High-precision brake-by-wire mechanism of composite mobile robot and brake method of high-precision brake-by-wire mechanism

Abstract

The invention relates to the technical field of brake-by-wire, in particular to a high-precision brake-by-wire mechanism of a composite mobile robot and a braking method of the high-precision brake-by-wire mechanism, the high-precision brake-by-wire mechanism comprises a controller and a braking mechanism part, and the controller comprises a hydraulic control loop system and a braking line control system; the brake mechanism part comprises a left wheel set mechanism, a right wheel set mechanism and a brake mechanism; the braking method comprises the following specific steps that S1, hydraulic pressure is transmitted; s2, real-time braking force is monitored; s3, feeding back a braking force value; s4, adjusting; the design that the brake motor controls hydraulic brake is adopted, the torque unbalance caused by the uneven road surface is more accurately treated, and the advanced dynamic balance compensation mechanism ensures that the stability of the brake effect and the dynamic balance of the vehicle can be maintained even under the complex road surface condition.

Description

Technical Field

[0001] The invention relates to the technical field of wire-controlled braking, in particular to a high-precision wire-controlled braking mechanism of a composite mobile robot and a braking method thereof. Background Art

[0002] Braking by wire is an important part of the control-by-wire technology, which refers to the use of electronic signals instead of traditional mechanical or hydraulic connections to achieve control of the braking system. This technology mainly controls the braking action of the vehicle through the electronic control unit ECU, various sensors and actuators such as motors, thus getting rid of the limitations of physical connections. The core advantage of this technology is that it provides faster response time and higher control accuracy, allowing the braking system to adapt to various driving conditions more flexibly. The brake-by-wire system can receive data from vehicle dynamic monitoring systems such as ABS and ESP systems in real time, and achieve more optimized braking performance by accurately calculating and adjusting the control power.

[0003] In actual working conditions, the accuracy and control method of brake-by-wire technology are crucial to the performance of the drive-by-wire chassis, especially in key working conditions such as steering and autonomous navigation. Vehicles equipped with a drive-by-wire chassis can improve the handling flexibility and stability under complex road conditions through precise braking control, ensuring driving safety in autonomous driving mode, thereby improving the driving experience while greatly enhancing the overall safety and response efficiency of the vehicle.

[0004] Traditional steer-by-wire systems exhibit several significant disadvantages when dealing with unknown or complex road conditions: First, their response accuracy may be limited because the fixed control algorithm may not be able to adapt to sudden changes in the road surface, such as potholes or gravel, resulting in inaccurate steering control. Second, such systems may not be able to adjust the braking force in time during emergency braking, increasing the braking distance or causing uneven braking force, affecting vehicle handling stability and safety. In addition, due to the lack of dynamic adjustment capabilities, the system may appear too rigid when facing unknown road excitations and cannot effectively absorb shocks, thereby reducing the driving experience and steering accuracy. Finally, frequent external excitations may also accelerate system wear, increase maintenance costs, and affect system reliability at critical moments. These factors together limit the effectiveness of traditional steer-by-wire systems in complex environments.

[0005] This invention of Chinese patent application No. 202022463476.2 discloses an electronic parking brake control system for a motor vehicle and a control method thereof, wherein the system includes an EPB electronic control unit and an on-board electronic control unit, wherein the EPB electronic control unit controls a first electronic caliper actuator connected thereto, and the on-board electronic control unit controls a second electronic caliper actuator connected thereto. In addition, the system also includes a signal output module, which is connected to the EPB electronic control unit and is used for the EPB electronic control unit to receive signals and determine the current state of the vehicle. The EPB electronic control unit and the on-board electronic control unit control the first electronic caliper actuator and / or the second electronic caliper actuator according to the signal transmitted by the EPB switch module and the signal output by the signal output module. The system has a dual redundancy function, which improves safety and ensures that the braking performance of the electronic parking system will not decrease. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a high-precision wire-controlled braking mechanism and a braking method thereof for a composite mobile robot.

[0007] A high-precision wire-controlled braking mechanism for a composite mobile robot includes a controller and a braking mechanism. The controller includes a hydraulic control circuit system and a braking circuit control system. The braking mechanism includes a left wheel assembly mechanism, a right wheel assembly mechanism, and a braking unit. The hydraulic control circuit system uses a high-precision braking control algorithm based on speed and braking force error compensation to adjust the error between the braking force and the wheel speed in real time, and uses a combination of dynamics and kinematics control methods to accurately match the braking force and vehicle speed.

[0008] The brake line control system uses the initial speed of the vehicle as the system reference data input, and establishes independent closed-loop control circuits for the left wheel group mechanism, the right wheel group mechanism, and the brake part, respectively, to accurately monitor and adjust each part; the difference between the actual braking force and the theoretical braking force is calculated in real time, and these data are processed through an optimization algorithm to determine the optimal braking force; the optimized braking force data is fed back to the brake line control system for real-time adjustment. During the adjustment process, the matching relationship between the braking force and the vehicle speed is ensured to achieve continuous optimization of the braking force and the vehicle speed.

[0009] The left wheel assembly mechanism includes a left upper suspension arm, a left lower suspension arm, a left steering seat arranged between the left upper suspension arm and the left lower suspension arm, a left brake caliper and a left brake disc arranged on the left steering seat, a left wheel hub motor, and a left shock absorber hingedly mounted on the left lower suspension arm. The left shock absorber is hingedly connected to a rear axle welding body arranged on the brake part.

[0010] The right wheel assembly mechanism includes a right upper suspension swing arm, a right lower suspension swing arm, a right steering seat arranged between the right upper suspension swing arm and the right lower suspension swing arm, a right brake disc connected to the right steering seat, a right brake caliper connected to the right brake disc, and a right hub motor connected to the right brake caliper. A right shock absorber is hinged on the right lower suspension swing arm, and the other end of the right shock absorber is hinged to a rear axle welding body arranged on the brake part.

[0011] The brake part comprises a brake motor bracket and an oil pipeline bracket, a rear axle welding body arranged on the brake motor bracket, a brake motor arranged on the brake motor bracket, a hydraulic oil tank matched with the brake motor, and an oil pressure sensor.

[0012] The hydraulic control circuit system includes a normally closed solenoid valve, a normally open solenoid valve, a speed sensor, a wheel, a hydraulic caliper, a brake controller, an accumulator, a hydraulically controlled reversing valve, a reversing valve, a muffler, an overflow valve, a check valve, an oil return filter, an oil tank, a butterfly valve, a DC servo motor, a coupling, an oil replenishment pump, a variable pump, a check valve, an air filter, a stop valve, an oil float, and a temperature sensor connected in sequence. A hydraulic sensor is installed on the pipeline of the hydraulic caliper on each wheel.

[0013] The accumulator, hydraulically controlled reversing valve, reversing valve and muffler constitute an energy recovery system.

[0014] The brake circuit control system comprises a brake module, a servo proportional control valve, a pressure sensor, a brake controller and a vehicle controller which are connected in sequence.

[0015] A braking method for a high-precision wire-controlled brake mechanism of a composite mobile robot, the specific steps of which are as follows:

[0016] S1. Transmitting hydraulic pressure: The DC servo motor provides hydraulic power, which is transmitted to the charge pump and the variable pump through the coupling;

[0017] S2. Monitor the real-time braking force: monitor the real-time braking force through the pressure sensor and feed the value back to the vehicle controller;

[0018] S3, feedback braking force value: the vehicle controller calculates the braking force value and the kinematic speed, and feeds the result back to the brake controller;

[0019] S4, Adjustment: The brake controller is responsible for controlling the servo proportional control valve and dynamically adjusting the four-wheel braking force.

[0020] The beneficial effects of the present invention are as follows: the present invention adopts a brake motor to control the hydraulic brake design, which is more accurate in dealing with the torque imbalance caused by uneven road surface. The advanced dynamic balance compensation mechanism ensures that the stability of the braking effect and the dynamic balance of the vehicle can be maintained even under complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the controller structure of the present invention;

[0024] Figure 3 It is a three-dimensional structural schematic diagram of the left wheel assembly mechanism, the right wheel assembly mechanism, and the brake mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the brake mechanism of the present invention;

[0026] Figure 5 It is a block diagram of the hydraulic control circuit system of the present invention;

[0027] Figure 6 It is a block diagram of the brake circuit control system of the present invention;

[0028] Figure 7 It is a schematic diagram of the brake circuit control system of the present invention;

[0029] Figure 8 for Figure 5 A partial enlargement of Figure 1 ;

[0030] Fig. 9 for Figure 5 A partial enlargement of Figure 2 .

[0031] Reference numerals:

[0032] 1. Left wheel assembly mechanism; 2. Right wheel assembly mechanism; 3. Braking part;

[0033] 101. Left wheel hub motor; 102. Left brake caliper; 103. Left brake disc; 104. Left steering seat; 105. Left upper suspension arm; 106. Left shock absorber; 107. Left lower suspension arm;

[0034] 201, right upper suspension swing arm; 202, right steering seat; 203, right brake disc; 204, right brake caliper; 205, right wheel hub motor; 206, right lower suspension swing arm; 207, right shock absorber;

[0035] 301, rear axle welding body; 302, brake motor; 303, hydraulic oil tank; 304, oil pressure sensor; 305, oil pipeline bracket; 306, brake motor bracket;

[0036] 401, normally closed solenoid valve; 402, normally open solenoid valve; 403, speed sensor; 404, wheel; 405, hydraulic caliper; 406, brake controller; 407, accumulator; 408, hydraulic control reversing valve; 409, reversing valve; 410, muffler; 411, overflow valve; 412, check valve; 413, return oil filter; 414, oil tank; 415, butterfly valve; 416, DC servo motor; 417, coupling; 418, oil replenishment pump; 419, variable pump; 420, check valve; 421, air filter; 422, stop valve; 423, oil float; 424, temperature sensor; 425, hydraulic sensor;

[0037] 501, brake module; 502, servo proportional control valve; 503, pressure sensor; 504, brake controller; 505, vehicle controller. DETAILED DESCRIPTION

[0038] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0039] like Figures 1 to 9 As shown, a high-precision wire-controlled braking mechanism of a composite mobile robot includes a controller I and a braking mechanism part II. The controller I includes a hydraulic control circuit system and a braking circuit control system; the braking mechanism part II includes a left wheel group mechanism, a right wheel group mechanism 2, and a braking part 3.

[0040] like Figure 3 As shown, the left wheel assembly mechanism 1 includes a left upper suspension arm 105, a left lower suspension arm 107, a left steering seat 104 arranged between the left upper suspension arm 105 and the left lower suspension arm 107, a left brake caliper 102 and a left brake disc 103 arranged on the left steering seat 104, a left wheel hub motor 101, and a left shock absorber 106 hingedly mounted on the left lower suspension arm 107, wherein the left shock absorber 106 is hingedly connected to a rear axle welding body 301 arranged on the brake part 3. The left steering seat 104 is connected to the left upper suspension arm 105 and the left lower suspension arm 107 by means of hinges.

[0041] like Figure 3As shown, the right wheel assembly mechanism 2 includes a right upper suspension swing arm 201, a right lower suspension swing arm 206, a right steering seat 202 arranged between the right upper suspension swing arm 201 and the right lower suspension swing arm 206, a right brake disc 203 connected to the right steering seat 202, a right brake caliper 204 connected to the right brake disc 203, and a right wheel hub motor 205 connected to the right brake caliper 204. A right shock absorber 207 is hinged on the right lower suspension swing arm 206, and the other end of the right shock absorber 207 is hinged to the rear axle welding body 301 arranged on the brake part 3. The right steering seat 202 is connected to the right upper suspension swing arm 201 and the right lower suspension swing arm 206 by means of hinges.

[0042] like Figure 4 As shown, the braking part 3 includes a brake motor bracket 306 and an oil pipeline bracket 305, a rear axle welding body 301 arranged on the brake motor bracket 306, a brake motor 302 arranged on the brake motor bracket 306, a hydraulic oil tank 303 cooperating with the brake motor 302, and an oil pressure sensor 304.

[0043] The four-wheel speeds are input, and then the speed feedforward is used to calculate the current required by the brake motor and input it to the brake motor 302. The current feedforward is responsible for adjusting the current of the brake motor 302 according to system requirements. Finally, the braking force of each caliper is calculated in real time through the four-wheel hydraulic sensors 425, and the size of the braking force is controlled by the solenoid valve to achieve precise control of the braking force of the four wheels.

[0044] The hydraulic brake design is controlled by the brake motor 302. The present invention is more accurate in dealing with the torque imbalance caused by uneven road surface. The advanced dynamic balance compensation mechanism ensures that the stability of the braking effect and the dynamic balance of the vehicle can be maintained even under complex road conditions.

[0045] like Figure 5 , Figure 8 and Fig. 9As shown, the hydraulic control circuit system includes a normally closed solenoid valve 401, a normally open solenoid valve 402, a speed sensor 403, a wheel 404, a hydraulic caliper 405, a brake controller 406, an accumulator 407, a hydraulically controlled reversing valve 408, a reversing valve 409, a muffler 410, a relief valve 411, a one-way valve 412, an oil return filter 413, an oil tank 414, a butterfly valve 415, a DC servo motor 416, a coupling 417, an oil replenishment pump 418, a variable pump 419, a one-way valve 420, an air filter 421, a stop valve 422, an oil float 423, and a temperature sensor 424, which are connected in sequence. A hydraulic sensor 425 is installed on the pipeline of the hydraulic caliper 405 on each wheel 404. The present invention uses a high-precision braking control algorithm based on speed and braking force error compensation to adjust the error between braking force and wheel speed in real time, and adopts a combined dynamic and kinematic control method to accurately match braking force and vehicle speed. In this way, the accuracy of braking response is improved, while reducing slip and wear during braking, overcoming the influence of road excitation on braking accuracy, and effectively ensuring driving safety.

[0046] The accumulator 407, the hydraulically controlled reversing valve 408, the reversing valve 409, and the muffler 410 constitute an energy recovery system.

[0047] The normally closed solenoid valve 401, the normally open solenoid valve 402, the speed sensor 403, the wheel 404, the hydraulic caliper 405 and the hydraulic sensor 425 constitute a brake actuator, which calculates the real-time braking force through the speed sensor 403 and the hydraulic sensor 425 and dynamically adjusts the braking force of the four calipers.

[0048] The brake line control system includes a brake module 501, a servo proportional control valve 502, a pressure sensor 503, a brake controller 504, and a vehicle controller 505 connected in sequence. The system uses the initial speed of the vehicle as the system reference data input, and then establishes independent closed-loop control circuits for the left wheel group mechanism 1, the right wheel group mechanism 2, and the brake part 3, respectively, to achieve accurate monitoring and adjustment of each part.

[0049] For the braking part 3, a brake motor 302 or a hydraulic circuit may be used to achieve the braking effect by controlling the force applied by the brake. During this process, the system uses high-precision sensors and algorithms to calculate the difference between the actual braking force and the theoretical braking force in real time, and processes these data through an optimization algorithm to determine the optimal braking force.

[0050] The optimized braking force data is fed back to the brake line control system for real-time adjustment. During the adjustment process, the system ensures the matching relationship between braking force and vehicle speed to achieve continuous optimization of braking force and vehicle speed, thereby ensuring the stability and safety of the braking effect.

[0051] A braking method for a high-precision wire-controlled brake mechanism of a composite mobile robot, the specific steps of which are as follows:

[0052] S1, transfer hydraulic pressure: the DC servo motor 416 provides hydraulic power, which is transferred to the charge pump 418 and the variable pump 419 through the coupling 417;

[0053] S2, monitoring the real-time braking force: monitoring the real-time braking force through the pressure sensor 503, and feeding back the value to the vehicle controller 505;

[0054] S3, feedback of braking force value: the vehicle controller 505 calculates the braking force value and the kinematic speed, and feeds the result back to the brake controller 504;

[0055] S4, adjustment: the brake controller 504 is responsible for controlling the servo proportional control valve 502, dynamically adjusting the four-wheel braking force to achieve the optimal speed of the four wheels and overcome the impact caused by road excitation.

[0056] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-precision wire-controlled brake mechanism for a composite mobile robot, characterized in that: It comprises a controller (I) and a brake mechanism part (II), wherein the controller (I) comprises a hydraulic control circuit system and a brake circuit control system; the brake mechanism part (II) comprises a left wheel assembly mechanism (1), a right wheel assembly mechanism (2) and a brake part (3); The hydraulic control circuit system uses a high-precision brake control algorithm based on speed and braking force error compensation to adjust the error between braking force and wheel speed in real time, and uses a combination of dynamics and kinematics control methods to accurately match braking force and vehicle speed. The brake line control system uses the initial speed of the vehicle as the system reference data input, and establishes independent closed-loop control circuits for the left wheel assembly mechanism (1), the right wheel assembly mechanism (2), and the brake part (3) respectively, so as to accurately monitor and adjust each part; the difference between the actual braking force and the theoretical braking force is calculated in real time, and these data are processed by an optimization algorithm to determine the optimal braking force; the optimized braking force data is fed back to the brake line control system for real-time adjustment, and during the adjustment process, the matching relationship between the braking force and the vehicle speed is ensured to achieve continuous optimization of the braking force and the vehicle speed.

2. The high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 1, characterized in that: The left wheel assembly mechanism (1) comprises a left upper suspension arm (105), a left lower suspension arm (107), a left steering seat (104) arranged between the left upper suspension arm (105) and the left lower suspension arm (107), a left brake caliper (102) and a left brake disc (103) arranged on the left steering seat (104), a left wheel hub motor (101), and a left shock absorber (106) hingedly mounted on the left lower suspension arm (107); the left shock absorber (106) is hingedly connected to a rear axle welding body (301) arranged on the brake part (3).

3. The high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 1, characterized in that: The right wheel assembly mechanism (2) comprises a right upper suspension swing arm (201), a right lower suspension swing arm (206), a right steering seat (202) arranged between the right upper suspension swing arm (201) and the right lower suspension swing arm (206), a right brake disc (203) connected to the right steering seat (202), a right brake caliper (204) connected to the right brake disc (203), and a right wheel hub motor (205) connected to the right brake caliper (204); a right shock absorber (207) is hinged on the right lower suspension swing arm (206), and the other end of the right shock absorber (207) is hinged to a rear axle welding body (301) arranged on the brake part (3).

4. The high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 1, characterized in that: The braking part (3) comprises a brake motor bracket (306) and an oil pipeline bracket (305), a brake motor (302) arranged on the brake motor bracket (306), a hydraulic oil tank (303) matched with the brake motor (302), and an oil pressure sensor (304); and a rear axle welded body (301) is arranged on the brake motor bracket (306).

5. The high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 1, characterized in that: The hydraulic control circuit system comprises a normally closed solenoid valve (401), a normally open solenoid valve (402), a speed sensor (403), a wheel (404), a hydraulic caliper (405), a brake controller (406), an accumulator (407), a hydraulically controlled reversing valve (408), a reversing valve (409), a muffler (410), an overflow valve (411), a check valve (412), an oil return filter (413), an oil tank (414), a butterfly valve (415), a DC servo motor (416), a coupling (417), an oil replenishment pump (418), a variable pump (419), a check valve (420), an air filter (421), a stop valve (422), an oil float (423), and a temperature sensor (424) connected in sequence, and a hydraulic sensor (425) is installed on the pipeline of the hydraulic caliper (405) on each wheel (404).

6. The high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 5, characterized in that: The accumulator (407), the hydraulically controlled reversing valve (408), the reversing valve (409), and the muffler (410) constitute an energy recovery system.

7. The high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 6, characterized in that: The brake line control system comprises a brake module (501), a servo proportional control valve (502), a pressure sensor (503), a brake controller (504), and a vehicle controller (505) which are connected in sequence.

8. A braking method using the high-precision wire-controlled brake mechanism of a composite mobile robot according to claim 7, characterized in that: The specific steps are as follows: S1, hydraulic pressure transmission: hydraulic power is provided by a DC servo motor (416) and transmitted to a charge pump (418) and a variable displacement pump (419) through a coupling (417); S2, monitoring the real-time braking force: monitoring the real-time braking force through the pressure sensor (503), and feeding back the value to the vehicle controller (505); S3, feedback of braking force value: the vehicle controller (505) calculates the braking force value and the kinematic speed, and feeds back the result to the brake controller (504); S4, adjustment: the brake controller (504) is responsible for controlling the servo proportional control valve (502) to dynamically adjust the four-wheel braking force to achieve the optimal speed of the four wheels and overcome the impact caused by road excitation.

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