Braking control method for wood trailer

Abstract

The present invention relates to a brake control method for a wood trailer, comprising a traction part connected to a traction vehicle, a loading side for loading wood, and a connecting beam connecting the traction part and the loading side, wherein the loading side comprises a loading mechanism mounted on the connecting beam and a running wheel mechanism symmetrically mounted on both sides of the connecting beam, and also comprises a brake mechanism for limiting the rotation of the running wheel mechanism; the brake mechanism comprises a rotating part rotatably mounted on the connecting beam, a collision brake part connected to one end of the rotating part, a driving part connected to the other end of the rotating part, and a brake line connecting the driving part and the running wheel mechanism; the traction part is slidably mounted on the connecting beam and the end of the traction part abuts against the collision brake part; the rotating part is fixedly connected with a hand brake lever. By setting the brake mechanism, when the wood trailer is traveling on a steep mountain road and wants to stop, the wood trailer can be stopped by the collision brake, and the balance of the wood trailer can be maintained, and the wood loaded on the wood trailer is not easy to fall off.

Description

Technical Field

[0001] The invention relates to the field of loading vehicles, in particular to a brake control method for a wood trailer. Background Art

[0002] A timber trailer is a vehicle used to transport timber and is widely used in forestry, agriculture, logistics and other fields.

[0003] The wood trailer includes a loading side and a traction part connected to the loading side. The traction part is usually connected to a traction vehicle. When the traction vehicle moves, the traction part drives the loading side loaded with wood to move. In the prior art, common wood trailers on the market are usually not provided with a brake mechanism. If the vehicle wants to stop during operation, it is usually forced to stop by collision. However, the above method of stopping the wood trailer by collision is easy to damage the wood trailer and affect the balance of the wood trailer, causing the wood loaded on the wood trailer to fall, which needs to be improved. Summary of the invention

[0004] In order to prevent the timber trailer from being damaged when it stops and to make the timber loaded thereon more stable, the present invention provides a brake control method for the timber trailer.

[0005] In a first aspect, the present invention provides a timber trailer, which adopts the following technical solution:

[0006] A wood trailer, comprising a traction part connected to a traction vehicle, a loading side for loading wood, and a connecting beam connecting the traction part and the loading side, wherein the loading side comprises a loading mechanism mounted on the connecting beam and a running wheel mechanism symmetrically mounted on both sides of the connecting beam, and further comprises a brake mechanism for limiting the rotation of the running wheel mechanism;

[0007] The brake mechanism includes a rotating part rotatably mounted on the connecting beam, a braking part connected to one end of the rotating part, a driving part connected to the other end of the rotating part, and a brake line connecting the driving part and the walking wheel mechanism; the traction part is slidably mounted on the connecting beam and the end of the traction part abuts against the braking part; the rotating part is fixedly connected to a handbrake lever.

[0008] By adopting the above technical solution, when the towing vehicle stops moving, the towing part stops synchronously with the towing vehicle, and the loading side continues to move forward due to inertia. At this time, the towing part can be relatively displaced with the connecting beam and the towing part drives the collision brake part to rotate, thereby driving the brake mechanism to brake, so that the timber trailer can stop synchronously with the towing vehicle.

[0009] Compared with the prior art, the timber trailer in the prior art usually has no brake mechanism and is usually stopped by impact. Although the present solution also stops by impact, it can stop synchronously with the towing vehicle after the impact, and has better stability.

[0010] Optionally, the walking wheel mechanism includes a mounting frame and tires respectively mounted on both ends of the mounting frame, and the mounting frame is rotatably mounted on the connecting beam so that the tires can adapt to the steep and undulating terrain of the mountain road.

[0011] By adopting the above technical solution, since the running wheel mechanism is rotatably installed on the connecting beam, when encountering steep terrain, the running wheel mechanism can swing up and down with the terrain, thereby improving the stability of the timber trailer and the timber loaded on the timber trailer is not easy to fall off.

[0012] Optionally, the tire is coaxially rotatably mounted with a mounting shaft, and the mounting shaft is telescopically mounted on the mounting frame to expand the lateral width of the loading mechanism; the connecting beam includes two telescopically connected connecting units to expand the longitudinal length of the loading mechanism.

[0013] By adopting the above technical solution, the transverse width and longitudinal length of the loading mechanism can be adjusted, so that the loading mechanism can accommodate more wood and the hauling efficiency is higher.

[0014] In a second aspect, the present application provides a brake control method for a timber trailer, which adopts the following technical solution:

[0015] A brake control method for a wood trailer is applied to a wood trailer, comprising:

[0016] Acquire brake position image information of the traction part and the impact brake part at the brake position and the traction tension of the traction part;

[0017] Determining a preset running state type of the traction vehicle according to a comparison between the traction force and the preset reference traction force, the running state type including a starting state and a stationary state;

[0018] Based on the starting state, the brake position image information is used to identify and determine whether the brake is normally opened from the preset brake release state model;

[0019] If the brake is not opened normally, it is defined as a brake abnormality, and the towing vehicle is controlled to accelerate at a preset disengagement acceleration within a preset disengagement time to increase the traction force, and it is determined again whether the brake is opened;

[0020] When and only when the brake is not on, the preset electronic push rod is controlled to start to apply thrust to the traction part.

[0021] By adopting the above technical solution, the system can determine whether the brakes are abnormal through image recognition. If the brakes are abnormal, the brakes can be restored through the electronic push rod, so that the timber trailer can start normally after braking.

[0022] Optionally, the traction part is provided with a deflector for guiding wind; foreign matter entering the brake position is likely to cause braking abnormality, and the prevention method of braking abnormality includes:

[0023] Obtain vehicle speed, ambient wind speed, wind direction and rainfall information in real time;

[0024] Determine the weather condition type according to the comparison between the rainfall condition information and the preset reference rainfall information, the weather condition type including rainfall and no rainfall;

[0025] Based on the absence of rain, the relative wind speed at the braking position is determined according to the travel speed and the ambient wind speed;

[0026] According to the comparison between the relative wind speed and the preset reference wind speed, the wind speed is determined to meet the standard or insufficient.

[0027] Based on the wind force reaching the standard, the deployment angle of the deflector is matched from the preset deflector setting model according to the wind direction and relative wind speed;

[0028] The deflector is controlled to unfold according to the unfolding angle and guides the ambient wind to flow through the brake position with maximum wind force to form a blocking wind curtain.

[0029] Optionally, the guide plate is connected to a gas cylinder, and the guide plate is provided with a blowing port for blowing air; the method for preventing abnormal braking when the wind force is insufficient includes:

[0030] Acquiring road surface image information of the traveling road;

[0031] Determine the features of foreign matter that may enter the braking position from a preset road impurity database based on road image information, and obtain the distance between the features of the foreign matter and the braking position;

[0032] Determine the closing time based on the distance involved and the vehicle's travel speed;

[0033] Determine the traveling wind speed at the braking position according to the traveling speed of the vehicle;

[0034] The deployment angle of the deflector is obtained by matching the deflector setting model according to the traveling wind speed;

[0035] The deflector is controlled to be deployed according to the deployment angle, and after the approach time, the air outlet of the deflector is controlled to blow air with a preset maximum wind force to form a blocking wind curtain, and the deflector is controlled to stop blowing air after the preset blowing time.

[0036] Optionally, the deflector can be retracted; the method for preventing brake abnormality when the weather condition type is determined to be rainfall according to the rainfall condition information includes:

[0037] Based on rainfall, the deployment angle of the deflector is matched from a preset deflector setting model according to the wind direction and relative wind speed;

[0038] Determine the wind direction angle between the wind and the traction part according to the wind direction;

[0039] Determine the telescopic opening state of the deflector according to the comparison relationship between the wind direction angle and the preset reference wind direction angle, the telescopic opening state includes partial telescopic and complete covering;

[0040] Based on partial expansion and contraction, the expansion and contraction amount of the deflector corresponding to the wind direction angle is matched;

[0041] The deflector is controlled to be deployed according to the deployment angle, and the deflector is controlled to be extended and retracted according to the extension amount of the deflector to block the rainwater;

[0042] Based on full coverage, the deflector is controlled to be deployed according to the deployment angle, and the deflector is controlled to be extended according to the preset maximum extension amount to completely cover the braking position.

[0043] Optionally, when there is foreign matter adhering to the brake position, the foreign matter handling method includes:

[0044] The foreign object characteristics and foreign object characteristic positions are determined by comparing the brake position image information with the preset foreign object database, and the available air pressure value in the gas cylinder is obtained in real time;

[0045] Determine the status of the gas cylinder according to the comparison between the available gas pressure value and the preset reference pressure value, the gas cylinder status including sufficient gas volume and insufficient gas volume;

[0046] Based on sufficient air volume, the auxiliary air jet volume of the preset auxiliary air nozzle is determined according to the relative wind speed, and the blowing direction of the auxiliary air nozzle is determined according to the wind direction;

[0047] Determine the available jet time according to the available air pressure value and the auxiliary jet volume;

[0048] The auxiliary air nozzle is controlled to blow air to the characteristic position of the foreign body according to the auxiliary air jet volume and blowing direction, and after the available air jet time, it is determined whether the foreign body features have been removed according to the comparison between the brake position image information and the foreign body features;

[0049] If and only if the foreign body feature is not removed, remove the foreign body feature by stirring to remove the foreign body, and inflate the gas cylinder.

[0050] Optionally, a stick for stirring up foreign matter is rotatably mounted on the traction part; when the air volume is insufficient or the air jet from the air nozzle cannot remove the foreign matter, a stirring foreign matter removal method is used to remove the foreign matter, and the stirring foreign matter removal method includes:

[0051] Determine the bounce position of the stick based on the characteristic position of the foreign body;

[0052] The stick is controlled to bounce up at the bounce position to bounce up the foreign body feature, and it is determined whether the foreign body feature has been removed according to the comparison between the braking position image information and the foreign body feature;

[0053] If and only if the foreign body features are not removed, the direction of rotation of the stick is determined according to the direction of the wind force;

[0054] The control stick is rotated to the characteristic position of the foreign object and abuts against the characteristic of the foreign object, and then the control stick is used to stir the foreign object according to the rotation direction to control the characteristic of the foreign object to be blown away in the direction of the wind.

[0055] Optionally, the terrain conditions are matched and determined from a preset terrain database according to the road surface image information, and the terrain conditions include flat roads and undulating roads;

[0056] Based on a flat road surface, determining whether the vehicle's travel speed is greater than a preset conversion reference speed;

[0057] When and only when the vehicle's traveling speed is greater than the conversion reference speed, control the preset wheel power conversion device to start so as to convert the kinetic energy of the running wheel mechanism into mechanical energy for inflating the gas cylinder;

[0058] Based on the undulating road surface, the preset shock-absorbing force conversion device is controlled to start to convert the compression of the preset shock-absorbing mechanism into mechanical energy for inflating the gas cylinder, and the wheel power conversion device is controlled to start to convert the kinetic energy of the walking wheel mechanism into mechanical energy for inflating the gas cylinder.

[0059] In summary, the present application includes at least one of the following beneficial technical effects:

[0060] 1. A timber trailer is provided with a brake mechanism. When the timber trailer is traveling on a steep mountain road and wants to stop, the timber trailer and the towing vehicle can be stopped synchronously by inertial impact braking, and the balance of the timber trailer can be maintained, so that the timber loaded on the timber trailer is not easy to fall off;

[0061] 2. By setting a deflector at the brake position, the system can adjust the deployment angle, jet conditions and extension amount of the deflector according to the real-time environmental wind conditions and rainfall conditions, so that the deflector can generate a wind curtain or cover the brake position to prevent foreign objects from entering the brake position, thereby reducing the probability of abnormal braking;

[0062] 3. When there is foreign matter stuck to the brake position, the auxiliary gas cylinder can remove the foreign matter by jetting. If the foreign matter cannot be removed by jetting, the stick installed at the brake position can remove the foreign matter by bouncing up and rotating in a circular motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of the overall structure of a timber trailer according to an embodiment of the present invention;

[0064] Figure 2 is a cross-sectional view of a brake mechanism according to an embodiment of the present invention;

[0065] Figure 3 is a schematic structural diagram of a traveling wheel mechanism according to an embodiment of the present invention;

[0066] Figure 4 is a method flow chart of a brake control method for a timber trailer according to an embodiment of the present invention;

[0067] Figure 5 The method flow of the method for preventing brake abnormality according to an embodiment of the present invention is as follows Figure 1 ;

[0068] Figure 6 The method flow of the method for preventing brake abnormality according to an embodiment of the present invention is as follows Figure 2 ;

[0069] Figure 7 The method flow of the method for preventing brake abnormality according to an embodiment of the present invention is as follows Figure 3 .

[0070] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Loading side; 11. Loading mechanism; 12. Walking wheel mechanism; 121. Mounting frame; 122. Mounting shaft; 123. Tire; 2. Traction part; 3. Connecting beam; 31. Connecting unit; 4. Braking mechanism; 41. Driving plate; 411. Rotating part; 412. Impact brake part; 413. Driving part; 42. Brake line; 43. Handbrake lever; 5. Blocking mesh plate; 6. Lifting frame. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0072] The embodiment of the present application discloses a timber trailer.

[0073] Reference Figure 1A wood trailer includes a loading side 1, a traction part 2, a connecting beam 3 and a brake mechanism 4. The loading side 1 is used for accommodating and placing wood. The traction part 2 drives the loading side 1 to move under the traction of a traction vehicle. The connecting beam 3 connects the loading side 1 and the traction part 2 to transmit traction force, and the loading side 1 and the traction part 2 are respectively located at two ends of the connecting beam 3. The brake mechanism 4 is installed on the connecting beam 3 to brake to stop the loading side 1 from moving.

[0074] The loading side 1 comprises a loading mechanism 11 fixedly mounted on the connecting beam 3 and a running wheel mechanism 12 for rolling symmetrically mounted on both sides of the connecting beam 3 .

[0075] Reference Figure 1 and Figure 2 The brake mechanism 4 includes a driving plate 41, a brake line 42 and a handbrake lever 43. The driving plate 41 is mounted on the connecting beam 3, and the driving plate 41 includes a rotating part 411, a braking part 412 and a driving part 413. The rotating part 411 is rotatably connected to the connecting beam 3, and the braking part 412 and the driving part 413 are respectively connected to both sides of the rotating part 411. One end of the brake line 42 is connected to the driving part 413, and the other end is connected to the walking wheel mechanism 12. The handbrake lever 43 is fixedly connected to the rotating part 411 to drive the rotating part 411 to rotate.

[0076] The traction part 2 is slidably mounted on the connecting beam 3 , and one end of the traction part 2 abuts against the collision brake part 412 .

[0077] The timber trailer has two braking methods. The first method is to hold the handbrake and drive the drive plate 41 to rotate through the handbrake, and the drive part 413 of the drive plate 41 can brake the walking wheel mechanism 12 through the brake line 42. The second method is that after the traction vehicle brakes, the traction part 2 stops synchronously with the traction vehicle, the connecting beam 3 and the loading side 1 move forward directly under the action of inertia, and relative slip occurs between the connecting beam 3 and the traction part 2. At this time, the traction part 2 can drive the drive plate 41 to rotate through the collision brake part 412, and the drive part 413 of the drive plate 41 can brake the walking wheel mechanism 12 through the brake line 42.

[0078] Reference Figure 1 and Figure 3 Furthermore, the walking wheel mechanism 12 includes a mounting frame 121, a mounting shaft 122 and a tire 123. The mounting frame 121 is rotatably mounted on the connecting beam 3, and there are two mounting shafts 122, which are telescopically mounted on both sides of the mounting shaft 122, and the sliding direction of the mounting shaft 122 is perpendicular to the traveling direction of the timber trailer. The number of tires 123 corresponds to the number of mounting shafts 122, and they are rotatably mounted on the mounting shafts 122.

[0079] Reference Figure 1 and Figure 3In order to make the loading mechanism 11 adaptable to woods of different lengths and widths, the connecting beam 3 is a telescopic structure, which includes two telescopically installed connecting units 31 to expand the longitudinal length of the loading mechanism 11. And because the mounting shaft 122 is telescopic to the mounting frame 121, the lateral width of the loading mechanism 11 can be expanded. When the length and width of the loading mechanism 11 need to be adjusted according to the placement of the wood, the telescopic amount of the connecting beam 3 and the telescopic amount of the mounting shaft 122 and the mounting frame 121 can be adjusted accordingly.

[0080] When encountering undulating terrain on a mountain road, since the mounting frame 121 can rotate, the walking wheel mechanism 12 can swing along with the mounting frame 121 according to the terrain to adapt to the terrain.

[0081] Reference Figure 1 A blocking mesh plate 5 is also provided on the connecting beam 3. When the wood is placed on the loading mechanism 11, the end of the wood can abut against the blocking mesh plate 5 to offset the forward inertia of the wood when the wood trailer brakes.

[0082] A hanging frame 6 is also provided on the connecting beam 3, and the hanging frame 6 is integrally provided with the blocking mesh plate 5. A hanging device can be installed on the hanging frame 6, and the hanging device can carry out loading and unloading work when loading and unloading wood.

[0083] Based on the same inventive concept, an embodiment of the present invention provides a braking control method for a timber trailer, which handles the abnormal situation when the timber brake has a braking abnormality after a collision, and in order to prevent the braking abnormality, adopts different preventive measures for different weather conditions and road conditions.

[0084] Reference Figure 4 , a brake control method for a timber trailer comprises the following steps:

[0085] Step S100 : obtaining braking position image information of the traction portion 2 and the impact brake portion 412 at the braking position and the traction tension of the traction portion 2 .

[0086] The brake position refers to the position where the traction part 2 abuts against the impact brake part 412 and the traction part 2 drives the impact brake part 412 to rotate. The brake position image information is an image of the brake position obtained by a camera, which is installed on the timber trailer and can monitor the brake position in real time to prevent abnormal conditions in the brake position.

[0087] The traction tension refers to the pulling force exerted by the traction vehicle on the traction part 2. Under normal circumstances, after the timber trailer stops due to the impact brake, when the traction vehicle restarts, the traction tension reaches a certain value, and the traction part 2 can slide relative to the connecting beam 3. At this time, the traction part 2 can release the braking effect on the impact brake part 412. The traction tension is measured and obtained by the tension sensor arranged on the traction part 2.

[0088] Step S101: determining a preset running state type of the traction vehicle according to a comparison between the traction pulling force and a preset reference traction force, where the running state type includes a starting state and a stationary state.

[0089] The reference traction force is a certain value, which is used as a standard to determine whether the traction vehicle is started and running, and will not be elaborated here.

[0090] When the traction force is greater than the reference traction force, it indicates that the traction vehicle is in a starting state. In this state, the brake mechanism 4 is normally in an unlocked state.

[0091] When the traction force is not greater than the reference traction force, it indicates that the traction vehicle is still in a stationary state, and the brake mechanism 4 is still in a braking state.

[0092] Step S102: Based on the starting state, identify and determine whether the brake is normally opened from a preset brake release state model according to the brake position image information.

[0093] The brake separation state model is a brake motion state model obtained by technicians simulating the relative movement of the traction part 2 and the impact brake part 412, including the conditions of the two under the braking state and the conditions of the two after the brake is released. The acquisition of the brake separation state model is a prior art and will not be elaborated here.

[0094] By comparing the brake position image information with the brake release state model, it is possible to determine whether the brake mechanism 4 has been released from the brake state. If the brake mechanism 4 has not released the brake when in the starting state, it means that the brake is abnormal. If the brake mechanism 4 has not released the brake when in the static state, it is normal.

[0095] Step S103: If the brake is not opened normally, it is defined as a brake abnormality, and the towing vehicle is controlled to accelerate at a preset disengagement acceleration within a preset disengagement time to increase the traction pulling force, and it is determined again whether the brake is opened.

[0096] The preset disengagement acceleration and the preset disengagement time are both acceleration parameters of the towing vehicle set by the technicians. When a braking abnormality occurs, the towing vehicle will accelerate instantly at the disengagement acceleration and within the disengagement time, and the brakes may be released, which will not be elaborated here.

[0097] When the brake abnormality is determined for the first time, the traction force is increased in the above manner to try to release the brake mechanism 4. After the above-mentioned traction vehicle is accelerated, the second brake determination is performed.

[0098] Step S104: When and only when the brake is not on, control the preset electronic push rod to start to apply thrust to the traction part 2.

[0099] When the second judgment of the brake is made, if the brake mechanism 4 has been released, the problem is solved. If the brake is still not opened, the electronic push rod is used to assist the traction part 2 in applying thrust, so that the brake is opened.

[0100] Reference Figure 5 The reason for the abnormal braking is usually that foreign matter enters the braking position, causing the traction part 2 to get stuck and slide abnormally. In order to prevent the timber trailer from having abnormal braking, it is necessary to prevent the abnormal braking. The prevention method of abnormal braking includes the following steps:

[0101] Step S200: Acquire the vehicle's traveling speed, ambient wind speed, wind direction, and rainfall information in real time.

[0102] The traveling speed of the vehicle is the moving speed of the timber trailer, which is usually consistent with the speed of the towing vehicle. The traveling speed is obtained by directly acquiring the parameters of the towing vehicle.

[0103] The ambient wind speed and wind direction are both parameters of the wind in the environment where the timber trailer is located, and are measured by a wind vane installed on the timber trailer.

[0104] The rainfall information is the rainfall information of the environment in which the timber trailer is located. The rainfall information is obtained through a piezoelectric rain sensor installed on the timber trailer. By utilizing the characteristics of piezoelectric materials, when raindrops fall on the sensor, pressure changes will occur, which are then converted into electrical signals for output.

[0105] Step S201: Determine the weather condition type according to the comparison between the rainfall condition information and the preset reference rainfall information, where the weather condition type includes rainfall and no rain.

[0106] The benchmark rainfall information is a reference value set by technicians and is used as a standard for judging whether the real-time weather is rainy. It will not be elaborated here.

[0107] Step S202: Based on the absence of rain, determine the relative wind speed at the braking position according to the travel speed and the ambient wind speed.

[0108] In this embodiment, a guide plate for guiding wind is provided on one side of the brake position of the traction part 2. When wind flows over the guide plate, a wind curtain can be formed, making it difficult for foreign matter to enter the brake position. The guide plate is rotatably mounted on the traction part 2 and can be expanded in the circumferential direction by adjusting the expansion angle.

[0109] The relative wind speed refers to the speed of the wind flowing into the brake position, and the relative wind speed is related to the vehicle's travel speed and the ambient wind speed.

[0110] Step S203: Determine whether the wind speed meets the standard or is insufficient based on the comparison between the relative wind speed and the preset reference wind speed.

[0111] The reference wind speed is a wind speed reference value set by technicians based on the structure of the brake position. If the wind speed of the wind curtain formed by the guide plate exceeds the reference wind speed, foreign objects will not easily enter the brake position. We will not elaborate on this.

[0112] When the relative wind speed entering the brake position is greater than the reference wind speed, the wind speed meets the standard. On the contrary, if the relative wind speed is less than the reference wind speed, the wind speed is insufficient and other methods are needed to block foreign objects entering the brake position.

[0113] Step S204: Based on the wind force reaching the standard, the deployment angle of the guide plate is matched from a preset guide plate setting model according to the wind direction and the relative wind speed.

[0114] The guide plate setting model is a model that is simulated with the goal of obtaining the maximum wind speed and based on the wind direction, relative wind speed and deployment angle as parameters. When the wind direction and relative wind speed are determined, the guide plates are deployed at different deployment angles. The wind curtain formed by the guide plates has different wind forces, which will not be elaborated here.

[0115] In order to maximize the wind force entering the brake position so as to isolate foreign objects and prevent them from entering the brake position, the deployment angle of the deflector can be obtained from the deflector setting model according to the wind direction and relative wind speed.

[0116] Step S205: controlling the deflector to unfold according to the unfolding angle and guiding the ambient wind to flow through the brake position with maximum wind force to form a blocking wind curtain.

[0117] When the deployment angle of the deflector is determined according to the wind direction and the relative wind speed, the deflector can be controlled to be deployed. At this time, when the timber trailer is moving, when the air flows over the surface of the deflector, a wind curtain with maximum wind force can be formed.

[0118] Reference Figure 6 When the natural wind entering the brake position is insufficient, the deflector is provided with a blowing structure to form a wind curtain, which is rarely used. A gas cylinder filled with high-pressure gas is provided on the timber trailer, and the deflector is connected to the gas cylinder, and a blowing port for blowing air to form a wind curtain is provided on the deflector.

[0119] The prevention method of abnormal braking when the wind force is insufficient includes the following steps:

[0120] Step S300: Acquire road surface image information of the road being traveled.

[0121] The road surface image information refers to the road surface image of the road that the timber trailer is about to pass through when moving, and the road surface image information is obtained through a camera arranged on the timber trailer.

[0122] Step S301: determining the features of foreign objects that may enter the braking position from a preset road impurity database according to road image information, and obtaining the distance between the features of the foreign objects and the braking position.

[0123] The road impurity database is a database obtained through neural network learning, which includes images of foreign matter impurities that may exist on the road surface and can enter the braking position and affect the normal use of the brakes. It will not be described in detail here.

[0124] By matching the road surface image information with the road surface impurity database, it is possible to identify the characteristics of foreign matter on the road surface that may affect the braking function. The above identification method is a technical means of image recognition, which is an existing technology and will not be described in detail here.

[0125] The roll-in distance refers to the distance between the foreign object feature and the braking position when the camera acquires the foreign object feature. The roll-in distance can be obtained by processing the road surface image information.

[0126] Step S302: Determine the approach time according to the involvement distance and the vehicle's travel speed.

[0127] The approach time refers to the time required for the foreign object feature to be captured by the camera and move relative to the timber trailer to the braking position. The approach time can be calculated based on the engagement distance and the vehicle's travel speed according to the speed and distance formula.

[0128] Step S303: Determine the traveling wind speed at the braking position according to the traveling speed of the vehicle.

[0129] When there is no wind in the vehicle's environment, the wind speed at the brake position is equal to the vehicle's travel speed.

[0130] Step S304: obtaining the deployment angle of the deflector from the deflector setting model according to the traveling wind speed.

[0131] Even if there is no natural wind in the environment where the timber trailer is located, a certain wind force can be generated at the brake position when the timber trailer moves. The wind force is related to the traveling wind speed. At this time, the deflector is deployed so that the natural wind generated when the vehicle is traveling flows through the deflector surface and enters the brake position. The deployment angle can be determined from the deflector setting model according to the traveling wind speed.

[0132] Step S305: controlling the deflector to unfold according to the unfolding angle, controlling the air outlet of the deflector to blow air with a preset maximum wind force after the approach time to form a blocking wind curtain, and controlling the deflector to stop blowing air after the preset blowing time.

[0133] The guide plate is first deployed at a certain angle according to the deployment angle to guide the natural wind, and then blows air through the air outlet of the guide plate to form a wind curtain. The natural wind is combined with the air blown out of the air outlet to assist in increasing the wind force of the wind curtain.

[0134] When blowing air with the air port, the air port is not always in the open state, but depends on the foreign matter and impurities on the road surface. When the camera recognizes the features of foreign objects, the air port will blow air after the approaching time is obtained according to the distance of the foreign object features involved, so that the foreign object features are not easy to enter the brake position due to the existence of the wind curtain when they are close to the brake position. When the foreign object features are far away from the brake position, the air port stops blowing to save the amount of air in the gas cylinder.

[0135] Reference Figure 7 In this embodiment, the deflector can also be extended, and the extended part of the deflector can be used to cover the brake position, so that foreign objects are not easy to enter the brake position. Under normal circumstances, the retractable part of the deflector is always in a retracted state. On rainy days, when the wind curtain is not enough to block the characteristics of foreign objects, the length of the deflector is adjusted.

[0136] The method for preventing brake abnormality when the weather condition type is judged as rainfall according to the rainfall condition information comprises the following steps:

[0137] Step S400: Based on rainfall, the deployment angle of the guide plate is obtained by matching the preset guide plate setting model according to the wind direction and the relative wind speed.

[0138] During the rainfall process, there is also wind, and the guide plate still needs to be deployed to use the wind curtain to block the foreign body features to a certain extent, but the blocking effect is auxiliary. The method is the same as step S204, and will not be repeated here.

[0139] Step S401: determining the wind direction angle between the wind and the traction part 2 according to the wind direction.

[0140] Rain will blow into the brake position with the direction of the wind, thus carrying the characteristics of foreign objects into the brake position. At this time, the deflector needs to be extended to block the direction of wind and rain blowing into the brake position. The wind direction angle is the angle at which wind and rain enter the brake position. The wind direction angle is related to the wind direction and can be determined based on the wind direction.

[0141] Step S402: determining the telescopic opening state of the guide plate according to the comparison relationship between the wind direction angle and the preset reference wind direction angle, where the telescopic opening state includes partial telescopic and complete covering.

[0142] The reference wind direction angle is a reference value set by technicians and is used to determine the standard for the extension and retraction of the deflector. It will not be elaborated here. When the wind direction angle is less than the reference wind direction angle, the wind and rain are partially blocked by the deflector. At this time, only the deflector needs to be partially extended to block the wind and rain. When the wind direction angle is not less than the reference wind direction angle, the deflector needs to be fully extended to completely cover the brake position to block the wind and rain.

[0143] Step S403: Based on the partial extension, the extension amount of the guide plate corresponding to the wind direction angle is matched.

[0144] When the wind direction angle is less than the reference wind direction angle, the extension and contraction amount of the guide plate corresponds to the wind direction angle one by one. The larger the wind direction angle, the larger the extension and contraction amount of the guide plate. Therefore, the extension and contraction amount of the guide plate can be determined according to the wind direction angle.

[0145] Step S404: controlling the guide plate to be deployed according to the deployment angle, and controlling the guide plate to be extended and retracted according to the extension amount of the guide plate to block rainwater.

[0146] When the deployment angle and the extension amount of the guide plate are determined, the guide plate is controlled according to the parameters of the two guide plates so that foreign matter features are not easy to enter the braking position.

[0147] Step S405: Based on complete coverage, the guide plate is controlled to be deployed according to the deployment angle, and the guide plate is controlled to be extended according to a preset maximum extension amount to completely cover the brake position.

[0148] When the wind direction angle is not less than the reference wind direction angle, the deflector is deployed according to the deployment angle, and then the deflector is controlled to be extended and retracted at the maximum extension amount so that the deflector can completely cover the brake position.

[0149] In this embodiment, the method of extending and retracting the guide plate can also be used in situations where the wind speed is insufficient and a gas cylinder and an air port need to be used for blowing. By extending and retracting the guide plate, the use of air in the gas cylinder can be reduced, so that the air in the gas cylinder can be used in the process of handling foreign objects.

[0150] When there is foreign matter attached to the brake position, the foreign matter handling method includes the following steps:

[0151] Step S500: Determine the foreign object characteristics and the foreign object characteristic position according to the comparison between the brake position image information and the preset foreign object database, and obtain the available air pressure value in the gas cylinder in real time.

[0152] The foreign body database is a database obtained through neural network learning, which includes images of various foreign bodies that may adhere to the brake position, and will not be described in detail here.

[0153] The foreign body characteristic position refers to the position where the foreign body characteristic adheres to the brake position. The foreign body characteristic position can be obtained by performing image processing on the brake position image information. The image processing method is a prior art and will not be described in detail here.

[0154] The available air pressure value is the air pressure value in the gas cylinder, which is directly obtained through the barometer set on the gas cylinder.

[0155] Step S501: Determine the status of the gas cylinder according to the comparison between the available gas pressure value and the preset reference pressure value, where the gas cylinder status includes sufficient gas volume and insufficient gas volume.

[0156] The reference pressure value is a reference value set by the technicians. When the available air pressure value in the gas cylinder is greater than the reference pressure value, it means that there is enough air in the gas cylinder for blowing. When the available air pressure value in the gas cylinder is not greater than the reference pressure value, it means that there is insufficient air in the gas cylinder and the gas cylinder needs to be inflated.

[0157] Step S502: Based on the sufficient air volume, the auxiliary air jet volume of the preset auxiliary air nozzle is determined according to the relative wind speed, and the blowing direction of the auxiliary air nozzle is determined according to the wind direction.

[0158] The auxiliary air nozzle here is different from the air blowing port on the deflector. The auxiliary air nozzle is also provided on the timber trailer, but the auxiliary air nozzle is used to blow air to the foreign matter at the brake position to blow the foreign matter away from the brake position. Both the auxiliary air nozzle and the air blowing port of the deflector are connected to the gas cylinder.

[0159] When using the auxiliary air nozzle for blowing, the natural wind is used for assistance. The blowing direction of the auxiliary air nozzle is determined according to the wind direction, and the auxiliary jet volume of the auxiliary air nozzle is determined according to the wind force relative to the wind speed. The sum of the auxiliary jet volume of the auxiliary air nozzle and the relative wind speed of the natural wind is a fixed value, which can blow away foreign objects. The auxiliary jet volume of the auxiliary air nozzle can be determined by the relative wind speed of the natural wind. The blowing direction of the auxiliary air nozzle is the same as the wind direction, so that foreign objects can be blown away along the wind direction.

[0160] Step S503: Determine the available jet duration according to the available air pressure value and the auxiliary jet volume.

[0161] The available jet time refers to the time that the air in the gas cylinder can be used when the auxiliary gas nozzle is jetting with the auxiliary jet volume. When the jet time is exceeded, the air in the gas cylinder will be insufficient and needs to be inflated.

[0162] Step S504: Control the auxiliary air nozzle to blow air to the characteristic position of the foreign object according to the auxiliary air jet volume and blowing direction, and determine whether the foreign object feature has been removed according to the comparison between the brake position image information and the foreign object feature after the available air jet time.

[0163] When there is foreign matter attached to the brake position and the location of the foreign matter's features is determined, air is sprayed through the auxiliary air nozzle. After the spraying time has passed, the location of the foreign matter is re-detected to determine whether the foreign matter has been removed.

[0164] Step S505: If and only if the foreign body feature has not been removed, remove the foreign body feature by using a stirring foreign body removal method, and inflate the gas cylinder.

[0165] If no foreign body signature is detected, it means the foreign body has been removed and the cylinder can be inflated.

[0166] If the characteristics of foreign matter are detected, it means that the foreign matter has not been removed by the auxiliary air nozzle, and the air sprayed by the auxiliary air nozzle is not enough to remove the foreign matter. At this time, it is necessary to remove the characteristics of the foreign matter by stirring the foreign matter away. The stirring the foreign matter away method will not be described here, and will be introduced in detail after the subsequent plan.

[0167] When the air volume is insufficient or the nozzle jet cannot remove the foreign matter, the stirring foreign matter removal method is used to remove the foreign matter. The stirring foreign matter removal method includes the following steps:

[0168] Step S600: determining the bounce position of the stick according to the characteristic position of the foreign object.

[0169] In this embodiment, the traction part 2 is equipped with a stick, which can be used to stir up foreign matter. The stick can rotate around the traction part 2 under the control of the system, and can also bounce up at a specified position in a direction away from the traction part 2, so that the foreign matter is separated from the surface of the traction part 2 and falls off the surface of the traction part 2.

[0170] The bounce position refers to the position where the stick bounces to separate the foreign object, and the bounce position is the same as the characteristic position of the foreign object.

[0171] Step S601: Control the stick to bounce up at the bounce position to bounce up the foreign body feature, and determine whether the foreign body feature has been removed based on the comparison between the braking position image information and the foreign body feature.

[0172] After the bounce position of the stick is determined, the system controls the stick to rotate to the bounce position and bounces up. After the stick completes the bounce action, it re-detects whether the foreign matter has been removed at the characteristic position of the foreign matter.

[0173] Step S602: If and only if the foreign body feature has not been removed, determine the rotation direction of the stick according to the wind direction.

[0174] When no foreign body feature is detected, it means that the foreign body has been removed. If the foreign body feature is detected, it means that the foreign body is firmly adhered and cannot be separated from the traction part 2 by bouncing. In this case, the foreign body is pushed by rotating the stick.

[0175] In this embodiment, the stick rotates and pushes the foreign object in the same direction as the wind direction. The stick applies force to the foreign object and the wind applies force to the foreign object, so that the foreign object can be pushed by the stick and then blown away by the natural wind in the direction of the wind.

[0176] Step S603: Control the stick to rotate to the foreign object feature position and abut against the foreign object feature, and then control the stick to stir the foreign object according to the rotation direction to control the foreign object feature to be blown away in the direction of wind force.

[0177] During the specific implementation, the system rotates the stick to one side of the foreign object and abuts against the foreign object, and then controls the stick to apply force and push the foreign object in the direction of natural wind. When the foreign object is pushed, the foreign object can move along the direction of the wind and be blown away under the combined force of the wind and the force of the stick.

[0178] When the gas volume in the gas cylinder is insufficient or the gas volume in the gas cylinder is insufficient after the auxiliary gas nozzle is used to spray, it needs to be inflated. The method of inflating the gas cylinder includes the following steps:

[0179] Step S700: determining terrain conditions by matching from a preset terrain database according to the road surface image information, where the terrain conditions include flat roads and undulating roads.

[0180] The terrain database is a database obtained through neural network learning, which includes images of various terrains, which will not be described here. By matching the road image information obtained by the camera with the terrain database, the terrain conditions of the road that the timber trailer is about to pass can be determined. The terrain conditions include flat roads and undulating roads. Because the undulating road surface is uneven and rises and falls, the timber trailer will rise and fall when traveling on the undulating road surface.

[0181] In this embodiment, a vehicle power conversion device is installed on the wheels of the timber trailer, and a shock-absorbing force conversion device is installed on the shock-absorbing mechanism used for shock absorption. The vehicle power conversion device can convert the kinetic energy of the vehicle's rolling into mechanical energy for inflating the gas cylinder, and the shock-absorbing force conversion device can convert the compression of the shock-absorbing mechanism caused by the up and down movement of the timber trailer into mechanical energy for inflating the gas cylinder.

[0182] Step S701: Based on a flat road surface, determine whether the vehicle's traveling speed is greater than a preset conversion reference speed.

[0183] The conversion reference speed is a reference value set by the technicians. When the wheel's travel speed reaches the conversion reference speed, the kinetic energy can be converted into mechanical energy for inflating the gas cylinder, which will not be elaborated here.

[0184] Step S702: When and only when the vehicle's traveling speed is greater than the conversion reference speed, control the preset wheel power conversion device to start converting the kinetic energy of the running wheel mechanism 12 into mechanical energy for inflating the gas cylinder.

[0185] By judging whether the vehicle's running speed is greater than the conversion reference speed, it is decided whether to start the wheel power conversion device to inflate the gas cylinder through the wheel.

[0186] Step S703: Based on the undulating road surface, control the preset shock-absorbing force conversion device to start to convert the compression of the preset shock-absorbing mechanism into mechanical energy for inflating the gas cylinder, and control the wheel power conversion device to start to convert the kinetic energy of the walking wheel mechanism 12 into mechanical energy for inflating the gas cylinder.

[0187] When the vehicle is on an undulating road, the shock absorbing force conversion device is activated to convert the compression of the shock absorbing mechanism into mechanical energy for inflating the gas cylinder, and at the same time the wheel power conversion device is activated to convert the kinetic energy of the running wheel mechanism 12 into mechanical energy for inflating the gas cylinder.

[0188] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A braking control method for a timber trailer, applied to a timber trailer, comprising a traction part (2) connected to a traction vehicle, a loading side (1) for loading wood, and a connecting beam (3) connecting the traction part (2) and the loading side (1), wherein the loading side (1) comprises a loading mechanism (11) mounted on the connecting beam (3) and a running wheel mechanism (12) symmetrically mounted on both sides of the connecting beam (3), characterized in that: It also includes a brake mechanism (4) for limiting the rotation of the walking wheel mechanism (12); The brake mechanism (4) comprises a rotating part (411) rotatably mounted on the connecting beam (3), a braking part (412) connected to one end of the rotating part (411), a driving part (413) connected to the other end of the rotating part (411), and a brake line (42) connecting the driving part (413) and the walking wheel mechanism (12); the traction part (2) is slidably mounted on the connecting beam (3) and the end of the traction part (2) abuts against the braking part (412); the rotating part (411) is fixedly connected to a handbrake lever (43); Also includes: Obtaining brake position image information of the traction part (2) and the impact brake part (412) at the brake position and the traction tension of the traction part (2); Determining a preset running state type of the traction vehicle according to a comparison between the traction force and the preset reference traction force, the running state type including a starting state and a stationary state; Based on the starting state, the brake position image information is used to identify and determine whether the brake is normally opened from the preset brake release state model; If the brake is not opened normally, it is defined as a brake abnormality, and the towing vehicle is controlled to accelerate at a preset disengagement acceleration within a preset disengagement time to increase the traction force, and it is determined again whether the brake is opened; When and only when the brake is not on, the preset electronic push rod is controlled to start to apply thrust to the traction part (2).

2. The method for controlling the braking of a timber trailer according to claim 1, characterized in that: The walking wheel mechanism (12) comprises a mounting frame (121) and tires (123) respectively mounted on both ends of the mounting frame (121); the mounting frame (121) is rotatably mounted on the connecting beam (3) so that the tires (123) can adapt to the steep and undulating terrain of the mountain road.

3. The method for controlling the braking of a timber trailer according to claim 2, characterized in that: The tire (123) is coaxially rotatably mounted with a mounting shaft (122), and the mounting shaft (122) is telescopically mounted on the mounting frame (121) to expand the transverse width of the loading mechanism (11); the connecting beam (3) includes two telescopically connected connecting units (31) to expand the longitudinal length of the loading mechanism (11).

4. The method for controlling the braking of a timber trailer according to claim 1, characterized in that: The traction part (2) is provided with a guide plate for guiding wind; When foreign matter enters the brake position, it is easy to cause braking abnormality. The prevention methods of braking abnormality include: Obtain vehicle speed, ambient wind speed, wind direction and rainfall information in real time; Determine the weather condition type according to the comparison between the rainfall condition information and the preset reference rainfall information, the weather condition type including rainfall and no rainfall; Based on the absence of rain, the relative wind speed at the braking position is determined according to the travel speed and the ambient wind speed; According to the comparison between the relative wind speed and the preset reference wind speed, the wind speed is determined to meet the standard or insufficient. Based on the wind force reaching the standard, the deployment angle of the deflector is matched from the preset deflector setting model according to the wind direction and relative wind speed; The deflector is controlled to unfold according to the unfolding angle and guides the ambient wind to flow through the brake position with maximum wind force to form a blocking wind curtain.

5. The method for controlling the braking of a timber trailer according to claim 4, characterized in that: The guide plate is connected to a gas cylinder, and the guide plate is provided with a blowing port for blowing; Methods to prevent abnormal braking when wind speed is insufficient include: Acquiring road surface image information of the traveling road; Determine the features of foreign matter that may enter the braking position from a preset road impurity database based on road image information, and obtain the distance between the features of the foreign matter and the braking position; Determine the closing time based on the distance involved and the vehicle's travel speed; Determine the traveling wind speed at the braking position according to the traveling speed of the vehicle; The deployment angle of the deflector is obtained by matching the deflector setting model according to the traveling wind speed; The deflector is controlled to be deployed according to the deployment angle, and after the approach time, the air outlet of the deflector is controlled to blow air with a preset maximum wind force to form a blocking wind curtain, and the deflector is controlled to stop blowing air after the preset blowing time.

6. The method for controlling the braking of a timber trailer according to claim 4, characterized in that: The deflector can be extended and retracted; the prevention method of braking abnormality when the weather condition type is judged as rainfall according to the rainfall condition information includes: Based on rainfall, the deployment angle of the deflector is matched from a preset deflector setting model according to the wind direction and relative wind speed; Determining a wind direction angle between the wind and the traction part (2) according to the wind direction; Determine the telescopic opening state of the deflector according to the comparison relationship between the wind direction angle and the preset reference wind direction angle, the telescopic opening state includes partial telescopic and complete covering; Based on partial expansion and contraction, the expansion and contraction amount of the deflector corresponding to the wind direction angle is matched; The deflector is controlled to be deployed according to the deployment angle, and the deflector is controlled to be extended and retracted according to the extension amount of the deflector to block the rainwater; Based on full coverage, the deflector is controlled to be deployed according to the deployment angle, and the deflector is controlled to be extended according to the preset maximum extension amount to completely cover the braking position.

7. The method for controlling the braking of a timber trailer according to claim 5, characterized in that: When there is foreign matter stuck to the brake position, the foreign matter treatment methods include: The foreign object characteristics and foreign object characteristic positions are determined by comparing the brake position image information with the preset foreign object database, and the available air pressure value in the gas cylinder is obtained in real time; Determine the status of the gas cylinder according to the comparison between the available gas pressure value and the preset reference pressure value, the gas cylinder status including sufficient gas volume and insufficient gas volume; Based on sufficient air volume, the auxiliary air jet volume of the preset auxiliary air nozzle is determined according to the relative wind speed, and the blowing direction of the auxiliary air nozzle is determined according to the wind direction; Determine the available jet time according to the available air pressure value and the auxiliary jet volume; The auxiliary air nozzle is controlled to blow air to the characteristic position of the foreign body according to the auxiliary air jet volume and blowing direction, and after the available air jet time, it is determined whether the foreign body features have been removed according to the comparison between the brake position image information and the foreign body features; If and only if the foreign body feature is not removed, remove the foreign body feature by stirring to remove the foreign body, and inflate the gas cylinder.

8. The method for controlling the braking of a timber trailer according to claim 7, characterized in that: The traction part (2) is rotatably mounted with a stick for stirring up foreign matter; when the air volume is insufficient or the air jet from the air nozzle cannot remove the foreign matter, a stirring and removing foreign matter method is used to remove the foreign matter, and the stirring and removing foreign matter method includes: Determine the bounce position of the stick based on the characteristic position of the foreign body; The stick is controlled to bounce up at the bounce position to bounce up the foreign body feature, and it is determined whether the foreign body feature has been removed according to the comparison between the braking position image information and the foreign body feature; If and only if the foreign body features are not removed, the direction of rotation of the stick is determined according to the direction of the wind force; The control stick is rotated to the characteristic position of the foreign object and abuts against the characteristic of the foreign object, and then the control stick is used to stir the foreign object according to the rotation direction to control the characteristic of the foreign object to be blown away in the direction of the wind.

9. The method for controlling the braking of a timber trailer according to claim 7, characterized in that: Cylinder filling methods include: According to the road surface image information, the terrain conditions are matched and determined from a preset terrain database, and the terrain conditions include flat roads and undulating roads; Based on a flat road surface, determining whether the vehicle's travel speed is greater than a preset conversion reference speed; When and only when the vehicle's traveling speed is greater than a conversion reference speed, controlling a preset wheel power conversion device to start so as to convert the kinetic energy of the running wheel mechanism (12) into mechanical energy for inflating the gas cylinder; Based on the undulating road surface, a preset shock-absorbing force conversion device is controlled to start so as to convert the compression of the preset shock-absorbing mechanism into mechanical energy for inflating the gas cylinder, and a wheel power conversion device is controlled to start so as to convert the kinetic energy of the running wheel mechanism (12) into mechanical energy for inflating the gas cylinder.

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