Auxiliary braking system and braking method for trackless rubber-tyred vehicle during downhill running

Abstract

The invention relates to an auxiliary braking system and method for a trackless rubber-tyred vehicle during downhill running. The system comprises a vehicle speed sensor, a rotating speed sensor, a tire pressure sensor, a temperature sensor, an angle gauge and a controller. The controller is used for generating a backstepping control signal according to signals acquired by the vehicle speed sensor, the rotating speed sensor, the tire pressure sensor, the temperature sensor and the angle gauge when the trackless rubber-tyred vehicle runs on a downhill road section; the reverse thrust motor is used for outputting a reverse thrust torque under the control of the reverse thrust control signal; the reverse thrusting device is used for generating reverse thrusting force opposite to the running direction of the trackless rubber-tyred vehicle under the driving of the reverse thrusting torque, so that the trackless rubber-tyred vehicle runs at a constant speed on a downhill road section according to a preset speed; when the trackless rubber-tyred vehicle goes downhill, the reverse thrust device is used for generating reverse thrust, and the trackless rubber-tyred vehicle is reversely pushed through the reverse thrust generated by the reverse thrust device, so that the trackless rubber-tyred vehicle can run at the preset constant speed in the downhill process, and safety accidents caused by too high vehicle speed are prevented.

Description

Technical Field

[0001] The invention relates to the technical field of underground coal mine transportation, and in particular to an auxiliary braking system and a braking method for a trackless rubber-tyred vehicle when the vehicle is traveling downhill. Background Art

[0002] Rubber-tyred trackless vehicles driven by explosion-proof diesel engines are often used for transportation from the ground to underground coal mines. The downhill distance is long and continuous, which places high demands on vehicle brakes. Safety incidents such as brake overheating and brake damage often occur. Therefore, solving the long downhill braking problem of trackless transport vehicles in coal mines will greatly improve the safety hazards of underground transportation in coal mines. In some mountainous areas, there are also long downhill sections, especially for some large trucks, which also have safety hazards caused by brake failure on downhill sections. Summary of the invention

[0003] In order to solve the technical problems in the prior art such as safety hazards caused by vehicle brake failure when a trackless rubber-tyred vehicle is traveling on a long downhill section, the present invention provides an auxiliary braking system and a braking method for a trackless rubber-tyred vehicle when traveling downhill.

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

[0005] An auxiliary braking system for a trackless rubber-tyred vehicle when traveling downhill, comprising:

[0006] Vehicle speed sensor, used to collect the running speed of the rubber-tyred trackless vehicle;

[0007] A rotation speed sensor, used to collect the rotation speed of the explosion-proof diesel engine installed on the rubber-tyred trackless vehicle;

[0008] A tire pressure sensor, used to collect the tire pressure of the rubber-tyred trackless vehicle;

[0009] A temperature sensor, used to collect the running environment temperature of the rubber-tyred trackless vehicle;

[0010] An inclinometer, used to collect the slope of the road section where the rubber-tyred trackless vehicle is traveling;

[0011] a controller, connected to the vehicle speed sensor, the rotation speed sensor, the tire pressure sensor, the temperature sensor and the angle meter, for judging whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed when the rubber-tyred trackless vehicle is in a downhill section, and estimating the vehicle mass of the rubber-tyred trackless vehicle according to the tire pressure and the driving environment temperature when the rubber-tyred trackless vehicle is in a driving state, and generating a reverse thrust control signal according to the vehicle mass and the slope;

[0012] a reverse thrust motor connected to the controller and configured to output a reverse thrust torque under the control of the reverse thrust control signal;

[0013] A reverse thruster is connected to the reverse thrust motor and is used to generate a reverse thrust force opposite to the driving direction of the rubber-tyred trackless vehicle under the driving of the reverse thrust torque, so that the rubber-tyred trackless vehicle can travel on a downhill section at a preset speed.

[0014] The beneficial effects of the present invention are as follows: when the rubber-tyred trackless vehicle is going downhill, the reverse thrust is used to generate reverse thrust, and the rubber-tyred trackless vehicle is pushed in the opposite direction by the reverse thrust generated by the reverse thrust, so that the rubber-tyred trackless vehicle can maintain a preset speed and travel at a constant speed during the downhill process, thereby preventing safety accidents caused by excessive speed; at the same time, by judging in advance whether the vehicle is in a driving state, and controlling whether the reverse thrust is generated according to the judgment result, the vehicle is prevented from being pushed by the reverse thrust when it needs to stop during the downhill process.

[0015] Based on the above technical solution, the present invention can also be improved as follows.

[0016] Furthermore, it also includes a brake, wherein the brake is connected to the controller;

[0017] The controller is also used to collect the position information of the brake pedal of the trackless rubber-tyred vehicle when the reverse thrust generated by the reverse thruster cannot enable the trackless rubber-tyred vehicle to travel on a downhill section at a preset speed, and generate forced braking information according to the position information of the brake pedal;

[0018] The brake is used to implement forced braking on the rubber-tyred trackless vehicle according to the forced braking information, so as to cooperate with the reverse thruster to enable the rubber-tyred trackless vehicle to travel on the downhill section at the preset speed.

[0019] Further, the controller is used to determine whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed, specifically:

[0020] The controller is used to determine whether the driving speed and the rotation speed are zero. If the driving speed and the rotation speed are both zero, it is determined that the rubber-tyred trackless vehicle is in a parked state; if the driving speed and / or the rotation speed are not zero, it is determined that the rubber-tyred trackless vehicle is in a driving state.

[0021] Furthermore, the controller stores a tire pressure-mass mapping table and a temperature compensation coefficient table; wherein the tire pressure-mass mapping table includes a plurality of different tire pressures and vehicle masses corresponding to the plurality of different tire pressures; the temperature compensation coefficient table includes a plurality of different driving environment temperatures and mass compensation coefficients corresponding to the plurality of different driving environment temperatures;

[0022] The controller is used to estimate the vehicle mass of the rubber-tyred trackless vehicle according to the tire pressure and the driving environment temperature, and to generate a reverse thrust control signal according to the vehicle mass and the slope, specifically:

[0023] The controller is used to query the corresponding vehicle mass from the tire pressure-mass mapping table according to the tire pressure; query the corresponding mass compensation coefficient from the temperature compensation coefficient table according to the driving environment temperature; calculate the corrected vehicle mass of the rubber-tyred trackless vehicle according to the vehicle mass obtained by querying the tire pressure-mass mapping table and the mass compensation coefficient obtained by querying the temperature compensation coefficient table; and generate the reverse thrust control signal according to the corrected vehicle mass and the slope.

[0024] Furthermore, the reverse thrust motor is a hydraulic motor, and the auxiliary braking system also includes a driving pump and a reversing valve; the driving pump sucks oil from the hydraulic oil tank under the drive of the explosion-proof diesel engine to form a pressure oil discharge; the reversing valve is connected to the driving pump and the reverse thrust motor respectively through hydraulic pipelines, and the reversing valve is controlled by the controller; the reversing valve is used to switch the fluid channel under the control of the reverse thrust control signal to connect the driving pump with the reverse thrust motor; after the driving pump is connected with the reverse thrust motor, the pressure oil discharged by the driving pump is used to drive the reverse thrust motor to rotate so that the reverse thrust motor outputs the reverse thrust torque.

[0025] Furthermore, the controller is also used to output a travel control signal when the rubber-tyred trackless vehicle is traveling on a non-downhill section; the auxiliary braking system also includes a coupling controller, a drive motor and a gearbox; the gearbox is connected to the wheels of the rubber-tyred trackless vehicle, the coupling controller is connected to the explosion-proof diesel engine and the drive motor, the drive motor is connected to the gearbox, and the coupling controller is also connected to the controller;

[0026] The coupling controller is used to transmit the output torque of the drive motor to the explosion-proof diesel engine under the control of the reverse thrust control signal to drive the explosion-proof diesel engine to rotate, thereby using the explosion-proof diesel engine to drive the drive pump; wherein, the output torque of the drive motor is obtained by the torque of the wheel driving the drive motor to rotate through the gearbox when the rubber-tyred trackless vehicle is traveling downhill due to gravity traction, and the coupling controller is a one-way coupling;

[0027] The coupling controller is also used to cut off the connection between the drive motor and the explosion-proof diesel engine under the control of the driving control signal, so as to cut off the torque transmission between the drive motor and the explosion-proof diesel engine;

[0028] The reversing valve is also used to switch its own fluid channel under the control of the driving control signal to connect the driving pump with the driving motor so as to utilize the pressure oil discharged by the driving pump to drive the driving motor to rotate, and then drive the wheels to rotate through the driving motor and the gearbox.

[0029] Furthermore, it also includes an electromagnetic switch valve, an accumulator, a charging valve and a brake pump, wherein the electromagnetic switch valve is electrically connected to the controller, and the electromagnetic switch valve is respectively connected to the reversing valve and the accumulator through hydraulic pipes; the brake pump is connected to the explosion-proof diesel engine, the brake pump is connected to the charging valve through a hydraulic pipe, and the charging valve is connected to the accumulator through a hydraulic pipe; the brake pump is used to discharge the charging pressure oil under the drive of the explosion-proof diesel engine; the accumulator is used to store the charging pressure oil;

[0030] The charging valve is used to open the charging channel when the pressure of the charging pressure oil in the accumulator is less than a preset threshold value, so that the charging pressure oil discharged by the brake pump enters the accumulator through the charging channel; the opened charging channel is closed when the pressure of the charging pressure oil in the accumulator is greater than or equal to the preset threshold value, so that the charging pressure oil discharged by the brake pump flows back to the hydraulic oil tank;

[0031] The electromagnetic switch valve is used to switch its own fluid channel under the control of the reverse thrust control signal so that the accumulator is connected to the reversing valve. After the accumulator is connected to the reversing valve, the filling pressure oil in the accumulator is used to control the reversing valve to switch its own fluid channel, so as to connect the driving pump with the reverse thrust motor, and then use the pressure oil discharged from the driving pump to drive the reverse thrust motor to rotate;

[0032] The electromagnetic switch valve is also used to switch its own fluid channel under the control of the driving control signal to disconnect the accumulator from the reversing valve; after the accumulator is disconnected from the reversing valve, the filling pressure oil in the accumulator is stopped from flowing to the reversing valve, so that the reversing valve switches its own fluid channel, thereby connecting the drive pump to the drive motor, and then using the pressure oil discharged from the drive pump to drive the drive motor to rotate.

[0033] Further, an exhaust gas recirculation device, wherein the exhaust gas recirculation device is electrically connected to the controller;

[0034] The exhaust gas recirculation device is used to adjust the exhaust gas recirculation amount of the explosion-proof diesel engine and the amount of fresh air entering the explosion-proof diesel engine under the control of the reverse thrust control signal, so as to adjust the exhaust gas emission amount when the rubber-tyred trackless vehicle is traveling downhill due to gravity traction:

[0035] The exhaust gas recirculation system is also used to adjust the exhaust gas recirculation amount and the amount of fresh air entering the explosion-proof diesel engine under the control of the driving control signal, so as to adjust the exhaust gas emission of the rubber-tyred trackless vehicle when traveling on the non-downhill section.

[0036] In order to solve the above technical problems, the present invention also provides a vehicle braking system, the specific technical contents of which are as follows:

[0037] A vehicle braking system comprises at least one subsystem, at least one of the subsystems being an auxiliary braking system for the above-mentioned rubber-tyred trackless vehicle when traveling downhill.

[0038] In order to solve the above technical problems, the present invention also provides an auxiliary braking method for a rubber-tyred trackless vehicle when traveling downhill, and its specific technical contents are as follows:

[0039] An auxiliary braking method for a trackless rubber-tyred vehicle when traveling downhill, applied to the auxiliary braking system of the trackless rubber-tyred vehicle when traveling downhill, comprises the following steps:

[0040] The speed sensor is used to collect the running speed of the rubber-tyred trackless vehicle;

[0041] Using a speed sensor to collect the speed of an explosion-proof diesel engine installed on the rubber-tyred trackless vehicle;

[0042] Using a tire pressure sensor to collect the tire pressure of the rubber-tyred trackless vehicle;

[0043] Using a temperature sensor to collect the running environment temperature of the rubber-tyred trackless vehicle;

[0044] Using an inclinometer to collect the slope of the road section where the trackless rubber-tyred vehicle is traveling;

[0045] When the rubber-tyred trackless vehicle is on a downhill section, the controller is used to determine whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed, and when the rubber-tyred trackless vehicle is in a driving state, the vehicle mass of the rubber-tyred trackless vehicle is estimated according to the tire pressure and the driving environment temperature, and a reverse thrust control signal is generated according to the vehicle mass and the slope;

[0046] utilizing a reverse thrust motor to output a reverse thrust torque under the control of the reverse thrust control signal;

[0047] The reverse thrust device is driven by the reverse thrust torque to generate a reverse thrust force opposite to the traveling direction of the rubber-tyred trackless vehicle, so that the rubber-tyred trackless vehicle can travel on a downhill section at a preset speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1This is a structural block diagram of an auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of an auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill in an embodiment of the present invention;

[0050] Figure 3 Schematic diagram of the relationship between the travel direction of the rubber-tyred trackless vehicle and the reverse thrust control flow direction of the auxiliary braking system in an embodiment of the present invention;

[0051] Figure 4 Schematic diagram of the structure of the exhaust gas recirculation device of the explosion-proof diesel engine in the embodiment of the present invention.

[0052] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0053] 1. Reverse thrust motor, 2. Reverse thrust, 3. Drive pump, 4. Brake pump, 5. Steering pump, 6. Coupling controller, 7. Drive motor, 8. Gearbox, 9. Wheel, 10. First overflow valve, 11. Reversing valve, 12. Solenoid switch valve, 13. Pressure gauge, 14. First accumulator, 15. Second accumulator, 16. Filling valve, 17. Second overflow valve, 18. Steering valve, 19. Third overflow valve, 20. Brake valve, 21. Steering gear, 22. Brake. DETAILED DESCRIPTION

[0054] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0055] like Figure 1 As shown, this embodiment provides an auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill, comprising:

[0056] Vehicle speed sensor, used to collect the running speed of the rubber-tyred trackless vehicle;

[0057] A rotation speed sensor, used to collect the rotation speed of the explosion-proof diesel engine installed on the rubber-tyred trackless vehicle;

[0058] A tire pressure sensor, used to collect the tire pressure of the rubber-tyred trackless vehicle;

[0059] A temperature sensor, used to collect the running environment temperature of the rubber-tyred trackless vehicle;

[0060] An inclinometer, used to collect the slope of the road section where the rubber-tyred trackless vehicle is traveling;

[0061] a controller, connected to the vehicle speed sensor, the rotation speed sensor, the tire pressure sensor, the temperature sensor and the angle meter, and used to judge whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed of the explosion-proof diesel engine when the rubber-tyred trackless vehicle is in a downhill section, and if so, to estimate the vehicle mass of the rubber-tyred trackless vehicle according to the tire pressure and the driving environment temperature, and to generate a reverse thrust control signal according to the vehicle mass and the slope; if not, not to generate the reverse thrust control signal;

[0062] a reverse thrust motor connected to the controller and configured to output a reverse thrust torque under the control of the reverse thrust control signal;

[0063] The reverse thrust device is connected to the reverse thrust motor and is used for generating a reverse thrust force opposite to the driving direction of the rubber-tyred trackless vehicle under the driving of the reverse thrust torque, so as to allow the rubber-tyred trackless vehicle to travel at a constant speed on a downhill section at a preset speed.

[0064] When the rubber-tyred trackless vehicle is going downhill, the reverse thrust is used to generate reverse thrust, and the rubber-tyred trackless vehicle is pushed in the opposite direction by the reverse thrust generated by the reverse thrust, so that the rubber-tyred trackless vehicle can maintain a preset speed and travel at a constant speed during the downhill process, thereby preventing safety accidents caused by excessive speed. At the same time, by judging in advance whether the vehicle is in a driving state and controlling whether the reverse thrust is generated according to the judgment result, the vehicle is prevented from being pushed by the reverse thrust when it needs to stop during the downhill process.

[0065] In some embodiments, the controller stores a tire pressure-mass mapping table and a temperature compensation coefficient table, wherein the tire pressure-mass mapping table includes multiple different tire pressures and multiple different vehicle masses, and the multiple tire pressures correspond one-to-one to the multiple vehicle masses; the temperature compensation coefficient table includes multiple different driving environment temperatures and multiple different mass compensation coefficients, and the multiple driving environment temperatures correspond one-to-one to the multiple mass compensation coefficients.

[0066] The controller is also specifically used to query the vehicle mass corresponding to the tire pressure from the tire pressure-mass mapping table according to the tire pressure; query the mass compensation coefficient corresponding to the driving environment temperature from the temperature compensation coefficient table according to the driving environment temperature; calculate the corrected vehicle mass of the trackless rubber-tyred vehicle according to the vehicle mass obtained by querying the tire pressure-mass mapping table and the mass compensation coefficient obtained by querying the temperature compensation coefficient table; and generate the reverse control signal according to the corrected vehicle mass and the slope. Among them, the calculation formula of the corrected vehicle mass is as follows: m2=m1(1-R); m2 represents the corrected vehicle mass, m1 represents the uncorrected vehicle mass, and R represents the mass compensation coefficient, whose mass compensation coefficient is less than 0.5 and greater than 0. If the corresponding vehicle mass and mass compensation coefficient are not found in the construction of the tire pressure-mass mapping table and the temperature compensation coefficient table, the vehicle mass corresponding to the tire pressure can be calculated by linear interpolation, and the mass compensation coefficient corresponding to the driving environment temperature can be calculated by linear interpolation.

[0067] The weight of the rubber-tyred vehicle can be estimated through the tire pressure and the mass compensation coefficient, so that the driving acceleration and driving traction can be calculated based on the weight and the slope of the driving road. That is, when the rubber-tyred vehicle has no engine braking during downhill driving, the component of gravity in the driving direction will cause the rubber-tyred vehicle to continuously accelerate. Therefore, when the driving traction is equal to the reverse thrust, the rubber-tyred vehicle moves forward at a constant speed.

[0068] In some embodiments, the auxiliary braking system further includes a brake 22, and the brake 22 is connected to the controller;

[0069] The controller is also used for collecting the position information of the brake pedal of the trackless rubber-tyred vehicle when the reverse thrust generated by the reverse thruster cannot allow the trackless rubber-tyred vehicle to travel at a constant speed on a downhill section at a preset speed, and generating forced braking information according to the position information of the brake pedal;

[0070] The brake 22 is used to implement forced braking on the rubber-tyred trackless vehicle according to the forced braking information so as to allow the rubber-tyred trackless vehicle to travel at a constant speed on a downhill section at the preset speed.

[0071] By providing the brake 22, the reverse thruster and the brake 22 can be used together to brake the rubber-tyred vehicle on a downhill section with a large slope, so that the rubber-tyred vehicle can travel downhill at a uniform speed, thereby improving driving safety.

[0072] In some embodiments, the controller is specifically used to determine whether the driving speed and the speed of the explosion-proof diesel engine are zero. If the driving speed and the speed of the explosion-proof diesel engine are both zero, it is determined whether the rubber-tyred trackless vehicle is in a parked state; if the driving speed and / or the speed are not zero, it is determined whether the rubber-tyred trackless vehicle is in a driving state.

[0073] like Figure 2 As shown, the reverse thrust motor 1 is a hydraulic motor, and the auxiliary brake system further includes a driving pump 3 and a reversing valve 11; the driving pump 3 sucks oil from the hydraulic oil tank under the drive of the explosion-proof diesel engine to form pressure oil discharge; the reversing valve 11 is connected to the driving pump 3 and the reverse thrust motor 1 through hydraulic pipelines, and the reversing valve 11 is controlled by the controller; the reversing valve 11 switches the fluid channel under the control of the reverse thrust control signal to connect the driving pump 3 with the reverse thrust motor 1; after the driving pump 3 is connected with the reverse thrust motor 1, the pressure oil discharged by the driving pump 3 is used to drive the reverse thrust motor 1 to rotate, so that the reverse thrust motor 1 outputs the reverse thrust torque under the control of the reverse thrust control signal. The output port of the driving pump 3 is connected to the first overflow valve 10, and when the pressure of the pressure oil discharged by the driving pump 3 exceeds the safety value, the pressure oil flows back from the first overflow valve 10 to the hydraulic oil tank. The reverse thrust torque output by the reverse thrust motor 1 drives the reverse thruster 2 to rotate, so that the reverse thruster 2 generates reverse thrust; the reverse thruster 2 is specifically a device that generates reverse thrust by using the gas ejected by the rotating blades. There are two reverse thrust motors 1 and two reverse thrusters 2, and the two reverse thrust motors 1 correspond to the two reverse thrusters 2 one by one. Each reverse thrust motor 1 drives the corresponding reverse thruster 2, and the two reverse thrusters 2 are respectively arranged on both sides of the rubber-tyred trackless vehicle, so as to generate reverse thrust on both sides of the rubber-tyred vehicle at the same time.

[0074] In some embodiments, the controller is also used to output a travel control signal when the rubber-tyred trackless vehicle is traveling on a non-downhill section; the auxiliary braking system also includes a coupling controller 6, a drive motor 7 and a gearbox 8; the gearbox 8 is connected to the wheels of the rubber-tyred trackless vehicle, the coupling controller 6 is connected to the explosion-proof diesel engine and the drive motor 7, the drive motor 7 is connected to the gearbox 8, and the coupling controller 6 is also connected to the controller;

[0075] The coupling controller 6 is used to transmit the output torque of the drive motor 7 to the explosion-proof diesel engine under the control of the reverse thrust control signal to drive the explosion-proof diesel engine to rotate, thereby using the explosion-proof diesel engine to drive the drive pump 3; wherein, the output torque of the drive motor 7 is obtained by the torque of the wheel 9 driving the drive motor 7 to rotate through the gearbox 8 when the trackless rubber-tyred vehicle is traveling downhill due to gravity traction, and the coupling controller 6 is a one-way coupling, that is, the torque can only be transmitted from the drive motor 7 to the explosion-proof diesel engine;

[0076] The coupling controller 6 is also used to cut off the connection between the drive motor and the explosion-proof diesel engine under the control of the driving control signal, so as to cut off the torque transmission between the drive motor 7 and the explosion-proof diesel engine;

[0077] The reversing valve 11 is also used to switch its own fluid channel under the control of the driving control signal to connect the driving pump 3 with the driving motor 7 so as to drive the driving motor 7 to rotate by using the pressure oil discharged by the driving pump 3, and then drive the wheel 9 to rotate through the driving motor 7 and the gearbox 8. When the rubber-tyred trackless vehicle is traveling on a non-downhill section, the explosion-proof diesel engine supplies oil and drives the rubber-tyred trackless vehicle to travel.

[0078] During downhill driving, the drive motor 7 is enabled and connected by controlling the coupling controller 6. When the drive motor 7 drives the explosion-proof diesel engine to rotate during the downhill driving, the gravitational potential energy of the rubber-tyred trackless vehicle can be converted into torque through the wheels 9 to drive the explosion-proof diesel engine to rotate. At this time, the fuel supply of the explosion-proof diesel engine is small, thereby achieving energy-saving braking during the downhill driving process.

[0079] In some embodiments, the auxiliary braking system also includes an electromagnetic switch valve 12, an accumulator, a pressure gauge 13, a charging valve 16 and a brake pump 4, wherein the electromagnetic switch valve 12 is electrically connected to the controller, and the electromagnetic switch valve 12 is respectively connected to the reversing valve 11 and the accumulator through hydraulic pipes; the brake pump 4 is connected to the explosion-proof diesel engine, and the brake pump 4 is connected to the charging valve 16 through a hydraulic pipe, and the charging valve 16 is connected to the accumulator through a hydraulic pipe; the brake pump 4 is used to discharge the charging pressure oil under the drive of the explosion-proof diesel engine; the accumulator is used to store the charging pressure oil; the pressure gauge 13 is connected between the electromagnetic switch valve 12 and the accumulator, and the pressure gauge 13 is used to monitor the pressure of the charging pressure oil discharged from the accumulator.

[0080] The charging valve 16 is used to open the charging channel when the pressure of the charging pressure oil in the accumulator is less than a preset threshold value, so that the charging pressure oil discharged by the brake pump 4 enters the accumulator through the charging channel; when the pressure of the charging pressure oil in the accumulator is greater than or equal to the preset threshold value, the opened charging channel is closed, so that the charging pressure oil discharged by the brake pump 4 flows back to the hydraulic oil tank;

[0081] The electromagnetic switch valve 12 is used to switch its own fluid channel under the control of the reverse thrust control signal, so that the accumulator is connected to the reversing valve 11; after the accumulator is connected to the reversing valve 11, the valve body of the reversing valve 11 is pushed by the filling pressure oil in the accumulator to control the reversing valve 11 to switch the fluid channel, so as to connect the driving pump 3 with the reverse thrust motor 1 so as to drive the reverse thrust motor 1 to rotate by the pressure oil discharged by the driving pump 3;

[0082] The electromagnetic switch valve 12 is also used to switch its own fluid channel under the control of the driving control signal to disconnect the accumulator from the reversing valve 11; thereby cutting off the flow of the filling pressure oil in the accumulator to the reversing valve 11, and the valve core of the reversing valve 11 automatically resets under the elastic force of the spring, so that the reversing valve 11 switches the fluid channel, thereby connecting the driving pump 3 with the driving motor 7, so as to drive the driving motor 7 to rotate by using the pressure oil discharged by the driving pump 3. The brake pump 4 is also connected to a second overflow valve 17 through a hydraulic pipeline. When the pressure of the filling pressure oil discharged by the brake pump 4 is higher than the overflow pressure, the filling pressure oil overflows to the hydraulic mailbox through the second overflow valve 17 to reduce the pressure of the filling pressure oil. The accumulator includes a first accumulator 14 and a second accumulator 15.

[0083] In this embodiment, by setting up an electromagnetic switch valve 12, an accumulator, a filling valve 16 and a brake pump 4, the accumulator can be used to store energy by storing filling pressure oil, and the filling pressure oil in the accumulator can be used to control the position of the valve core of the reversing valve 11, so as to realize the controller's control of the reversing valve 11 through the electromagnetic switch valve 12.

[0084] In some embodiments, the auxiliary brake system further includes a brake valve 20 and a brake 226, wherein the brake valve 20 is electrically connected to the controller, and the brake valve 20 is respectively connected to the brake 226 and the accumulator through hydraulic pipes;

[0085] The controller is also used to collect a position signal of a brake pedal of the rubber-tyred trackless vehicle, and output a brake control signal according to the position signal of the brake pedal;

[0086] The brake 226 is used to brake the wheel 9 of the rubber-tyred trackless vehicle;

[0087] The brake valve 20 is used to switch its own fluid channel under the control of the brake control signal, so that the accumulator is connected with the brake 226; so as to use the liquid filling pressure oil in the accumulator to drive the brake 226, so as to realize the brake 226 braking the wheels 9 of the trackless rubber-tyred vehicle. The brake 226 includes two groups of brake hydraulic cylinders, each group of brake hydraulic cylinders is two, the two brake hydraulic cylinders in one group brake the two front wheels of the trackless rubber-tyred vehicle, and the two brake hydraulic cylinders in the other group brake the two rear wheels of the trackless rubber-tyred vehicle; there are four wheels 9, and the four wheels 9 are the two front wheels and the two rear wheels respectively; the liquid filling pressure oil stored in the first accumulator 14 controls the two brake hydraulic cylinders in one group under the control of the brake valve 20 to brake the two front wheels of the trackless rubber-tyred vehicle; the liquid filling pressure oil stored in the second accumulator 15 controls the two brake hydraulic cylinders in the other group under the control of the brake valve 20 to brake the two rear wheels of the trackless rubber-tyred vehicle.

[0088] In some embodiments, the auxiliary brake system further includes a steering pump 5, a steering valve 18 and a steering gear 21, wherein the steering pump 5 is connected to the explosion-proof diesel engine, the steering valve 18 is connected to the steering wheel of the trackless rubber-tyred vehicle, and the steering valve 18 is respectively connected to the steering pump 5 and each steering gear 21 through a hydraulic pipeline; the steering pump 5 is used to discharge steering pressure oil under the drive of the explosion-proof diesel engine; the steering gear 21 is used to control the steering of the trackless rubber-tyred vehicle; the steering valve 18 is used to change the fluid channel of the steering valve 18 according to the rotation angle of the steering wheel of the trackless rubber-tyred vehicle, so that the steering pump 5 is connected to the steering gear 21; the steering pressure oil discharged by the steering pump 5 is used to control the steering gear 21, so as to realize the steering of the trackless rubber-tyred vehicle by the steering gear 21. The steering gear 21 includes a plurality of steering hydraulic cylinders, and the position of the valve core of the steering valve 18 is controlled by the steering wheel to control the telescopic state of each steering hydraulic cylinder to realize the steering of the rubber-tyred vehicle. The steering pump 5 is connected to a third overflow valve 19. When the pressure of the steering pressure oil discharged by the steering pump 5 is higher than a preset steering pressure threshold, the third overflow valve 19 is turned on, and the steering pressure oil is discharged to the hydraulic cylinder through the third overflow valve 19, thereby reducing the pressure of the steering pressure oil.

[0089] This embodiment comprises an auxiliary braking system through an explosion-proof diesel engine, a driving pump, a brake pump, a steering pump, a coupling controller, a driving motor, a gearbox, wheels, a reverse thruster, a steering gear, a brake 22, an accumulator, an electromagnetic switch, a reversing valve, a brake valve, a steering valve and its accessories, an intake and exhaust system and an exhaust gas recirculation system of the explosion-proof diesel engine, and a whole machine control system. When driving normally, the coupling controller is disconnected, the driving pump is hydraulically connected to the driving motor, and the explosion-proof diesel engine drives the driving pump, the brake pump, and the steering pump to operate, so that each system of the vehicle can operate normally. When in a long downhill, the driver switches to the long downhill auxiliary braking mode. At this time, the coupling controller is connected, and the coupling controller will only work when the speed of the drive motor side is greater than the speed of the engine side. The electromagnetic development valve controls the reversing valve to make the drive pump and the hydraulic motor of the reverse thrust hydraulically connected, and the drive motor is disconnected from the hydraulic system, idling and not working. Under the action of gravity, the wheel 9 rotates, driving the steering pump, brake pump, drive pump, explosion-proof diesel engine and its accessories such as generator, cooling water pump, cooling fan, etc. to rotate, maintaining the operation of the entire system. Since the above components are driven to operate, it is far from overcoming the acceleration brought by gravity. At this time, the drive pump and the hydraulic motor of the reverse thrust are adjusted to make the reverse thrust rotate at a certain speed, pushing the air to flow in the direction of the vehicle's forward movement, so that the reverse thrust is balanced with gravity, so that the vehicle travels at a constant speed. When the vehicle is in the long downhill auxiliary braking mode, the engine determines its power output through the instructions issued by the controller based on the vehicle speed information and slope information collected by the controller.

[0090] like Figure 3 As shown, the thrust generated by the reverse thruster is generated by blowing air in the direction of the trackless rubber-tyred vehicle, so that the reverse thrust air flows in the direction of the trackless rubber-tyred vehicle, thereby generating a thrust in the opposite direction of the trackless rubber-tyred vehicle to limit the speed of the trackless rubber-tyred vehicle during the downhill process.

[0091] like Figure 4 As shown, in some embodiments, the auxiliary braking system further includes an exhaust gas recirculation device, and the exhaust gas recirculation device is electrically connected to the controller;

[0092] The exhaust gas recirculation device is used to adjust the exhaust gas recirculation amount of the explosion-proof diesel engine and the amount of fresh air entering the explosion-proof diesel engine under the control of the reverse thrust control signal, so as to adjust the exhaust gas emission of the rubber-tyred trackless vehicle when it is traveling downhill due to gravity traction.

[0093] By adjusting the amount of exhaust gas recirculation and the amount of fresh air entering the explosion-proof diesel engine under the control of the reverse thrust control signal, the rotation speed of the wheel is transmitted to the explosion-proof diesel engine under the action of gravity, so that the explosion-proof diesel engine has a high speed and low power or even no power output, ensuring that the exhaust gas meets environmental protection requirements or even has no exhaust gas emissions.

[0094] The exhaust gas recirculation system is also used to adjust the exhaust gas recirculation amount and the amount of fresh air entering the explosion-proof diesel engine under the control of the driving control signal to adjust the exhaust gas emission when the rubber-tyred trackless vehicle is driving on the non-downhill section. By adjusting the exhaust gas recirculation amount and the amount of fresh air entering the explosion-proof diesel engine under the control of the driving control signal, the driving requirements of the explosion-proof diesel engine on the non-downhill section are met, ensuring that the exhaust gas discharged meets environmental protection requirements.

[0095] When the rubber-tyred trackless vehicle is running at a normal and uniform speed, the controller controls the injector not to spray oil, the exhaust gas recirculation valve is fully opened, and the throttle is also opened to the minimum according to the gas demand; although the engine is rotating, the gas is only circulating through the pipeline of the exhaust gas recirculation system, and there is no combustion in the combustion chamber of the explosion-proof diesel engine, no fuel is consumed, and no exhaust gas is emitted. When the controller detects that the slope is decreasing and the vehicle speed is decreasing, it first adjusts the reverse thrust of the reverse thrust to reduce the reverse thrust until the vehicle speed returns to the set speed, and then adjusts the reverse thrust to balance the reverse thrust with gravity and resume uniform motion. When the slope is less than a certain value, adjust the engine injection amount and the opening of the exhaust gas recirculation valve and throttle, so that the explosion-proof diesel engine gradually starts power output. When the controller detects that the slope is increasing and the vehicle speed is increasing, it first adjusts the reverse thrust of the reverse thrust to increase the reverse thrust until the vehicle speed returns to the set speed, and then adjusts the reverse thrust to balance the reverse thrust with gravity and resume uniform motion. If the reverse thrust reaches its maximum but still cannot overcome the acceleration caused by gravity, you need to step on the brake pedal to balance the excess gravity. At the same time, according to the size of gravity, appropriately adjust the engine fuel injection amount, adjust the opening of the exhaust gas recirculation valve and the throttle to make the diesel engine output power and ensure that the brake 22 power meets the braking requirements.

[0096] In some other embodiments, a vehicle braking system is also provided, comprising at least one subsystem, at least one of which is an auxiliary braking system for the above-mentioned rubber-tyred trackless vehicle when traveling downhill. The auxiliary braking system for the rubber-tyred trackless vehicle when traveling downhill provided by the present invention is applied to trucks or other transport vehicles to ensure that the vehicle can be effectively braked during the downhill process and save energy.

[0097] In some other embodiments, there is also provided an auxiliary braking method for a rubber-tyred trackless vehicle when traveling downhill, which is applied to the auxiliary braking system of the rubber-tyred trackless vehicle when traveling downhill, and comprises the following steps:

[0098] The speed sensor is used to collect the running speed of the rubber-tyred trackless vehicle;

[0099] Using a speed sensor to collect the speed of an explosion-proof diesel engine installed on the rubber-tyred trackless vehicle;

[0100] Using a tire pressure sensor to collect the tire pressure of the rubber-tyred trackless vehicle;

[0101] Using a temperature sensor to collect the running environment temperature of the rubber-tyred trackless vehicle;

[0102] Using an inclinometer to collect the slope of the road section where the trackless rubber-tyred vehicle is traveling;

[0103] When the rubber-tyred trackless vehicle is on a downhill section, the controller is used to determine whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed of the explosion-proof diesel engine; if so, the vehicle mass of the rubber-tyred trackless vehicle is estimated according to the tire pressure and the driving environment temperature, and a reverse thrust control signal is generated according to the vehicle mass and the slope; if not, the reverse thrust control signal is not generated;

[0104] utilizing a reverse thrust motor to output a reverse thrust torque under the control of the reverse thrust control signal;

[0105] The reverse thrust device is driven by the reverse thrust torque to generate a reverse thrust force opposite to the traveling direction of the trackless rubber-tyred vehicle, so that the trackless rubber-tyred vehicle can travel at a constant speed on a downhill section at a preset speed.

[0106] The specific steps are as follows:

[0107] S1, vehicle power on;

[0108] S2, the controller detects the engine speed and vehicle speed, and determines that the speed is zero, the vehicle speed is zero, and the vehicle is stationary;

[0109] S3, the controller detects tire pressure and ambient temperature and determines the vehicle mass;

[0110] S4, the controller detects the inclinometer to determine the slope of the vehicle state;

[0111] S5: The engine is in normal mode, starts normally, and runs normally;

[0112] S6, when the vehicle has entered a downhill state and the engine output torque has decreased to a certain value, the driver determines that a long downhill section is about to be entered, and the driver switches to the long downhill auxiliary braking mode, the drive pump is hydraulically disconnected from the drive motor, and is hydraulically connected to the hydraulic motor of the thrust reverser, and the coupling controller is turned on, so that the travel system is physically connected with the pump shaft and the explosion-proof diesel engine shaft;

[0113] S7, the driver sets the long downhill cruising speed;

[0114] S8, the controller detects the engine speed and vehicle speed, and automatically adjusts the parameters of the drive pump and the reverse thrust hydraulic motor according to the vehicle mass and slope, so as to adjust the reverse thrust. When the vehicle speed is less than the long downhill cruising speed, the reverse thrust is made smaller than the influence of gravity, and the vehicle accelerates under the action of gravity. When the vehicle speed is greater than the long downhill cruising speed, the reverse thrust is made greater than the influence of gravity, and the vehicle decelerates under the action of the reverse thrust. The reverse thrust is continuously adjusted until the influence of the reverse thrust and the gravity are balanced, and the vehicle travels at a constant speed. If the maximum reverse thrust at a certain long downhill cruising speed cannot balance the influence of gravity, the vehicle will prompt the driver to step on the brake pedal for joint braking to balance the excess gravity. The controller will adjust the exhaust gas recirculation valve and the throttle opening, as well as the injection amount according to the preset program, so that the diesel engine outputs appropriate power to ensure that the brake 22 meets the braking demand: During the long downhill cruising process, if the long downhill cruising speed is to be changed, the driver only needs to reset the long downhill cruising speed, and then repeat step S8;

[0115] S9. During long downhill cruising, if a short deceleration is required, the brake pedal can be directly pressed to brake, and the brake 22 will decelerate the vehicle. At the same time, the controller will control the reverse thrust according to the vehicle speed until the reverse thrust is zero and the vehicle stops. After the vehicle stops, restart the vehicle and switch to normal mode to repeat steps S5 to S8;

[0116] S10: During long downhill cruising, if a short acceleration is required, the accelerator pedal can be directly pressed. The controller will directly control the drive pump and reverse thrust hydraulic motor parameters according to the control program in the long downhill auxiliary braking mode to reduce the reverse thrust and accelerate the vehicle.

[0117] S11. When the vehicle slope decreases to a certain value and the reverse thrust of the thrust reverser decreases to a certain value or close to zero, the controller will issue a command to adjust the exhaust gas recirculation valve and throttle opening, as well as the injection amount, so that the diesel engine outputs appropriate power, maintains the normal idling of the engine, and prompts the driver to switch to normal mode. After the driver switches to normal mode, the coupling controller is disconnected, the drive pump and the reverse thrust hydraulic motor are hydraulically disconnected, and the drive pump and the drive motor are hydraulically connected to drive the vehicle in normal mode; if the driver does not switch to normal mode, the vehicle will decrease in speed as the slope decreases until the vehicle stops and the engine runs at idle speed. The vehicle can only drive again after switching to normal mode. Among them, the controller is the ECU of the rubber-tyred trackless vehicle, i.e., the electronic control system.

[0118] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill, characterized in that: include: Vehicle speed sensor, used to collect the running speed of the rubber-tyred trackless vehicle; A rotation speed sensor, used to collect the rotation speed of the explosion-proof diesel engine installed on the rubber-tyred trackless vehicle; A tire pressure sensor, used to collect the tire pressure of the rubber-tyred trackless vehicle; A temperature sensor, used to collect the running environment temperature of the rubber-tyred trackless vehicle; An inclinometer, used to collect the slope of the road section where the rubber-tyred trackless vehicle is traveling; a controller, connected to the vehicle speed sensor, the rotation speed sensor, the tire pressure sensor, the temperature sensor and the angle meter, for judging whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed when the rubber-tyred trackless vehicle is in a downhill section, and estimating the vehicle mass of the rubber-tyred trackless vehicle according to the tire pressure and the driving environment temperature when the rubber-tyred trackless vehicle is in a driving state, and generating a reverse thrust control signal according to the vehicle mass and the slope; a reverse thrust motor connected to the controller and configured to output a reverse thrust torque under the control of the reverse thrust control signal; A reverse thruster is connected to the reverse thrust motor and is used to generate a reverse thrust force opposite to the driving direction of the rubber-tyred trackless vehicle under the driving of the reverse thrust torque, so that the rubber-tyred trackless vehicle can travel on a downhill section at a preset speed.

2. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 1, characterized in that: Also includes a brake, the brake is connected to the controller; The controller is also used to collect the position information of the brake pedal of the trackless rubber-tyred vehicle when the reverse thrust generated by the reverse thruster cannot enable the trackless rubber-tyred vehicle to travel on a downhill section at a preset speed, and generate forced braking information according to the position information of the brake pedal; The brake is used to implement forced braking on the rubber-tyred trackless vehicle according to the forced braking information, so as to cooperate with the reverse thruster to enable the rubber-tyred trackless vehicle to travel on the downhill section at the preset speed.

3. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 1, characterized in that: The controller is used to determine whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed, specifically: The controller is used to determine whether the travel speed and the rotation speed are zero, and if the travel speed and the rotation speed are both zero, it is determined that the rubber-tyred trackless vehicle is in a parked state; If the travel speed and / or the rotation speed is not zero, it is determined that the rubber-tyred trackless vehicle is in a traveling state.

4. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 1, characterized in that: The controller stores a tire pressure-mass mapping table and a temperature compensation coefficient table; wherein the tire pressure-mass mapping table includes a plurality of different tire pressures and vehicle masses corresponding to the plurality of different tire pressures; the temperature compensation coefficient table includes a plurality of different driving environment temperatures and mass compensation coefficients corresponding to the plurality of different driving environment temperatures; The controller is used to estimate the vehicle mass of the rubber-tyred trackless vehicle according to the tire pressure and the driving environment temperature, and to generate a reverse thrust control signal according to the vehicle mass and the slope, specifically: The controller is used to query the corresponding vehicle mass from the tire pressure-mass mapping table according to the tire pressure; query the corresponding mass compensation coefficient from the temperature compensation coefficient table according to the driving environment temperature; calculate the corrected vehicle mass of the rubber-tyred trackless vehicle according to the vehicle mass obtained by querying the tire pressure-mass mapping table and the mass compensation coefficient obtained by querying the temperature compensation coefficient table; and generate the reverse thrust control signal according to the corrected vehicle mass and the slope.

5. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 1, characterized in that: The reverse thrust motor is a hydraulic motor, and the auxiliary braking system also includes a driving pump and a reversing valve; the driving pump sucks oil from the hydraulic oil tank under the drive of the explosion-proof diesel engine to form pressure oil discharge; the reversing valve is connected to the driving pump and the reverse thrust motor respectively through hydraulic pipelines, and the reversing valve is controlled by the controller; the reversing valve is used to switch the fluid channel under the control of the reverse thrust control signal to connect the driving pump with the reverse thrust motor; after the driving pump is connected with the reverse thrust motor, the pressure oil discharged by the driving pump is used to drive the reverse thrust motor to rotate so that the reverse thrust motor outputs the reverse thrust torque.

6. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 5, characterized in that: The controller is also used to output a travel control signal when the rubber-tyred trackless vehicle is traveling on a non-downhill section; the auxiliary braking system also includes a coupling controller, a drive motor and a gearbox; the gearbox is connected to the wheels of the rubber-tyred trackless vehicle, the coupling controller is connected to the explosion-proof diesel engine and the drive motor, the drive motor is connected to the gearbox, and the coupling controller is also connected to the controller; The coupling controller is used to transmit the output torque of the drive motor to the explosion-proof diesel engine under the control of the reverse thrust control signal to drive the explosion-proof diesel engine to rotate, thereby using the explosion-proof diesel engine to drive the drive pump; wherein, the output torque of the drive motor is obtained by the torque of the wheel driving the drive motor to rotate through the gearbox when the rubber-tyred trackless vehicle is traveling downhill due to gravity traction, and the coupling controller is a one-way coupling; The coupling controller is also used to cut off the connection between the drive motor and the explosion-proof diesel engine under the control of the driving control signal, so as to cut off the torque transmission between the drive motor and the explosion-proof diesel engine; The reversing valve is also used to switch its own fluid channel under the control of the driving control signal to connect the driving pump with the driving motor so as to utilize the pressure oil discharged by the driving pump to drive the driving motor to rotate, and then drive the wheels to rotate through the driving motor and the gearbox.

7. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 6, characterized in that: It also includes an electromagnetic switch valve, an accumulator, a charging valve and a brake pump, wherein the electromagnetic switch valve is electrically connected to the controller, and the electromagnetic switch valve is respectively connected to the reversing valve and the accumulator through hydraulic pipes; the brake pump is connected to the explosion-proof diesel engine, the brake pump is connected to the charging valve through a hydraulic pipe, and the charging valve is connected to the accumulator through a hydraulic pipe; the brake pump is used to discharge the charging pressure oil under the drive of the explosion-proof diesel engine; the accumulator is used to store the charging pressure oil; The charging valve is used to open the charging channel when the pressure of the charging pressure oil in the accumulator is less than a preset threshold value, so that the charging pressure oil discharged by the brake pump enters the accumulator through the charging channel; When the pressure of the filling pressure oil in the accumulator is greater than or equal to the preset threshold, the opening filling passage is closed to allow the filling pressure oil discharged by the brake pump to flow back to the hydraulic oil tank; The electromagnetic switch valve is used to switch its own fluid channel under the control of the reverse thrust control signal so that the accumulator is connected to the reversing valve. After the accumulator is connected to the reversing valve, the filling pressure oil in the accumulator is used to control the reversing valve to switch its own fluid channel, so as to connect the driving pump with the reverse thrust motor, and then use the pressure oil discharged from the driving pump to drive the reverse thrust motor to rotate; The electromagnetic switch valve is also used to switch its own fluid channel under the control of the driving control signal to disconnect the accumulator from the reversing valve; after the accumulator is disconnected from the reversing valve, the filling pressure oil in the accumulator is stopped from flowing to the reversing valve, so that the reversing valve switches its own fluid channel, thereby connecting the drive pump to the drive motor, and then using the pressure oil discharged from the drive pump to drive the drive motor to rotate.

8. The auxiliary braking system for a rubber-tyred trackless vehicle when traveling downhill according to claim 7, characterized in that: Also included is an exhaust gas recirculation device, the exhaust gas recirculation device being electrically connected to the controller; The exhaust gas recirculation device is used to adjust the exhaust gas recirculation amount of the explosion-proof diesel engine and the amount of fresh air entering the explosion-proof diesel engine under the control of the reverse thrust control signal, so as to adjust the exhaust gas emission amount when the rubber-tyred trackless vehicle is traveling downhill due to gravity traction: The exhaust gas recirculation system is also used to adjust the exhaust gas recirculation amount and the amount of fresh air entering the explosion-proof diesel engine under the control of the driving control signal, so as to adjust the exhaust gas emission of the rubber-tyred trackless vehicle when traveling on the non-downhill section.

9. A vehicle braking system, characterized in that: The invention comprises at least one subsystem, at least one of the subsystems being an auxiliary braking system for the rubber-tyred trackless vehicle when traveling downhill as claimed in any one of claims 1 to 8.

10. An auxiliary braking method for a rubber-tyred trackless vehicle when traveling downhill, characterized in that: The auxiliary braking system applied to the rubber-tyred trackless vehicle when traveling downhill as claimed in any one of claims 1 to 8 comprises the following steps: The speed sensor is used to collect the running speed of the rubber-tyred trackless vehicle; Using a speed sensor to collect the speed of an explosion-proof diesel engine installed on the rubber-tyred trackless vehicle; Using a tire pressure sensor to collect the tire pressure of the rubber-tyred trackless vehicle; Using a temperature sensor to collect the running environment temperature of the rubber-tyred trackless vehicle; Using an inclinometer to collect the slope of the road section where the trackless rubber-tyred vehicle is traveling; When the rubber-tyred trackless vehicle is on a downhill section, the controller is used to determine whether the rubber-tyred trackless vehicle is in a driving state according to the driving speed and the rotation speed, and when the rubber-tyred trackless vehicle is in a driving state, the vehicle mass of the rubber-tyred trackless vehicle is estimated according to the tire pressure and the driving environment temperature, and a reverse thrust control signal is generated according to the vehicle mass and the slope; utilizing a reverse thrust motor to output a reverse thrust torque under the control of the reverse thrust control signal; The reverse thrust device is driven by the reverse thrust torque to generate a reverse thrust force opposite to the traveling direction of the rubber-tyred trackless vehicle, so that the rubber-tyred trackless vehicle can travel on a downhill section at a preset speed.

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