Self-floating system, method and device equipped with air suspension

Abstract

The invention provides a self-floating system, method and device equipped with an air suspension. Comprising a sensing module for acquiring the fording depth and outputting an alarm signal based on the fording depth; the execution module is used for controlling and starting a self-floating function based on the alarm signal, so that the emergency air bag module is inflated through an air storage tank of the air suspension system; the monitoring module detects the pressure value of each emergency air bag in the emergency air bag module and the inclination state of the vehicle, and outputs the pressure value of each emergency air bag and the inclination state of the vehicle to the control module; the control module outputs a first air bag control signal based on the pressure value of each emergency air bag and outputs a second air bag control signal based on the inclination state of the vehicle; and the emergency airbag module controls the balance of the vehicle based on the first airbag control signal and the second airbag control signal. Based on a chassis framework of a pure electric vehicle and an equipped air suspension system, the vehicle can inflate an emergency air bag according to real-time signals fed back by all sensors, and self-floating is achieved.

Description

Technical Field

[0001] The present application relates to the field of automobile safety technology, and in particular to a self-floating system, method and device equipped with an air suspension. Background Art

[0002] With the rapid development of domestic new energy vehicles, the number of pure electric vehicles equipped with air suspension systems is increasing day by day. Since pure electric vehicles do not need to install traditional components such as engines and gearboxes, there is more room for operation in chassis layout. For this reason, some pure electric vehicles are equipped with emergency safety protection facilities such as buoyancy airbags, but some cars are equipped with gas generators specifically for inflating airbags, and some cars are equipped with separate air pumps for inflating airbags. Although the airbags can be inflated more quickly to make the car float to a certain extent, the additional gas generators or separate air pumps greatly reduce the utilization rate of the car chassis and increase the complexity of the car chassis layout.

[0003] Therefore, how to provide an emergency airbag system that can both increase the safety of the automobile and improve the utilization rate of the automobile chassis has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a method for solving the problem that the utilization rate of the automobile chassis is reduced and the complexity of the automobile chassis layout is increased due to the addition of emergency airbags.

[0005] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a self-floating system equipped with an air suspension. The system includes: a sensing module, an execution module, a monitoring module, a control module and an emergency airbag module; the sensing module is configured to obtain the wading depth and output an alarm signal based on the wading depth; the execution module is configured to control the activation of the self-floating function based on the alarm signal so that the emergency airbag module is inflated through the air tank of the air suspension system; the monitoring module is configured to detect the pressure value of each emergency airbag in the emergency airbag module and the tilt state of the vehicle, and output the pressure value of each emergency airbag and the tilt state of the vehicle to the control module; the control module is configured to output a first airbag control signal based on the pressure value of each emergency airbag and a second airbag control signal based on the tilt state of the vehicle; the emergency airbag module is configured to control the balance of the vehicle based on the first airbag control signal and the second airbag control signal.

[0006] In some embodiments of the first aspect of the present application, the emergency airbag module includes: emergency airbags arranged around the vehicle chassis, any of the emergency airbags being connected to an emergency airbag chamber switch valve and an emergency airbag solenoid valve; the emergency airbag chamber switch valve and the emergency airbag solenoid valve being connected to the control module and being configured to start and / or shut down based on the first airbag control signal and / or the second airbag control signal.

[0007] In some embodiments of the first aspect of the present application, the sensing module includes: a water level alarm sensor arranged under the vehicle chassis; the water level alarm sensor is configured to obtain the wading depth and compare the wading depth with a preset wading water level threshold, and output an alarm signal when the wading depth is greater than the preset wading water level threshold and lasts for 3 seconds.

[0008] In some embodiments of the first aspect of the present application, the monitoring module includes a two-dimensional inclination sensor and a pressure sensor; the pressure sensors are respectively arranged inside each of the emergency airbags, and are configured to obtain the pressure value of each of the emergency airbags corresponding to each of the pressure sensors, and send the pressure value of each of the emergency airbags to the control module; the two-dimensional inclination sensor is arranged at the center of mass position of the vehicle chassis, and is configured to obtain the inclination state of the vehicle, and send the inclination state of the vehicle to the control module.

[0009] In some embodiments of the first aspect of the present application, the control module outputs a first airbag control signal based on the working status of each of the emergency airbags, including: judging the activation status of each of the emergency airbags based on the pressure value of each of the emergency airbags; when all the emergency airbags arranged around the vehicle chassis are in an open state, outputting a solenoid valve control signal to activate each of the emergency airbags; when the emergency airbags arranged around the vehicle chassis are in an open state in two non-adjacent directions, outputting an emergency airbag solenoid valve control signal to activate the emergency airbags in the two non-adjacent directions of the open state and an inflation setting value signal for the emergency airbags in the two non-adjacent directions; the solenoid valve control signal to activate each of the emergency airbags, the emergency airbag solenoid valve control signal to activate the emergency airbags in the two non-adjacent directions of the open state and the inflation setting value signal for the emergency airbags in the two non-adjacent directions are all the first airbag control signal.

[0010] In some embodiments of the first aspect of the present application, the tilt state of the vehicle includes: the tilt angle of the vehicle in the tilt direction of the vehicle and the duration that the vehicle exceeds a preset tilt angle threshold; the control module outputs a second airbag control signal based on the tilt state of the vehicle, including: when each of the emergency airbags is in an open state, if the tilt angle of the vehicle is less than the preset tilt angle threshold, output an inflation setting value signal for each emergency airbag; if the tilt angle of the vehicle in the x-axis tilt direction and the tilt angle of the y-axis tilt direction are both greater than the preset tilt angle threshold and last for 3s, output a signal to close the solenoid valves of each emergency airbag; if the tilt angle of the vehicle in the x-axis tilt direction is greater than the preset tilt angle threshold and lasts for 3s, output a signal to close the solenoid valves of each emergency airbag. The solenoid valve signals of each emergency airbag in the x-axis direction and the inflation setting value signals of each emergency airbag in the y-axis direction; and if the inclination angle of the vehicle in the y-axis inclination direction is greater than the preset inclination angle threshold and lasts for 3s, the solenoid valve signals of each emergency airbag in the y-axis direction and the inflation setting value signals of each emergency airbag in the x-axis direction are output to close; the inflation setting value signals of each emergency airbag, the signals for closing the solenoid valves of each emergency airbag, the signals for closing the solenoid valves of each emergency airbag in the x-axis direction and the inflation setting value signals of each emergency airbag in the y-axis direction, and the signals for closing the solenoid valves of each emergency airbag in the y-axis direction and the inflation setting value signals of each emergency airbag in the x-axis direction are all the second airbag control signals.

[0011] In some embodiments of the first aspect of the present application, the system further includes: a vehicle power supply; the vehicle power supply is configured to supply power to the self-floating system.

[0012] In some embodiments of the first aspect of the present application, the execution module includes: an air tank and an air pump, wherein the air tank and the air pump are connected to the sensing module and are configured to start the air tank and the air pump based on the alarm signal to supply air to the emergency airbag module.

[0013] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides a self-floating method equipped with an air suspension. The method includes: obtaining a wading depth and outputting an alarm signal based on the wading depth; controlling the activation of the self-floating function based on the alarm signal so that the emergency airbag module is inflated through the air tank of the air suspension system; detecting the working state of each emergency airbag in the emergency airbag module and the tilt state of the vehicle in real time, and outputting a first airbag control signal based on the working state of each emergency airbag and a second airbag control signal based on the tilt state of the vehicle; and controlling the balance of the vehicle based on the first airbag control signal and the second airbag control signal.

[0014] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application provides a self-floating device equipped with an air suspension, comprising a memory, a processor and a computer program stored on the memory, and the processor executes the computer program to implement the self-floating method equipped with air suspension described in the second aspect of the present application.

[0015] As described above, the self-floating system, method and device equipped with air suspension of the present application have the following beneficial effects:

[0016] First, the present application obtains the vehicle's wading depth by installing a water level alarm sensor at the lowest point of the vehicle chassis. When the water level alarm sounds, the vehicle's self-floating function is enabled. At this time, the emergency airbags installed around the chassis pop out to inflate the emergency airbags through the air tank connected to the air suspension.

[0017] Second, the present application detects the activation status of the emergency airbag and the tilt state of the vehicle in real time through a pressure sensor arranged inside the emergency airbag and a two-position inclination sensor arranged at the center of mass of the vehicle chassis, and controls the inflation and deflation of the emergency airbag and the inflation capacity based on the activation status of the emergency airbag and the tilt state of the vehicle to control the balance of the vehicle and further realize the floating of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a schematic structural diagram of a self-floating system equipped with an air suspension as described in an embodiment of the present application.

[0019] Figure 2 Shown is a schematic diagram of the installation of a self-floating system equipped with an air suspension on a vehicle chassis as described in an embodiment of the present application.

[0020] Figure 3 Shown is a schematic diagram of the air circuit of a self-floating system equipped with an air suspension according to an embodiment of the present application.

[0021] Figure 4 Shown is a schematic flow chart of a self-floating method equipped with an air suspension according to an embodiment of the present application.

[0022] Figure 5 Shown is a schematic flow chart of another self-floating method equipped with an air suspension according to an embodiment of the present application.

[0023] Figure 6 Shown is a schematic structural diagram of a self-floating device equipped with an air suspension as described in an embodiment of the present application.

[0024] Component number description

[0025] 100 Self-floating system with air suspension

[0026] 110 Induction Module

[0027] 1101 Water level alarm sensor

[0028] 120 Execution module

[0029] 1201 Air Pump

[0030] 1202,6 Gas Tank

[0031] 1203 Air Spring

[0032] 130 Monitoring module

[0033] 1301, 23, 25, 27, 29 pressure sensors

[0034] 1302 2D Inclination Sensor

[0035] 140 Control Module

[0036] 150 Emergency airbag module

[0037] 1501 Emergency Airbag

[0038] 160 Vehicle Power Supply

[0039] A Air suspension air circuit diagram

[0040] 1 Motor and air pump

[0041] 2,3 Check valve

[0042] 4 Exhaust valve

[0043] 5 Gas tank solenoid valve

[0044] 7 Pressure limiting valve

[0045] 8 Air supply filter accessories

[0046] 9 Intake and exhaust main solenoid valve of air suspension system

[0047] 10-13 Emergency airbag chamber switch valve

[0048] 19-22 Emergency airbag solenoid valve

[0049] Steps S41 to S44 DETAILED DESCRIPTION

[0050] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0051] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0052] The following will describe in detail the principles and implementation methods of a self-floating system, method and device equipped with an air suspension of this embodiment in conjunction with the accompanying drawings, so that those skilled in the art can understand the self-floating system, method and device equipped with an air suspension of this embodiment without creative work.

[0053] like Figure 1 As shown, this embodiment provides a self-floating system equipped with an air suspension, and the self-floating system equipped with an air suspension 100 includes: a sensing module 110, an execution module 120, a monitoring module 130, a control module 140, an emergency airbag module 150, and a vehicle power supply 160;

[0054] The sensing module 110 is configured to obtain a wading depth and output an alarm signal based on the wading depth;

[0055] The execution module 120 is configured to control the activation of the self-floating function based on the alarm signal, so that the emergency airbag module 150 is inflated through the air tank of the air suspension system;

[0056] The monitoring module 130 is configured to detect the pressure value of each emergency airbag in the emergency airbag module 150 and the tilt state of the vehicle, and output the pressure value of each emergency airbag and the tilt state of the vehicle to the control module;

[0057] The control module 140 is configured to output a first airbag control signal based on the pressure value of each emergency airbag and output a second airbag control signal based on the tilt state of the vehicle;

[0058] The emergency airbag module 150 is configured to control vehicle balance based on the first airbag control signal and the second airbag control signal;

[0059] The vehicle power supply 160 is configured to supply power to the self-floating system.

[0060] Specifically, the vehicle power supply 160 provides power supply services for the self-floating system 100 equipped with air suspension and the air suspension system. The sensing module 110 is connected to the execution module 120 to provide an alarm signal to the execution module 120, so that the execution module 120 starts the self-floating function based on the alarm signal, and controls the start of the air tank and the air pump connected to the air suspension system to inflate the emergency airbag module 150; the monitoring module 130 is connected to the emergency airbag module 150 and the control module 120 respectively, and the monitoring module 130 detects the pressure value in each emergency airbag of the emergency airbag module 150 and the tilt state of the vehicle after the self-floating function is started, and sends the pressure value in each emergency airbag and the tilt state of the vehicle to the control module 120, and the control module 120 controls the emergency airbag module 150 according to the alarm signal. The emergency airbag module 150 judges the activation status of each emergency airbag according to the pressure value in each emergency airbag, and outputs a first airbag control signal based on the activation status of each emergency airbag, and judges the tilt condition of the vehicle according to the tilt angle state of the vehicle, and outputs a second airbag control signal based on the tilt condition of the vehicle; the emergency airbag module 150 is also connected to the control module 120, the emergency airbag module 150 receives the first airbag control signal to control the activation of each emergency airbag, and receives the second airbag control signal to control the deactivation of each emergency airbag, and the emergency airbag module 150 inflates each emergency airbag based on the first airbag control signal and the second airbag control signal to keep the vehicle balanced and floating.

[0061] See also Figure 2 , which is a schematic diagram of the installation of the self-floating system equipped with air suspension on the vehicle chassis described in this embodiment.

[0062] like Figure 1 and Figure 2 As shown, the sensing module 110 includes a water level alarm sensor 1101, which is arranged at the bottom of the center of mass of the vehicle chassis. The water level alarm sensor 1101 detects the wading depth in real time and compares the wading depth with a preset wading water level threshold. When the wading depth is greater than the preset wading water level threshold and lasts for 3 seconds, the water level alarm sensor 110 outputs an alarm signal to send the alarm signal to the execution module 120 to start the self-floating function of the vehicle.

[0063] Preferably, the wading depth can also be visually observed by passengers inside the vehicle, and an alarm signal can be manually triggered based on the visual observation result to activate the self-floating function of the vehicle.

[0064] The execution module 120 includes an air pump 1201 and an air tank 1202, which are jointly arranged at one end of the vehicle chassis. The air pump 1201 and the air tank 1202 are connected to the sensing module 110. After receiving the alarm signal, the air tank solenoid valve of the air tank is opened to enable the air tank 1202 to supply air to the emergency airbag module 150 based on the air pump 1201.

[0065] The emergency airbag module 150 includes: an emergency airbag 1501, an emergency airbag chamber switch valve (not shown in the figure) and an emergency airbag solenoid valve (not shown in the figure). The emergency airbag 1501 is arranged around the bottom of the vehicle chassis, wherein each emergency airbag 1501 is correspondingly provided with an emergency airbag chamber switch valve and an emergency airbag solenoid valve.

[0066] The monitoring module 130 includes: a pressure sensor 1301 and a two-dimensional tilt sensor 1302; the pressure sensor 1301 is arranged inside the emergency airbag 1501, and each emergency airbag 1501 is provided with a pressure sensor 1301, and the two-dimensional tilt sensor 1302 is arranged at the center of mass of the vehicle chassis.

[0067] Specifically, the pressure sensor 1301 detects the pressure value in each emergency airbag 1501 and sends the detected pressure value in each emergency airbag 1501 to the control module 140, and the two-dimensional inclination sensor 1302 obtains the inclination state of the vehicle in real time and sends the inclination state of the vehicle to the control module 140.

[0068] The control module 140 includes a controller (not shown in the figure), which receives the pressure value in the emergency airbag 1501, determines whether each of the emergency airbags 1501 is activated, and outputs a first airbag control signal according to the activation status of each emergency airbag 1501 to control whether the emergency airbag solenoid valve corresponding to each emergency airbag 1501 is opened; the controller receives the inclination state of the vehicle, determines whether the vehicle may roll over according to the inclination state of the vehicle, and outputs a second airbag control signal based on the judgment result to control whether the emergency airbag solenoid valve corresponding to each of the emergency airbags 1501 in the open state is closed.

[0069] It should be understood that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0070] See also Figure 3 and Figure 4 , Figure 3 Shown is a schematic diagram of an air circuit of a self-floating system equipped with an air suspension according to this embodiment; Figure 4 Shown is a schematic flow chart of a self-floating method equipped with an air suspension according to this embodiment.

[0071] like Figure 3 As shown, area A in the figure is the original air suspension air circuit diagram of the vehicle equipped with the system, and the simplification in the figure is only for illustration; in the figure, 1 is a motor and an air pump, 6 is an air tank for storing high-pressure gas, and the system inflates the vehicle's emergency airbag through the air tank 6 and the motor and the air pump 1; 2 and 3 are one-way valves, one end of which is connected to the atmosphere, and the other end is connected to the internal pipeline of the air supply system. When the internal air pressure of the system is less than the atmospheric pressure, the valve is unidirectional and the outside atmosphere can enter the internal pipeline. When the one-way valve 2 needs to replenish the air tank 6 with air through the outside atmosphere, it is unidirectional, which can realize the replenishment of the air tank 6. When the one-way valve 3 needs the outside atmosphere to inflate the air spring, it is unidirectional, which can realize the replenishment of the air spring; 4 is an exhaust valve, one end of the exhaust valve 4 is internally connected to the internal air circuit of the system, and the other end is connected to the atmosphere, which can realize the function of exhausting the internal gas of the system to the outside atmosphere; 7 is a pressure limiting valve, One end of the pressure-limiting valve 7 is internally connected to the internal air circuit of the system, and the other end is connected to the atmosphere. When the internal air pressure of the system is greater than a certain threshold, the pressure-limiting valve 7 will be pushed to open for pressure relief, so that the internal air pressure of the system is within a safe range; 8 is an air supply filter accessory, which also has drying and noise reduction functions; 5 is a gas tank solenoid valve, one end of the gas tank solenoid valve 5 is connected to the gas tank 6, and the other end is connected to the internal pipeline of the system. When the gas in the gas tank 6 needs to be filled or discharged, the gas tank solenoid valve 5 is opened. In this embodiment, the switch of the gas tank solenoid valve 5 is controlled by the alarm signal output by the sensing device; 9 is the main intake and exhaust solenoid valve of the air suspension system, 10, 11, 12, and 13 are emergency airbag chamber switch valves, 19, 20, 21, and 22 are each emergency airbag solenoid valve, and 23, 25, 27, and 29 are pressure sensors installed inside each emergency airbag for real-time monitoring of the pressure value in the emergency airbag.

[0072] like Figure 4As shown, the self-floating method equipped with air suspension includes the following steps S41 to S44.

[0073] Step S41, obtaining the wading depth, and outputting an alarm signal based on the wading depth.

[0074] Specifically, the wading depth is detected and obtained by a water level alarm sensor arranged at the lowest position below the vehicle chassis, and the obtained wading depth is compared with a preset wading water level threshold. When the wading depth is greater than the preset wading water level threshold and lasts for 3 seconds, an alarm signal is output.

[0075] Step S42: Based on the alarm signal, control the activation of the self-floating function so that the emergency airbag module is inflated through the air tank of the air suspension system.

[0076] Specifically, after receiving the alarm signal, the air tank and the air pump are controlled to start, so as to inflate the emergency airbag through the air tank and the air pump to start the self-floating function of the vehicle.

[0077] Step S43, detecting the working state of each emergency airbag in the emergency airbag module and the tilt state of the vehicle in real time, and outputting a first airbag control signal based on the working state of each emergency airbag and a second airbag control signal based on the tilt state of the vehicle.

[0078] Specifically, the pressure value of each emergency airbag is obtained by a pressure sensor disposed inside each emergency airbag, and whether each emergency airbag is activated is determined based on the pressure value of each emergency airbag, and a first airbag control signal is output based on the activation status of each emergency airbag.

[0079] Specifically, the two-dimensional inclination sensor arranged at the center of mass of the vehicle chassis is used to obtain the inclination state of the vehicle in real time, and based on the inclination state of the vehicle, it is determined whether the vehicle has a rollover risk, and a second airbag control signal is output based on the determination result.

[0080] See also Figure 5 , which is a schematic flow chart of another self-floating method equipped with air suspension described in an embodiment of the present application.

[0081] In some implementations, such as Figure 5As shown, the first airbag control signal is output based on the working state of each of the emergency airbags, including: judging the activation state of each of the emergency airbags based on the pressure value of each of the emergency airbags; when the emergency airbags arranged around the vehicle chassis are all in the open state, outputting the solenoid valve control signal for activating each of the emergency airbags; when the emergency airbags arranged around the vehicle chassis have two non-adjacent directions in the open state, outputting the emergency airbag solenoid valve control signal for activating the emergency airbags in the two non-adjacent directions of the open state and the inflation setting value signal for the emergency airbags in the two non-adjacent directions; the solenoid valve control signal for activating each of the emergency airbags, the emergency airbag solenoid valve control signal for activating the emergency airbags in the two non-adjacent directions of the open state and the inflation setting value signal for the emergency airbags in the two non-adjacent directions are all the first airbag control signal.

[0082] Exemplarily, the activation state of each of the emergency airbags is determined based on the pressure value of each of the emergency airbags:

[0083] When the emergency airbags located at the front, rear, left and right sides of the vehicle are all in the open state, the output first airbag control signal is: a control signal for starting each emergency airbag solenoid valve and an inflation setting value signal;

[0084] When only the emergency airbags located at the front and rear ends of the vehicle are in the open state, the first airbag control signal output is: the emergency airbag solenoid valve control signal and the inflation setting value signal corresponding to the emergency airbags located at the front and rear ends of the vehicle are activated; or when only the emergency airbags located at the left and right sides of the vehicle are in the open state, the first airbag control signal output is: the emergency airbag solenoid valve control signal and the inflation setting value signal corresponding to the emergency airbags located at the left and right sides of the vehicle are activated;

[0085] When three of the emergency airbags located around the vehicle are in the open state, the output first airbag control signal is: starting the emergency airbag solenoid valve control signal and the inflation setting value signal corresponding to the emergency airbags on both sides of which are in the open state;

[0086] When two adjacent emergency airbags or any three or more emergency airbags are not opened, the self-floating function fails to start.

[0087] In this embodiment, when the emergency airbags located around the vehicle are all in the open state, the inflation setting value signal is: the emergency airbags are inflated according to the standard pressure of the emergency airbags; when only one pair of the emergency airbags located around the vehicle are in the open state, the inflation setting value signal is: the emergency airbags are inflated according to 1.5 of the standard pressure of the emergency airbags.

[0088] In some implementations, such as Figure 5As shown, the tilt state of the vehicle includes: the tilt angle of the vehicle in the tilt direction of the vehicle and the duration of the vehicle exceeding a preset tilt angle threshold; outputting a second airbag control signal based on the tilt state of the vehicle, including: when all the emergency airbags are in an open state, if the tilt angle of the vehicle is less than the preset tilt angle threshold, outputting an inflation setting value signal of each emergency airbag; if the tilt angle of the vehicle in the x-axis tilt direction and the tilt angle of the y-axis tilt direction are both greater than the preset tilt angle threshold and last for 3s, outputting a signal to close the solenoid valves of each emergency airbag; if the tilt angle of the vehicle in the x-axis tilt direction is greater than the preset tilt angle threshold and lasts for 3s, outputting a signal to close the solenoid valves of each emergency airbag in the x-axis direction The airbag solenoid valve signal and the inflation setting value signal of each emergency airbag in the y-axis direction; and if the inclination angle of the vehicle in the y-axis inclination direction is greater than the preset inclination angle threshold and lasts for 3s, the signal for closing the emergency airbag solenoid valves in the y-axis direction and the inflation setting value signal of each emergency airbag in the x-axis direction are output; the inflation setting value signal of each emergency airbag, the signal for closing the emergency airbag solenoid valves, the signal for closing the emergency airbag solenoid valves in the x-axis direction and the inflation setting value signal of each emergency airbag in the y-axis direction, and the signal for closing the emergency airbag solenoid valves in the y-axis direction and the inflation setting value signal of each emergency airbag in the x-axis direction are all the second airbag control signals.

[0089] Step S44: Control vehicle balance based on the first airbag control signal and the second airbag control signal respectively.

[0090] Specifically, the emergency airbag solenoid valves corresponding to the emergency airbags are activated according to the received first airbag control signal, and the emergency airbag solenoid valves corresponding to the emergency airbags are closed according to the received second airbag control signal.

[0091] In the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with basically the same functions and effects. For example, the first airbag control signal and the second airbag control signal are only used to distinguish different airbag control signals, and do not limit their order. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0092] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" represent examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0093] Figure 6 is a schematic block diagram of a self-floating device equipped with an air suspension provided in an embodiment of the present application. Figure 6 As shown, the device includes: at least one processor 601, a memory 602, at least one network interface 603 and a user interface 605. The various components in the device are coupled together through a bus system 604. It can be understood that the bus system 604 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 604 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Figure 6 In the specification, various buses are labeled as bus systems.

[0094] The user interface 605 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0095] It is understood that the memory 602 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM) or a programmable read-only memory (PROM), which is used as an external cache.

[0096] The memory 602 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic terminal 600. Examples of such data include: any executable program used to operate on the electronic terminal 600, such as an operating system 6021 and an application 6022; the operating system 6021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks.

[0097] The method disclosed in the above embodiment of the present invention can be applied to the processor 601, or implemented by the processor 601. The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 601 or an instruction in the form of software.

[0098] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0099] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0100] In summary, the present application provides a self-floating system, method and device equipped with an air suspension. The present invention provides a self-floating system, method and device equipped with an air suspension. First, the wading depth of the vehicle is obtained by a water level alarm sensor installed at the lowest point of the vehicle chassis. When the water level alarm sounds, the self-floating function of the vehicle is enabled. At this time, the emergency airbags installed around the chassis pop out to inflate the emergency airbags through the air tank connected to the air suspension; second, the activation state of the emergency airbag and the tilt state of the vehicle are detected in real time by a pressure sensor arranged inside the emergency airbag and a two-position inclination sensor arranged at the center of mass of the vehicle chassis. Based on the activation state of the emergency airbag and the tilt state of the vehicle, the inflation and deflation of the emergency airbag and the inflation capacity are controlled to control the balance of the vehicle and further realize the floating of the vehicle. Therefore, the present application effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0101] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A self-floating system equipped with an air suspension, characterized in that: The system includes: a sensing module, an execution module, a monitoring module, a control module and an emergency airbag module; The sensing module is configured to obtain a wading depth and output an alarm signal based on the wading depth; The execution module is configured to control the activation of the self-floating function based on the alarm signal, so that the emergency airbag module is inflated through the air tank of the air suspension system; The monitoring module is configured to detect the pressure value of each emergency airbag in the emergency airbag module and the tilt state of the vehicle, and output the pressure value of each emergency airbag and the tilt state of the vehicle to the control module; The control module is configured to output a first airbag control signal based on the pressure value of each emergency airbag and output a second airbag control signal based on the tilt state of the vehicle; The emergency airbag module is configured to control vehicle balance based on the first airbag control signal and the second airbag control signal.

2. The self-floating system equipped with air suspension according to claim 1, characterized in that: The emergency airbag module comprises: emergency airbags arranged around the vehicle chassis, any of the emergency airbags being connected to an emergency airbag chamber switch valve and an emergency airbag solenoid valve; The emergency airbag chamber switch valve and the emergency airbag solenoid valve are connected to the control module and are configured to be started and / or closed based on the first airbag control signal and / or the second airbag control signal.

3. The self-floating system equipped with air suspension according to claim 1, characterized in that: The sensing module includes: a water level alarm sensor disposed below the vehicle chassis; The water level alarm sensor is configured to obtain the wading depth and compare the wading depth with a preset wading water level threshold, and output an alarm signal when the wading depth is greater than the preset wading water level threshold and lasts for 3 seconds.

4. The self-floating system equipped with air suspension according to claim 2, characterized in that: The monitoring module includes a two-dimensional tilt sensor and a pressure sensor; The pressure sensors are respectively arranged inside the emergency airbags, and are configured to obtain the pressure values ​​of the emergency airbags corresponding to the pressure sensors, and send the pressure values ​​of the emergency airbags to the control module; The two-dimensional inclination sensor is arranged at the center of mass of the vehicle chassis, and is configured to obtain the inclination state of the vehicle and send the inclination state of the vehicle to the control module.

5. The self-floating system equipped with air suspension according to claim 4, characterized in that: The control module outputs a first airbag control signal based on the working state of each of the emergency airbags, including: Determining the activation state of each of the emergency airbags based on the pressure value of each of the emergency airbags; When all the emergency airbags arranged around the vehicle chassis are in the open state, the control signal of the electromagnetic valves of each emergency airbag is output; When the emergency airbags arranged around the vehicle chassis are in two non-adjacent directions in the open state, output emergency airbag solenoid valve control signals for activating the emergency airbags in the two non-adjacent directions in the open state and inflation setting value signals for the emergency airbags in the two non-adjacent directions; The control signal for starting each emergency airbag solenoid valve, the control signal for starting the emergency airbag solenoid valves in two non-adjacent directions of the emergency airbags in the open state, and the inflation setting value signal of the emergency airbags in two non-adjacent directions are all the first airbag control signal.

6. The self-floating system equipped with air suspension according to claim 4, characterized in that: The tilt state of the vehicle includes: the tilt direction of the vehicle, the tilt angle of the vehicle, and the duration of the vehicle exceeding a preset tilt angle threshold; the control module outputs a second airbag control signal based on the tilt state of the vehicle, including: When all the emergency airbags are in an open state, if the inclination angle of the vehicle is less than the preset inclination angle threshold, outputting an inflation setting value signal of each emergency airbag; If the inclination angle of the vehicle in the x-axis inclination direction and the inclination angle of the vehicle in the y-axis inclination direction are both greater than the preset inclination angle threshold and meet the threshold and last for 3 seconds, output a signal to close the solenoid valves of each emergency airbag; If the inclination angle of the vehicle in the x-axis inclination direction is greater than the preset inclination angle threshold and lasts for 3 seconds, a signal for closing the emergency airbag solenoid valves in the x-axis direction and a signal for setting the inflation value of each emergency airbag in the y-axis direction are output; and if the inclination angle of the vehicle in the y-axis inclination direction is greater than the preset inclination angle threshold and lasts for 3 seconds, a signal for closing the emergency airbag solenoid valves in the y-axis direction and a signal for setting the inflation value of each emergency airbag in the x-axis direction are output; The inflation setting value signal of each emergency airbag, the signal for closing the solenoid valves of each emergency airbag, the signal for closing the solenoid valves of each emergency airbag in the x-axis direction and the inflation setting value signal of each emergency airbag in the y-axis direction, and the signal for closing the solenoid valves of each emergency airbag in the y-axis direction and the inflation setting value signal of each emergency airbag in the x-axis direction are all the second airbag control signals.

7. The self-floating system equipped with air suspension according to claim 1, characterized in that: The system also includes: a vehicle power supply; The vehicle power supply is configured to supply power to the self-floating system.

8. The self-floating system equipped with air suspension according to claim 1, characterized in that: The execution module includes: an air tank and an air pump, which are connected to the sensing module and are configured to start the air tank and the air pump based on the alarm signal to supply air to the emergency airbag module.

9. A self-floating method equipped with an air suspension, characterized in that: The method comprises: Acquiring a wading depth, and outputting an alarm signal based on the wading depth; Based on the alarm signal, control the activation of the self-floating function so that the emergency airbag module is inflated through the air tank of the air suspension system; Real-time detection of the working state of each emergency airbag in the emergency airbag module and the tilt state of the vehicle, and outputting a first airbag control signal based on the working state of each emergency airbag and a second airbag control signal based on the tilt state of the vehicle; The vehicle balance is controlled based on the first airbag control signal and the second airbag control signal, respectively.

10. A self-floating device equipped with an air suspension, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the self-floating method equipped with an air suspension as claimed in claim 9.

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