assembly 130 via the electronic control unit 110, so that the energy storage component 140 is connected to the brake component 160 via the oil guide valve assembly 130. When automatic braking occurs, the electronic control unit 110 transmits a signal to the oil guide valve assembly 130, so that the energy storage component 140 is connected to the brake component 160 via the oil guide valve assembly 130. In both braking methods, the energy storage component 140 first supplies oil to the brake component 160 via the oil guide valve assembly 130, enabling the brake component 160 to brake quickly. Then, the oil tank 120 supplies oil to the brake component 160 via the oil guide valve assembly 130 to maintain pressure, thereby improving the braking response speed, overcoming the problem of long hydraulic oil supply response time, and ensuring the accuracy of the braking position.

[0074] The braking control system 100 and agricultural machinery provided in this embodiment have at least the following advantages: (1) It solves the problem of universality between manned and unmanned driving in the process of intelligentization of agricultural machinery; (2) It solves the problem of integrated driving and parking of agricultural machinery; (3) It solves the process control problem in automatic braking; (4) It solves the pressure safety problem of accumulator; (5) It solves the problem of system circulation heat dissipation and filtration.

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A braking control system, characterized in that, include: The electronic control unit (110), the oil tank (120), the oil guide valve assembly (130), the energy storage unit (140), the pedal assembly (150), and the brake assembly (160). The electronic control unit (110) is simultaneously electrically connected to the oil guide valve assembly (130), the energy storage device (140), the pedal device (150), and the brake device (160); The oil tank (120) is connected to the oil guide valve group (130) through the oil inlet passage (121); The oil guide valve assembly (130) is simultaneously connected to the energy storage unit (140), the pedal unit (150), and the brake unit (160); The pedal component (150) is connected to both the energy storage component (140) and the braking component (160); When manual braking is applied, the pedal component (150) triggers the electronic control unit (110), and the electronic control unit (110) sends a first signal to the oil guide valve assembly (130) so that the energy storage component (140) is connected to the braking component (160) through the oil guide valve assembly (130); When automatic braking occurs, the electronic control unit (110) sends a second signal to the oil guide valve assembly (130) so that the energy storage device (140) is connected to the braking device (160) through the oil guide valve assembly (130); The oil guide valve assembly (130) includes a sequence valve (131) and a brake control valve (132). The oil inlet of the sequence valve (131) is connected to the oil inlet circuit (121), and the oil outlet of the sequence valve (131) is connected to the energy storage device (140), the pedal device (150), and the brake device (160). The brake control valve (132) is connected between the energy storage device (140) and the brake device (160). Both the sequence valve (131) and the brake control valve (132) are communicatively connected to the electronic control unit (110). The brake control valve (132) is used to connect the energy storage device (140) and the brake device (160). The energy storage device (140) includes a service brake energy storage device (141), the brake device (160) includes a service brake cylinder (161), and the brake control valve (132) includes a service brake control valve (1321). The service brake accumulator (141) and the service brake cylinder (161) are both connected to the oil outlet of the sequence valve (131). The service brake control valve (1321) is connected between the service brake accumulator (141) and the service brake cylinder (161). The service brake cylinder (161) is connected to the pedal component (150). The electronic control unit (110) is electrically connected to both the service brake accumulator (141) and the service brake control valve (1321). The energy storage device (140) includes a parking brake accumulator (142), the braking device (160) includes a parking brake cylinder (162), and the brake control valve (132) includes a parking brake control valve (1322). The parking brake accumulator (142) and the parking brake cylinder (162) are both connected to the oil outlet of the sequence valve (131). The parking brake control valve (1322) is connected between the parking brake accumulator (142) and the parking brake cylinder (162). The electronic control unit (110) is electrically connected to both the parking brake accumulator (142) and the parking brake control valve (1322).

2. The braking control system according to claim 1, characterized in that, The pedal component (150) includes a brake pedal (151) and a brake booster pump (152) connected together. The inlet of the brake booster pump (152) is connected to the service brake accumulator (141) and the sequence valve (131). The outlet of the brake booster pump (152) is connected to the service brake cylinder (161). The brake booster pump (152) is electrically connected to the electronic control unit (110).

3. The braking control system according to claim 2, characterized in that, The braking component (160) includes a shuttle valve (163), the oil inlet of which is connected to the sequence valve (131), the service brake control valve (1321) and the brake booster pump (152), the oil outlet of which is connected to the service brake cylinder (161), and the shuttle valve (163) is electrically connected to the electronic control unit (110).

4. The braking control system according to claim 1, characterized in that, The oil guide valve assembly (130) also includes a balance valve (133), the oil inlet of which is connected to both the oil inlet circuit (121) and the energy storage device (140), and the oil outlet of which is connected to the brake control valve (132).

5. The braking control system according to claim 1, characterized in that, The oil guide valve assembly (130) also includes a bypass valve (134). The oil inlet of the bypass valve (134) is connected to the oil inlet passage (121), and the oil outlet of the bypass valve (134) is connected to the oil tank (120) through the return oil passage (122). The bypass valve (134) is used to open the oil inlet passage (121) and the return oil passage (122) when the braking state is not in use, so that the oil can circulate to the oil tank (120).

6. The braking control system according to claim 5, characterized in that, The return oil circuit (122) is provided with a radiator (1221) and a return oil filter (1222). The oil outlet of the radiator (1221) is connected to the oil inlet of the return oil filter (1222). The inlet oil circuit (121) is provided with an inlet oil filter (1211) and a metering pump (1212). The oil outlet of the inlet oil filter (1211) is connected to the oil inlet of the metering pump (1212). The electronic control unit (110) is electrically connected to both the radiator (1221) and the metering pump (1212).

7. An agricultural machinery device, characterized in that, The braking control system includes any one of claims 1 to 6.

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