A speed limiting control system and method for explosion-proof rubber-tired vehicles

Abstract

This invention relates to a speed limiting control system and method for explosion-proof rubber-tired vehicles. The system includes: a vehicle speed sensor for collecting the vehicle's speed data; a protection control unit for acquiring the speed data and converting it into a measured speed value; outputting an overspeed alarm when the measured speed value exceeds a preset speed threshold; and outputting normal speed operation information when the measured speed value is less than or equal to the preset speed threshold; a locomotive control unit for generating speed limiting control information based on the overspeed alarm and normal speed control information based on the normal speed operation information; and a throttle controller for adjusting the fuel supply to the engine of the explosion-proof rubber-tired vehicle according to the speed limiting control information to reduce the vehicle's speed. This invention can prevent excessive speeding of the explosion-proof rubber-tired vehicle due to driver errors such as excessive throttle input in areas requiring deceleration, thus avoiding underground safety accidents.

Description

Technical Field

[0001] This invention relates to the field of mining vehicle control technology, specifically to a speed limiting control system and method for explosion-proof rubber-wheeled vehicles. Background Technology

[0002] Explosion-proof rubber-tired vehicles are specialized transport equipment for underground equipment and materials. They are bidirectional and easy to operate. With a width of 1.3 meters, they have strong maneuverability and a load capacity of up to 5 tons, making them particularly suitable for transporting equipment and raw materials in narrow tunnels. They are the best choice for underground equipment maintenance and raw material transportation. However, drivers often make operational errors during underground transport, leading to excessive speeds and causing underground safety accidents. Summary of the Invention

[0003] In order to solve the technical problems in the prior art, such as the driver's operation error causing the explosion-proof rubber-tired vehicle to travel too fast and causing underground safety accidents, the present invention provides a speed limiting control system and method for explosion-proof rubber-tired vehicles.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0005] A speed limiting control system for explosion-proof rubber-tired vehicles, comprising:

[0006] The vehicle speed sensor is used to collect the driving speed of the explosion-proof rubber-wheeled vehicle and obtain the vehicle speed data;

[0007] The protection control unit is connected to the vehicle speed sensor to acquire the vehicle speed data and convert the vehicle speed data into a measured vehicle speed value; the measured vehicle speed value is compared with a preset vehicle speed threshold; when the measured vehicle speed value is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed value is less than or equal to the preset vehicle speed threshold, normal speed operation information is output.

[0008] The locomotive control unit, connected to the protection control unit, is used to generate speed limit control information based on the overspeed alarm information and to generate constant speed control information based on the constant speed operation information.

[0009] A throttle controller, connected to the locomotive control unit, is used to adjust the fuel supply of the engine of the explosion-proof rubber-tired vehicle according to the speed limit control information to reduce the driving speed of the explosion-proof rubber-tired vehicle; and to adjust the fuel supply of the engine of the explosion-proof rubber-tired vehicle according to the constant speed control information and the throttle pedal control information to adjust the driving speed of the explosion-proof rubber-tired vehicle; wherein, the throttle pedal control information is the position information of the throttle pedal of the explosion-proof rubber-tired vehicle.

[0010] The beneficial effects of this invention are as follows: By collecting the actual vehicle speed through a vehicle speed sensor, when the actual vehicle speed exceeds a preset value, the throttle controller controls the fuel supply to reduce the fuel supply to the engine of the rubber-tired vehicle, thereby ultimately achieving speed limit control. This prevents operational errors such as excessive throttle pedal application by the driver in areas requiring deceleration from causing the explosion-proof rubber-tired vehicle to travel too fast, thus avoiding underground safety accidents.

[0011] Based on the above technical solution, the present invention can be further improved as follows.

[0012] Furthermore, it also includes:

[0013] A camshaft speed sensor is used to collect the speed of the camshaft of the engine of the explosion-proof rubber-wheeled vehicle and obtain camshaft speed data;

[0014] A crankshaft speed sensor is used to collect the crankshaft speed of the engine of the explosion-proof rubber-tired vehicle and obtain crankshaft speed data;

[0015] The locomotive control unit is connected to the camshaft speed sensor and the crankshaft speed sensor. It is also used to calculate the engine speed of the explosion-proof rubber-tired vehicle based on the camshaft speed data and the crankshaft speed data, thereby obtaining engine speed data; calculate the theoretical driving speed value of the explosion-proof rubber-tired vehicle based on the engine speed data; and determine whether the explosion-proof rubber-tired vehicle is slipping based on the theoretical driving speed value and the measured vehicle speed value. If so, the speed limit control information is generated; otherwise, the constant speed control information is generated.

[0016] Furthermore, it also includes:

[0017] The display screen, connected to the locomotive control unit and the protection control unit, is used to display the vehicle speed data, the overspeed alarm information, and the normal speed operation information.

[0018] Furthermore, the locomotive control unit is specifically used to calculate the difference between the theoretical driving speed value and the measured vehicle speed value to obtain the overall speed difference; based on the overall speed difference, it determines whether the explosion-proof rubber-wheeled vehicle is slipping while driving; if so, it generates the speed limit control information; if not, it generates the constant speed control information.

[0019] Furthermore, the locomotive control unit is specifically used to determine that the explosion-proof rubber-wheeled vehicle is slipping when the overall speed difference is outside the preset speed difference range, and to determine that the explosion-proof rubber-wheeled vehicle is not slipping when the overall speed difference is within the preset speed difference range.

[0020] Furthermore, it also includes four wheel speed sensors, each of which is connected to the locomotive control unit. The four wheel speed sensors are used to collect the speed of the four wheels of the explosion-proof rubber-tired vehicle, and obtain the corresponding four wheel speed data.

[0021] The locomotive control unit is also used to determine whether the explosion-proof rubber-tired vehicle is slipping while driving based on the four wheel speed data. If so, the speed limit control information is generated; if not, the constant speed control information is generated.

[0022] Furthermore, the vehicle control unit is specifically used to calculate the linear velocity of the four wheels of the explosion-proof rubber-tired vehicle based on the four wheel rotation speed data, thereby obtaining four linear velocity values; calculate the difference between each of the four linear velocity values ​​and the measured vehicle speed value, thereby obtaining four linear velocity difference values; determine whether the four linear velocity difference values ​​are outside a preset linear velocity range value; if at least one of the linear velocity difference values ​​is outside the preset linear velocity range value, then the speed limit control information is generated; if all four linear velocity difference values ​​are within the preset linear velocity range value, then the constant speed control information is generated.

[0023] Furthermore, it also includes a first acceleration sensor group and a second acceleration sensor group. The first acceleration sensor group includes a first acceleration sensor and a second acceleration sensor, and the second acceleration sensor group includes a third acceleration sensor and a fourth acceleration sensor. The first acceleration sensor, the second acceleration sensor, the third acceleration sensor, and the fourth acceleration sensor are all connected to the locomotive control unit. The first acceleration sensor and the second acceleration sensor are respectively located at the two front wheels, and the third acceleration sensor and the fourth acceleration sensor are respectively located at the two rear wheels. The two front wheels are the two wheels located at the front of the explosion-proof rubber-tired vehicle, and the two rear wheels are the two wheels located at the rear of the explosion-proof rubber-tired vehicle.

[0024] The first acceleration sensor and the second acceleration sensor are respectively used to collect the acceleration of the explosion-proof rubber-tired vehicle at the two front wheels, and obtain the first acceleration value and the second acceleration value accordingly;

[0025] The third acceleration sensor and the fourth acceleration sensor are used to collect the acceleration of the explosion-proof rubber-tired vehicle at the two rear wheels, respectively, and obtain the third acceleration value and the fourth acceleration value accordingly;

[0026] The locomotive control unit is specifically used to calculate the difference between the first acceleration value and the second acceleration value to obtain a first acceleration difference value; calculate the difference between the third acceleration value and the fourth acceleration value to obtain a second acceleration difference value; when the first acceleration difference value is less than or equal to the preset acceleration difference value and the second acceleration difference value is less than or equal to the preset acceleration difference value, generate the speed limit control information based on the overspeed alarm information, and generate the normal speed control information based on the normal speed operation information; when the first acceleration difference value is greater than the preset acceleration difference value or the second acceleration difference value is greater than the preset acceleration difference value, generate the speed limit control information based on the overspeed alarm information or the normal speed operation information.

[0027] To address the aforementioned technical problems, this invention also provides a speed limiting control method for explosion-proof rubber-tired vehicles, the specific technical content of which is as follows:

[0028] A speed limiting control method for explosion-proof rubber-tired vehicles includes the following steps:

[0029] The vehicle speed data is obtained by using a vehicle speed sensor to collect the driving speed of the explosion-proof rubber-wheeled vehicle.

[0030] The vehicle speed data is acquired using the protection control unit, and the vehicle speed data is converted into a measured vehicle speed value;

[0031] The protection control unit compares the measured vehicle speed with a preset vehicle speed threshold. When the measured vehicle speed is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed is less than or equal to the preset vehicle speed threshold, normal speed operation information is output.

[0032] The locomotive control unit generates speed limit control information based on the overspeed alarm information and generates constant speed control information based on the constant speed operation information.

[0033] The throttle controller adjusts the fuel supply to the engine of the explosion-proof rubber-wheeled vehicle according to the speed limit control information to reduce the driving speed of the explosion-proof rubber-wheeled vehicle.

[0034] The throttle controller adjusts the fuel supply to the engine of the explosion-proof rubber-wheeled vehicle based on the constant speed control information and the throttle pedal control information, thereby adjusting the driving speed of the explosion-proof rubber-wheeled vehicle; wherein, the throttle pedal control information is the position information of the throttle pedal of the explosion-proof rubber-wheeled vehicle.

[0035] To address the aforementioned technical problems, the present invention also provides an explosion-proof rubber-wheeled vehicle, the specific technical details of which are as follows:

[0036] An explosion-proof rubber-wheeled vehicle includes the aforementioned explosion-proof rubber-wheeled vehicle speed limiting control system. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of a speed limiting control system for explosion-proof rubber-wheeled vehicles in an embodiment of the present invention. Figure 1 ;

[0038] Figure 2 This is a schematic diagram of the structure of a speed limiting control system for explosion-proof rubber-wheeled vehicles in an embodiment of the present invention. Figure 2 ;

[0039] Figure 3 This is a schematic diagram showing the distribution of acceleration sensors in an embodiment of the present invention. Detailed Implementation

[0040] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0041] like Figure 1 As shown, this embodiment provides a speed limiting control system for explosion-proof rubber-tired vehicles, including:

[0042] The vehicle speed sensor is used to collect the driving speed of the explosion-proof rubber-wheeled vehicle and obtain the vehicle speed data;

[0043] The protection control unit is connected to the vehicle speed sensor to acquire the vehicle speed data and convert the vehicle speed data into a measured vehicle speed value; the measured vehicle speed value is compared with a preset vehicle speed threshold; when the measured vehicle speed value is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed value is less than or equal to the preset vehicle speed threshold, normal speed operation information is output.

[0044] The locomotive control unit, connected to the protection control unit, is used to generate speed limit control information based on the overspeed alarm information and to generate constant speed control information based on the constant speed operation information.

[0045] A throttle controller, connected to the locomotive control unit, is used to adjust the fuel supply of the engine of the explosion-proof rubber-tired vehicle according to the speed limit control information to reduce the driving speed of the explosion-proof rubber-tired vehicle; and to adjust the fuel supply of the engine of the explosion-proof rubber-tired vehicle according to the constant speed control information and the throttle pedal control information to adjust the driving speed of the explosion-proof rubber-tired vehicle; wherein, the throttle pedal control information is the position information of the throttle pedal of the explosion-proof rubber-tired vehicle.

[0046] The vehicle speed is collected by a speed sensor. When the actual speed exceeds a preset value, the throttle controller controls the fuel supply to reduce the fuel supply to the engine of the rubber-tired vehicle, thereby limiting the speed of the vehicle. This prevents accidents caused by excessive acceleration or other operational errors by the driver in areas where deceleration is required, which could lead to the explosion-proof rubber-tired vehicle traveling too fast.

[0047] like Figure 2 As shown, in some embodiments, the explosion-proof rubber-tired vehicle speed limiting control system further includes:

[0048] A camshaft speed sensor, connected to the locomotive control unit, is used to collect the camshaft speed of the engine of the explosion-proof rubber-tired vehicle and obtain camshaft speed data;

[0049] A crankshaft speed sensor, connected to the locomotive control unit, is used to collect the crankshaft speed of the engine of the explosion-proof rubber-tired vehicle and obtain crankshaft speed data;

[0050] The locomotive control unit is connected to the camshaft speed sensor and the crankshaft speed sensor. It is also used to calculate the engine speed of the explosion-proof rubber-tired vehicle based on the camshaft speed data and the crankshaft speed data, thereby obtaining engine speed data; calculate the theoretical driving speed value of the explosion-proof rubber-tired vehicle based on the engine speed data; and determine whether the explosion-proof rubber-tired vehicle is slipping based on the theoretical driving speed value and the measured vehicle speed value. If so, the speed limit control information is generated; otherwise, the constant speed control information is generated.

[0051] The engine speed of the explosion-proof rubber-wheeled vehicle can be calculated by using camshaft speed data and crankshaft speed data. Furthermore, the relationship between the camshaft and crankshaft speed data can be used to determine whether the engine's valve train is operating normally. The theoretical vehicle speed can be calculated based on the engine speed. Comparing the theoretical speed with the measured speed can determine if the vehicle is slipping. For example, if the vehicle slips while going downhill, accelerating should be avoided to prevent further speed increases. Therefore, in cases of vehicle slippage, the fuel supply can be directly limited to improve driving safety.

[0052] In some embodiments, the explosion-proof rubber-wheeled vehicle speed limiting control system further includes:

[0053] The display screen, connected to the locomotive control unit and the protection control unit, is used to display the vehicle speed data, the overspeed alarm information, and the normal speed operating information. The overspeed alarm information may include overspeed warning messages or overspeed reminders, and is broadcast in conjunction with the vehicle's audio system. By displaying the vehicle speed data, the overspeed alarm information, and the normal speed operating information on the display screen, the driver can easily understand the vehicle's operating status in real time based on the information displayed.

[0054] In some embodiments, the locomotive control unit is specifically used to calculate the difference between the theoretical driving speed value and the measured vehicle speed value to obtain an overall speed difference; based on the overall speed difference, it determines whether the explosion-proof rubber-wheeled vehicle is slipping while driving; if so, it generates the speed limit control information; if not, it generates the constant speed control information.

[0055] The locomotive control unit is specifically used to determine that the explosion-proof rubber-wheeled vehicle is slipping when the overall speed difference is outside the preset speed difference range, and to determine that the explosion-proof rubber-wheeled vehicle is not slipping when the overall speed difference is within the preset speed difference range.

[0056] Since there is a certain difference between the measured vehicle speed and the calculated theoretical vehicle speed, a preset speed difference range is set. By judging whether the overall speed difference is outside the preset speed difference range, it is determined whether slippage has occurred, thereby improving the accuracy of the judgment and improving the safety performance of the wheeled vehicle.

[0057] In some embodiments, the explosion-proof rubber-tired vehicle speed limiting control system further includes four wheel speed sensors, each of which is connected to the vehicle control unit. The four wheel speed sensors are used to collect the rotational speeds of the four wheels of the explosion-proof rubber-tired vehicle, and obtain four wheel speed data accordingly.

[0058] The locomotive control unit is also used to determine whether the explosion-proof rubber-tired vehicle is slipping while driving based on the four wheel speed data. If so, the speed limit control information is generated; if not, the constant speed control information is generated.

[0059] In some embodiments, the vehicle control unit is specifically used to calculate the linear velocity of the four wheels of the explosion-proof rubber-tired vehicle based on the four wheel rotation speed data, thereby obtaining four linear velocity values; calculate the difference between each of the four linear velocity values ​​and the measured vehicle speed value, thereby obtaining four linear velocity difference values; determine whether the four linear velocity difference values ​​are outside a preset linear velocity range value; if at least one of the linear velocity difference values ​​is outside the preset linear velocity range value, then the speed limit control information is generated; if all four linear velocity difference values ​​are within the preset linear velocity range value, then the constant speed control information is generated.

[0060] The theoretical vehicle speed can be obtained by calculating the linear velocity of the wheels. The difference between the theoretical speed and the actual speed is used to determine whether the wheels are slipping. When the wheels are slipping, the accelerator should not be applied. If the wheel speed is too high, it may cause an accident due to the inability to control the speed in time. If the wheel speed is too low, but the linear velocity of the wheels has reached the speed limit, the wheels may get stuck in the mud. Often, stones or wooden strips are placed at the slipping wheel to increase the friction of the wheel gripping the ground. If the speed limit is applied at this time, the wheels will not be able to drive out of the mud.

[0061] like Figure 2 and Figure 3As shown, in some embodiments, the explosion-proof rubber-tired vehicle speed limiting control system further includes a first acceleration sensor group and a second acceleration sensor group. The first acceleration sensor group includes a first acceleration sensor and a second acceleration sensor, and the second acceleration sensor group includes a third acceleration sensor and a fourth acceleration sensor. The first acceleration sensor, the second acceleration sensor, the third acceleration sensor, and the fourth acceleration sensor are all connected to the locomotive control unit. The first acceleration sensor and the second acceleration sensor are respectively located at the two front wheels, and the third acceleration sensor and the fourth acceleration sensor are respectively located at the two rear wheels. The two front wheels are the two wheels located at the front of the explosion-proof rubber-tired vehicle, and the two rear wheels are the two wheels located at the rear of the explosion-proof rubber-tired vehicle.

[0062] The first acceleration sensor and the second acceleration sensor are respectively used to collect the acceleration of the explosion-proof rubber-tired vehicle at the two front wheels, and obtain the first acceleration value and the second acceleration value accordingly;

[0063] The third acceleration sensor and the fourth acceleration sensor are used to collect the acceleration of the explosion-proof rubber-tired vehicle at the two rear wheels, respectively, and obtain the third acceleration value and the fourth acceleration value accordingly;

[0064] The locomotive control unit is specifically used to calculate the difference between the first acceleration value and the second acceleration value to obtain a first acceleration difference value; calculate the difference between the third acceleration value and the fourth acceleration value to obtain a second acceleration difference value; when the first acceleration difference value is less than or equal to the preset acceleration difference value and the second acceleration difference value is less than or equal to the preset acceleration difference value, generate the speed limit control information based on the overspeed alarm information, and generate the normal speed control information based on the normal speed operation information; when the first acceleration difference value is greater than the preset acceleration difference value or the second acceleration difference value is greater than the preset acceleration difference value, generate the speed limit control information based on the overspeed alarm information or the normal speed operation information.

[0065] By comparing the acceleration difference between the wheels on both sides of the vehicle with the preset acceleration difference value, it can be determined whether the vehicle is skidding or at risk of overturning. When the acceleration difference is greater than the preset acceleration difference value, it means that the vehicle has reached the limit value at which it will overturn. Therefore, even if the actual speed does not reach the speed limit requirement, the speed must be limited to prevent the vehicle from overturning due to acceleration.

[0066] In some other embodiments, a speed limiting control method for explosion-proof rubber-tired vehicles is also provided, applied to the aforementioned speed limiting control system for explosion-proof rubber-tired vehicles, comprising the following steps:

[0067] The vehicle speed data is obtained by using a vehicle speed sensor to collect the driving speed of the explosion-proof rubber-wheeled vehicle.

[0068] The vehicle speed data is acquired using the protection control unit, and the vehicle speed data is converted into a measured vehicle speed value;

[0069] The protection control unit compares the measured vehicle speed with a preset vehicle speed threshold. When the measured vehicle speed is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed is less than or equal to the preset vehicle speed threshold, normal speed operation information is output.

[0070] The locomotive control unit generates speed limit control information based on the overspeed alarm information and generates constant speed control information based on the constant speed operation information.

[0071] The throttle controller adjusts the fuel supply to the engine of the explosion-proof rubber-wheeled vehicle according to the speed limit control information to reduce the driving speed of the explosion-proof rubber-wheeled vehicle.

[0072] The throttle controller adjusts the fuel supply to the engine of the explosion-proof rubber-wheeled vehicle based on the constant speed control information and the throttle pedal control information, thereby adjusting the driving speed of the explosion-proof rubber-wheeled vehicle; wherein, the throttle pedal control information is the position information of the throttle pedal of the explosion-proof rubber-wheeled vehicle.

[0073] In some embodiments, the protection control unit compares the measured vehicle speed value with a preset vehicle speed threshold. When the measured vehicle speed value is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed value is less than or equal to the preset vehicle speed threshold, normal speed operation information is output. Specifically, the steps include:

[0074] The acceleration of the explosion-proof rubber-tired vehicle at the two front wheels is collected by the first acceleration sensor and the second acceleration sensor respectively, and the first acceleration value and the second acceleration value are obtained accordingly;

[0075] The acceleration of the explosion-proof rubber-tired vehicle at the two rear wheels is collected by the third acceleration sensor and the fourth acceleration sensor respectively, and the third acceleration value and the fourth acceleration value are obtained accordingly;

[0076] The locomotive control unit is specifically used to calculate the difference between the first acceleration value and the second acceleration value to obtain a first acceleration difference value; calculate the difference between the third acceleration value and the fourth acceleration value to obtain a second acceleration difference value; when the first acceleration difference value is less than or equal to the preset acceleration difference value and the second acceleration difference value is less than or equal to the preset acceleration difference value, the speed limit control information is generated based on the overspeed alarm information, and the normal speed control information is generated based on the normal speed operation information; when the first acceleration difference value is greater than the preset acceleration difference value or the second acceleration difference value is greater than the preset acceleration difference value, the normal speed control information is generated based on the overspeed alarm information or the normal speed operation information. The explosion-proof rubber-tired vehicle speed limiting control system further includes a first acceleration sensor group and a second acceleration sensor group. The first acceleration sensor group includes a first acceleration sensor and a second acceleration sensor, and the second acceleration sensor group includes a third acceleration sensor and a fourth acceleration sensor. The first acceleration sensor, the second acceleration sensor, the third acceleration sensor, and the fourth acceleration sensor are all connected to the locomotive control unit. The first acceleration sensor and the second acceleration sensor are located at the two front wheels, and the third acceleration sensor and the fourth acceleration sensor are located at the two rear wheels. The two front wheels are the two wheels located at the front of the explosion-proof rubber-tired vehicle, and the two rear wheels are the two wheels located at the rear of the explosion-proof rubber-tired vehicle.

[0077] This invention uses a vehicle speed sensor to collect the actual vehicle speed. When the actual speed exceeds a preset value, the throttle controller controls the fuel supply to reduce the fuel supply to the engine of the rubber-tired vehicle, ultimately achieving speed limiting. This prevents driver errors such as excessive throttle input in areas requiring deceleration from causing the explosion-proof rubber-tired vehicle to travel too fast and resulting in underground safety accidents.

[0078] In other embodiments, an explosion-proof rubber-tired vehicle is also provided, including the aforementioned explosion-proof rubber-tired vehicle speed limiting control system. In this embodiment, the speed of the explosion-proof rubber-tired vehicle is limited by the aforementioned explosion-proof rubber-tired vehicle speed limiting control system to ensure that the explosion-proof rubber-tired vehicle travels within a suitable speed range.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A speed limiting control system for explosion-proof rubber-wheeled vehicles, characterized in that, include: The vehicle speed sensor is used to collect the driving speed of the explosion-proof rubber-wheeled vehicle and obtain the vehicle speed data; The protection control unit is connected to the vehicle speed sensor to acquire the vehicle speed data and convert the vehicle speed data into a measured vehicle speed value; the measured vehicle speed value is compared with a preset vehicle speed threshold; when the measured vehicle speed value is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed value is less than or equal to the preset vehicle speed threshold, normal speed operation information is output. The locomotive control unit, connected to the protection control unit, is used to generate speed limit control information based on the overspeed alarm information and to generate constant speed control information based on the constant speed operation information. A throttle controller, connected to the locomotive control unit, is used to adjust the fuel supply of the engine of the explosion-proof rubber-tired vehicle according to the speed limit control information to reduce the driving speed of the explosion-proof rubber-tired vehicle; and to adjust the fuel supply of the engine of the explosion-proof rubber-tired vehicle according to the constant speed control information and the throttle pedal control information to adjust the driving speed of the explosion-proof rubber-tired vehicle; wherein, the throttle pedal control information is the position information of the throttle pedal of the explosion-proof rubber-tired vehicle; It also includes a first acceleration sensor group and a second acceleration sensor group. The first acceleration sensor group includes a first acceleration sensor and a second acceleration sensor, and the second acceleration sensor group includes a third acceleration sensor and a fourth acceleration sensor. The first acceleration sensor, the second acceleration sensor, the third acceleration sensor, and the fourth acceleration sensor are all connected to the locomotive control unit. The first acceleration sensor and the second acceleration sensor are respectively located at the two front wheels, and the third acceleration sensor and the fourth acceleration sensor are respectively located at the two rear wheels. The two front wheels are the two wheels located at the front of the explosion-proof rubber-tired vehicle, and the two rear wheels are the two wheels located at the rear of the explosion-proof rubber-tired vehicle. The first acceleration sensor and the second acceleration sensor are respectively used to collect the acceleration of the explosion-proof rubber-tired vehicle at the two front wheels, and obtain the first acceleration value and the second acceleration value accordingly; The third acceleration sensor and the fourth acceleration sensor are used to collect the acceleration of the explosion-proof rubber-tired vehicle at the two rear wheels, respectively, and obtain the third acceleration value and the fourth acceleration value accordingly; The locomotive control unit is specifically used to calculate the difference between the first acceleration value and the second acceleration value to obtain a first acceleration difference value; and to calculate the difference between the third acceleration value and the fourth acceleration value to obtain a second acceleration difference value; When the first acceleration difference is less than or equal to a preset acceleration difference and the second acceleration difference is less than or equal to the preset acceleration difference, the speed limit control information is generated based on the overspeed alarm information, and the normal speed control information is generated based on the normal speed operation information; when the first acceleration difference is greater than the preset acceleration difference or the second acceleration difference is greater than the preset acceleration difference, the speed limit control information is generated based on the overspeed alarm information or the normal speed operation information.

2. The explosion-proof rubber-wheeled vehicle speed limiting control system according to claim 1, characterized in that, Also includes: A camshaft speed sensor is used to collect the speed of the camshaft of the engine of the explosion-proof rubber-wheeled vehicle and obtain camshaft speed data; A crankshaft speed sensor is used to collect the crankshaft speed of the engine of the explosion-proof rubber-tired vehicle and obtain crankshaft speed data; The locomotive control unit is connected to the camshaft speed sensor and the crankshaft speed sensor. It is also used to calculate the engine speed of the explosion-proof rubber-tired vehicle based on the camshaft speed data and the crankshaft speed data, thereby obtaining engine speed data; calculate the theoretical driving speed value of the explosion-proof rubber-tired vehicle based on the engine speed data; and determine whether the explosion-proof rubber-tired vehicle is slipping based on the theoretical driving speed value and the measured vehicle speed value. If so, the speed limit control information is generated; otherwise, the constant speed control information is generated.

3. The explosion-proof rubber-wheeled vehicle speed limiting control system according to claim 2, characterized in that, Also includes: The display screen, connected to the locomotive control unit and the protection control unit, is used to display the vehicle speed data, the overspeed alarm information, and the normal speed operation information.

4. The explosion-proof rubber-wheeled vehicle speed limiting control system according to claim 2, characterized in that, The locomotive control unit is specifically used to calculate the difference between the theoretical driving speed value and the measured vehicle speed value to obtain the overall speed difference; based on the overall speed difference, it determines whether the explosion-proof rubber-wheeled vehicle is slipping while driving; if so, it generates the speed limit control information; if not, it generates the constant speed control information.

5. The explosion-proof rubber-wheeled vehicle speed limiting control system according to claim 4, characterized in that, The locomotive control unit is specifically used to determine that the explosion-proof rubber-wheeled vehicle is slipping when the overall speed difference is outside the preset speed difference range, and to determine that the explosion-proof rubber-wheeled vehicle is not slipping when the overall speed difference is within the preset speed difference range.

6. The explosion-proof rubber-wheeled vehicle speed limiting control system according to claim 1, characterized in that, It also includes four wheel speed sensors, each of which is connected to the locomotive control unit. The four wheel speed sensors are used to collect the speed of the four wheels of the explosion-proof rubber-tired vehicle, and obtain the corresponding four wheel speed data. The locomotive control unit is also used to determine whether the explosion-proof rubber-tired vehicle is slipping while driving based on the four wheel speed data. If so, the speed limit control information is generated; if not, the constant speed control information is generated.

7. The explosion-proof rubber-wheeled vehicle speed limiting control system according to claim 6, characterized in that, The locomotive control unit is specifically used to calculate the linear velocity of the four wheels of the explosion-proof rubber-tired vehicle based on the four wheel rotation speed data, and obtain four linear velocity values; calculate the difference between the four linear velocity values ​​and the measured vehicle speed value, and obtain four linear velocity difference values; determine whether the four linear velocity difference values ​​are outside the preset linear velocity preset range value; if at least one linear velocity difference value is outside the preset linear velocity preset range value, then generate the speed limit control information. If all four linear velocity differences are within a preset linear velocity range, then the constant speed control information is generated.

8. A speed limiting control method for explosion-proof rubber-wheeled vehicles, characterized in that, Includes the following steps: The vehicle speed data is obtained by using a vehicle speed sensor to collect the driving speed of the explosion-proof rubber-wheeled vehicle. The vehicle speed data is acquired using the protection control unit, and the vehicle speed data is converted into a measured vehicle speed value; The protection control unit compares the measured vehicle speed with a preset vehicle speed threshold. When the measured vehicle speed is greater than the preset vehicle speed threshold, an overspeed alarm is output; when the measured vehicle speed is less than or equal to the preset vehicle speed threshold, normal speed operation information is output. The locomotive control unit generates speed limit control information based on the overspeed alarm information and generates constant speed control information based on the constant speed operation information. The throttle controller adjusts the fuel supply to the engine of the explosion-proof rubber-wheeled vehicle according to the speed limit control information to reduce the driving speed of the explosion-proof rubber-wheeled vehicle. The throttle controller adjusts the fuel supply to the engine of the explosion-proof rubber-wheeled vehicle based on the constant speed control information and the throttle pedal control information, thereby adjusting the driving speed of the explosion-proof rubber-wheeled vehicle; wherein, the throttle pedal control information is the position information of the throttle pedal of the explosion-proof rubber-wheeled vehicle; The first acceleration sensor and the second acceleration sensor respectively collect the acceleration of the explosion-proof rubber-tired vehicle at the two front wheels, and obtain the first acceleration value and the second acceleration value accordingly; The third and fourth acceleration sensors respectively collect the acceleration of the explosion-proof rubber-tired vehicle at the two rear wheels, and obtain the third acceleration value and the fourth acceleration value accordingly; The locomotive control unit calculates the difference between the first acceleration value and the second acceleration value to obtain a first acceleration difference value; it calculates the difference between the third acceleration value and the fourth acceleration value to obtain a second acceleration difference value; when the first acceleration difference value is less than or equal to a preset acceleration difference value and the second acceleration difference value is less than or equal to the preset acceleration difference value, it generates speed limit control information based on the overspeed alarm information and generates constant speed control information based on the constant speed operation information; when the first acceleration difference value is greater than the preset acceleration difference value or the second acceleration difference value is greater than the preset acceleration difference value, it generates speed limit control information based on the overspeed alarm information or the constant speed operation information. The first acceleration sensor group includes a first acceleration sensor and a second acceleration sensor, and the second acceleration sensor group includes a third acceleration sensor and a fourth acceleration sensor. The first acceleration sensor, the second acceleration sensor, the third acceleration sensor, and the fourth acceleration sensor are all connected to the locomotive control unit. The first acceleration sensor and the second acceleration sensor are respectively located at the two front wheels, and the third acceleration sensor and the fourth acceleration sensor are respectively located at the two rear wheels. The two front wheels are the two wheels located at the front of the explosion-proof rubber-tired vehicle, and the two rear wheels are the two wheels located at the rear of the explosion-proof rubber-tired vehicle.

9. An explosion-proof rubber-wheeled vehicle, characterized in that, Including the explosion-proof rubber-wheeled vehicle speed limiting control system as described in any one of claims 1 to 7.

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