Air cushion suspension system, inflation and deflation control method and air cushion carrier

Abstract

The invention discloses an air cushion suspension system, an inflation and deflation control method and an air cushion carrier, and relates to the field of carrier design, the air cushion suspension system comprises an inflation and deflation device, a plurality of outer side air cushions and at least one central air cushion, the outer side air cushions surround the outer side of the central air cushion, an air inlet of a target air cushion is communicated with an airflow control valve of the inflation and deflation device, and an air outlet of the target air cushion is communicated with an airflow control valve of the inflation and deflation device; the air flow control valves communicated with the target air cushions are different, the target air cushions are outer side air cushions or central air cushions, and the inflating and deflating device is used for adjusting the air flow control valves and respectively controlling the internal air pressure of the outer side air cushions and the central air cushions. According to the air cushion carrier, the air flow control valves are adjusted on the basis of the air inflation devices, the air pressure in the outer side air cushions and the air pressure in the central air cushion are controlled respectively, the driving stability of the air cushion carrier is improved, and the outer side air cushions surround the outer side of the central air cushion, so that when the air cushion is damaged, the air cushion cannot be damaged. The internal pressure of the undamaged outer side air cushion or the undamaged central air cushion is adjusted through the inflating and deflating device, so that the driving stability of the air cushion carrier is maintained.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle design, and in particular to an air cushion suspension system, an inflation and deflation control method, and an air cushion vehicle. Background Art

[0002] Air cushion vehicles such as hovercraft utilize the principle of surface effect. High-pressure air is introduced into the air cushion at the bottom of the vehicle to make the vehicle separate from the supporting surface, and the propulsion device installed at the rear of the vehicle is used to achieve movement.

[0003] However, the existing air cushion vehicles still have the problem of poor driving stability when running in the process of driving on complex terrain. Specifically: the existing air cushion vehicles are only equipped with one air cushion, and the inflation system will supply high-pressure air to the air cushion through multiple air inlets so that the air pressure at various locations of the air cushion is consistent when it is inflated. When there is an obstacle on one side of the driving path, and the air cushion vehicle cannot completely avoid the obstacle and needs to drive over it, the presence of the obstacle will cause the air pressure at the obstacle covered by the air cushion to be greater than the air pressure at the obstacle not covered by the air cushion, causing one side of the air cushion vehicle to be higher than the other side, thereby affecting the driving stability of the air cushion vehicle. In addition, when driving on complex terrain, the air cushion is very likely to scratch against obstacles, causing damage to the side walls of the air cushion. When there are many damaged locations on the air cushion, it will cause local air pressure imbalance in the air cushion, which also reduces the driving stability of the air cushion vehicle. Therefore, how to improve the driving stability of the air cushion vehicle has become a problem that needs to be solved urgently. Summary of the invention

[0004] In view of the above problems, the present application provides an air cushion suspension system, an inflation and deflation control method and an air cushion vehicle, so as to achieve the purpose of improving the driving stability of the air cushion vehicle. The specific scheme is as follows:

[0005] The first aspect of the present application provides an air cushion suspension system, comprising:

[0006] An inflation and deflation device, a plurality of outer air cushions and at least one central air cushion, wherein the outer air cushions surround the outer side of the central air cushion, an air inlet of a target air cushion is connected to an air flow control valve of the inflation and deflation device, and each target air cushion is connected to a different air flow control valve, and the target air cushion is one of the outer air cushions or one of the central air cushions;

[0007] The inflation and deflation device is used to adjust the airflow control valve to respectively control the internal air pressure of each of the outer air cushions and the central air cushion.

[0008] In a possible implementation, the inflation and deflation device includes:

[0009] A control console, an air compressor, an air supply pipeline and a plurality of air flow control valves,

[0010] The first signal output terminal of the console is electrically connected to the control terminal of the air compressor, and each second signal output terminal of the console is electrically connected to each airflow control valve respectively;

[0011] The air outlet of the air compressor is communicated with the air inlet of the air supply pipeline, and the multiple air outlets of the air supply pipeline are respectively communicated with the air flow control valves.

[0012] In a possible implementation, the distance between the bottom surface of the outer air cushion and the support surface is smaller than the distance between the central air cushion and the support surface.

[0013] In a possible implementation, the air pressure signal input end of the console is electrically connected to the signal output end of the built-in air pressure sensor of each of the outer air cushions, and the air pressure signal input end of the console is electrically connected to the signal output end of the built-in air pressure sensor of at least one of the central air cushions.

[0014] A second aspect of the present application provides an inflation and deflation control method, which is applied to the air cushion suspension system provided in the first aspect of the present application and any possible implementation of the first aspect, and the inflation and deflation control method includes:

[0015] The inflation and deflation device obtains the air pressure value of the target air cushion at the current detection time, and the target air cushion is the outer air cushion or the central air cushion;

[0016] The inflation and deflation device compares the air pressure value with a preset air pressure value of the target air cushion, and outputs a pressure adjustment signal based on the comparison result;

[0017] The inflation and deflation device calculates an air pressure adjustment amount based on the preset air pressure value of the target air cushion, the air pressure value and a preset air pressure adjustment rate, and controls the internal air pressure of the target air cushion based on the air pressure adjustment amount, the preset air pressure adjustment rate and the air pressure adjustment method corresponding to the pressure adjustment signal.

[0018] In a possible implementation, the inflation and deflation device compares the air pressure value with a preset air pressure value of the target air cushion, and outputs a pressure adjustment signal based on the comparison result, including:

[0019] Determine whether the air pressure value is greater than the preset air pressure value, and if so, output the pressure adjustment signal for deflation adjustment;

[0020] When the air pressure value is equal to the preset air pressure value, the output content is the pressure adjustment signal which does not need to be adjusted;

[0021] When the air pressure value is less than the preset air pressure value, the output content is the pressure adjustment signal for inflation adjustment.

[0022] In a possible implementation, before the inflation and deflation device compares the air pressure value with a preset air pressure value of the target air cushion, the inflation and deflation control method further includes:

[0023] The inflation and deflation device determines whether the air pressure value is less than a preset air pressure threshold value. If so, the output content is an alarm signal that the target air cushion is damaged. If not, the inflation and deflation device executes the operation steps of comparing the air pressure value with the preset air pressure value of the target air cushion.

[0024] In a possible implementation, when the content of the pressure regulation signal is the deflation regulation, the inflation and deflation device calculates the pressure regulation amount based on the preset pressure value of the target air cushion, the pressure value, and the preset pressure regulation rate, and controls the internal air pressure of the target air cushion based on the pressure regulation amount, the preset pressure regulation rate, and the pressure regulation mode corresponding to the pressure regulation signal, including:

[0025] According to the preset air pressure value P of the target air cushion P , the air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P +K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion. T ;

[0026] The control console of the inflation and deflation device respectively adjusts the opening of the air flow control valve connected to the air inlet of each of the other air cushions based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, so that the air pressure value of each of the other air cushions remains unchanged during the control process of the internal air pressure of the target air cushion;

[0027] The console adjusts the opening of the air flow control valve connected to the air inlet of the target air cushion based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, so that the air pressure value of the target air cushion increases to the air pressure value corresponding to the air pressure adjustment amount.

[0028] In a possible implementation, when the content of the pressure regulation signal is the inflation regulation, the inflation and deflation device calculates the pressure regulation amount based on the preset pressure value of the target air cushion, the pressure value, and the preset pressure regulation rate, and controls the internal air pressure of the target air cushion based on the pressure regulation amount, the preset pressure regulation rate, and the pressure regulation mode corresponding to the pressure regulation signal, including:

[0029] According to the preset air pressure value P of the target air cushion P , the air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P -K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion. T ;

[0030] The control console of the inflation and deflation device respectively adjusts the opening of the air flow control valve connected to the air inlet of each of the other air cushions based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, so that the air pressure value of each of the other air cushions remains unchanged during the control process of the internal air pressure of the target air cushion;

[0031] The console adjusts the opening of the air flow control valve connected to the air inlet of the target air cushion based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, so that the air pressure value of the target air cushion drops to the air pressure value corresponding to the air pressure adjustment amount.

[0032] A third aspect of the present application provides an air cushion vehicle, comprising: the air cushion suspension system provided in the first aspect of the present application and any possible implementation of the first aspect.

[0033] By means of the above technical solution, the present application provides an air cushion suspension system, an inflation and deflation control method and an air cushion vehicle. The air inlet of the outer air cushion or the air inlet of the central air cushion is respectively connected to an air flow control valve of the inflation and deflation device. The air flow control valves connected to each outer air cushion and each central air cushion are different, and the inflation and deflation device is configured to adjust the air flow control valve to control the internal air pressure of each outer air cushion and the central air cushion respectively. Therefore, when the air cushion suspension system provided by the present application passes over an obstacle, the internal air pressure of each outer air cushion and the central air cushion can be adjusted separately, thereby avoiding the situation where the obstacle squeezes the air cushion and causes one side of the air cushion vehicle to be higher than the other side, thereby improving the driving stability of the air cushion vehicle. In addition, by configuring the outer air cushion to surround the outer side of the central air cushion, when multiple outer air cushions or the central air cushion are damaged, the internal air pressure of the undamaged outer air cushion or the central air cushion can still be adjusted by the inflation and deflation device, thereby maintaining the driving stability of the air cushion vehicle. It can be seen that the present application improves the driving stability of the air cushion vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0035] Figure 1 A schematic diagram of the structure of an air cushion suspension system provided in this application;

[0036] Figure 2 A schematic diagram of the central air cushion arrangement provided for this application;

[0037] Figure 3 A schematic diagram of the structure of an inflation and deflation device provided in this application;

[0038] Figure 4 A schematic cross-sectional view of an outer air cushion and a central air cushion provided in the present application;

[0039] Figure 5 A flow chart of a method for controlling inflation and deflation provided in this application;

[0040] Figure 6 A flow chart for obtaining the air pressure value at the current detection moment provided by the present application;

[0041] Figure 7 A flow chart of a method for controlling inflation and deflation provided for a possible implementation of the present application;

[0042] Figure 8 A schematic diagram of the structure of an air cushion vehicle provided in this application;

[0043] Fig. 9 A cross-sectional view of an air cushion vehicle provided in this application. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0045] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0046] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0047] The first aspect of the present application provides an air cushion suspension system, such as Figure 1 As shown, the air cushion suspension system includes:

[0048] An inflation and deflation device 11, a plurality of outer air cushions 12 and at least one central air cushion 13, wherein the outer air cushions 12 surround the outer side of the central air cushion 13, an air inlet of a target air cushion is connected to an air flow control valve 14 of the inflation and deflation device, and each target air cushion is connected to a different air flow control valve 14, and the target air cushion is an outer air cushion 12 or a central air cushion 13;

[0049] The inflation and deflation device 11 is used to adjust the air flow control valve 14 to control the internal air pressure of each outer air cushion 12 and the central air cushion 13 respectively.

[0050] It should be noted that, in actual application scenarios, the above-mentioned inflation and deflation device 11 is a combined system for controlling each outer air cushion 12 and each central air cushion 13, and the combined system at least includes: equipment for generating high-pressure gas, pipelines for transporting high-pressure gas, and airflow control valves for controlling the air intake amount inside the air cushions.

[0051] It should be noted that, in actual application scenarios, the above-mentioned outer air cushions 12 can be air cushions that surround the central air cushion 13 and have independent air supply. By configuring multiple outer air cushions 12 with independent air supply, and configuring the outer air cushions 12 to surround the outer side of the central air cushion 13, the present application avoids the risk of reduced driving stability of the air cushion vehicle due to air cushion damage compared to the existing integrated air cushion. Even if there is a scratch with an obstacle, the outer air cushion 12 can act as a buffer to reduce the probability of damage to the central air cushion 13. At the same time, even if multiple outer air cushions 12 are damaged, the central air cushion can still be used to maintain the driving stability of the air cushion vehicle.

[0052] In a possible implementation, for an air cushion suspension system equipped with a plurality of central air cushions 13 , each outer air cushion 12 may surround the outer side of each central air cushion 13 , or may surround the outer side of the overall air cushion formed by the central air cushions 13 .

[0053] It should be noted that in actual application scenarios, the central air cushion 13 may be at least one air cushion deployed in the middle of the air cushion suspension system. Since there are scenarios in actual application scenarios where the air cushion vehicle passes over obstacles, in order to avoid damage to the central air cushion 13 and reduce the driving stability of the air cushion vehicle, the central air cushion 13 may be deployed in multiples. The specific deployment method may be based on the actual application scenario. This application only provides examples. Figure 2 A schematic diagram of a central air cushion arrangement is shown in FIG. Figure 2 As shown, there are 4 central air cushions 13, which are deployed at the bottom of the air cushion vehicle in a 2×2 deployment mode. It can be seen that when any central air cushion is damaged, or two central air cushions at diagonal positions are damaged, the remaining central air cushions can maintain the driving stability of the air cushion vehicle with the cooperation of the outer air cushions.

[0054] It should be noted that, in actual application scenarios, the airflow control valve 14 is a device for adjusting the flow rate of high-pressure gas flowing into the air inlet of the target air cushion, thereby adjusting the internal air pressure of the target air cushion.

[0055] The present application configures the air inlet of the outer air cushion or the air inlet of the central air cushion to be connected to an air flow control valve of the inflation and deflation device respectively, and the air flow control valves connected to each outer air cushion and each central air cushion are different, and the inflation and deflation device is configured to adjust the air flow control valve, and respectively control the internal air pressure of each outer air cushion and the central air cushion, so that the air cushion suspension system provided by the present application can adjust the internal air pressure of each outer air cushion and the central air cushion separately when passing over an obstacle, avoiding the situation where the obstacle squeezes the air cushion and causes one side of the air cushion vehicle to be higher than the other side, thereby improving the driving stability of the air cushion vehicle. In addition, by configuring the outer air cushion to surround the outer side of the central air cushion, when multiple outer air cushions or the central air cushion are damaged, the internal air pressure of the undamaged outer air cushion or the central air cushion can still be adjusted by the inflation and deflation device, thereby maintaining the driving stability of the air cushion vehicle. It can be seen that the present application improves the driving stability of the air cushion vehicle.

[0056] In one possible implementation, the above Figure 1 The inflation and deflation device shown comprises:

[0057] Control console, air compressor, air supply pipes and multiple air flow control valves,

[0058] The first signal output terminal of the control console is electrically connected to the control terminal of the air compressor, and each second signal output terminal of the control console is electrically connected to each air flow control valve respectively;

[0059] The air outlet of the air compressor is communicated with the air inlet of the air supply pipeline, and the multiple air outlets of the air supply pipeline are respectively communicated with the air flow control valves.

[0060] In order to facilitate the understanding of the above-mentioned inflation and deflation device 11, a possible implementation of the present application is specifically described here: Figure 3 As shown in FIG. 1 , it is a schematic diagram of the structure of a gas filling and deflation device. Among them, the first signal output terminal and the second signal output terminal of the console 31 are as follows Figure 3 The air outlet of the air compressor 33 is connected to the air inlet of the air supply pipe 34. The air outlets of the air supply pipe 34 are respectively connected to the air flow control valves 14. The air outlets of the air flow control valves 14 are respectively connected to the air inlets of the corresponding target air cushions.

[0061] It should be noted that in actual application scenarios, the above-mentioned air compressor is a device for generating high-pressure gas. The types of the above-mentioned air compressors include but are not limited to: reciprocating piston type, rotary blade type and rotary screw type, etc. This application does not make too many restrictions and redundant descriptions on the types of the above-mentioned air compressors.

[0062] It should be noted that, in actual application scenarios, the above-mentioned console is an operating table for displaying the operating parameters of the air compressor, each air flow control valve and each target air cushion, and controlling the operating status of the above-mentioned equipment. The above-mentioned console includes at least a control module, a display device and an operating lever. The driver can learn the operating status of each device by viewing the display device of the console, and generate a control signal by operating the operating lever. The control module processes the control signal and distributes it to each device to adjust the operating status.

[0063] It should be noted that, in actual application scenarios, the air supply pipeline is a pipeline for transporting high-pressure gas output by an air compressor. Since the outer air cushion surrounds the outer side of the central air cushion, the shape of the air supply pipeline can be a ring-shaped design. Specifically, the air supply pipeline includes a gas delivery pipeline, an air inlet and multiple air outlets, wherein the gas delivery pipeline can be set as a ring-shaped pipeline similar to the outer side of the central air cushion, and each air outlet is extended to adapt to each outer air cushion and the central air cushion, thereby shortening the extension distance of each air outlet and reducing costs.

[0064] In a possible implementation, the distance between the bottom surface of the outer air cushion 12 and the support surface is smaller than the distance between the central air cushion 13 and the support surface.

[0065] It should be noted that in actual application scenarios, if the distance between the outer air cushion 12 and the central air cushion 13 and the ground is the same as the distance between the support surface, when the air cushion suspension system passes over an obstacle, the obstacle will collide with the outer air cushion 12 and the central air cushion 13, thereby increasing the risk of damage to both the outer air cushion 12 and the central air cushion 13. However, the present application configures the distance between the bottom surface of the outer air cushion 12 and the support surface to be smaller than the distance between the central air cushion 13 and the support surface, thereby reducing the deformation rate and extrusion force when the central air cushion 13 collides with an obstacle, thereby reducing the risk of damage to the central air cushion 13 and thereby improving the operational reliability and stability of the air cushion suspension system. Specifically, as Figure 4 The figure shows a cross-sectional view of the outer air cushion and the central air cushion, and there is an obstacle 41 on the support surface 42. Figure 4 It can be seen that when the air cushion suspension system passes the obstacle 41, the outer air cushion 12 will collide with the obstacle 41, resulting in the risk of damage to the outer air cushion 12. Figure 4 The distance between the central air cushion 13 and the support surface 42 is greater than the distance between the outer air cushions 12 and the support surface 42, so the central air cushion 13 will not collide with the obstacle 41, thereby avoiding the risk of damage to the central air cushion 13. The support surface can be a plane such as the ground, water, sand, etc. that can provide reverse support force.

[0066] In one possible implementation, the air pressure signal input terminal of the console is electrically connected to the signal output terminal of the built-in air pressure sensor of each outer air cushion, and the air pressure signal input terminal of the console is electrically connected to the signal output terminal of the built-in air pressure sensor of at least one central air cushion.

[0067] It should be noted that, in actual application scenarios, the above-mentioned built-in air pressure sensor is a sensor for collecting the internal air pressure of the central air cushion or the outer air cushion. The present application configures the signal output end of the built-in air pressure sensor of each outer air cushion and the signal output end of the built-in air pressure sensor of at least one central air cushion to be electrically connected to the air pressure signal input end of the console, so that the driver can monitor the internal air pressure of each air cushion through the console and perform corresponding control.

[0068] The second aspect of the present application provides an inflation and deflation control method, which is applied to the air cushion suspension system provided by the first aspect of the present application and any possible implementation of the first aspect, such as Figure 5 As shown, the inflation and deflation control method comprises:

[0069] S501. The inflation and deflation device obtains the air pressure value of the target air cushion at the current detection moment, where the target air cushion is the outer air cushion or the central air cushion.

[0070] It should be noted that, in actual application scenarios, the above air pressure value may be the average of the air pressure values ​​collected at each collection time within the detection cycle of the current detection time by the built-in air pressure sensor of the target air cushion. The method of obtaining the air pressure value may be:

[0071] like Figure 6 As shown in the figure, it is a flow chart for obtaining the air pressure value at the current detection moment. The specific operation steps are as follows:

[0072] Step S601, when it is detected that the current detection moment is the end moment of the current detection cycle, the air pressure values ​​collected by the target air cushion at each collection moment of the current detection cycle are obtained, and step S602 is triggered.

[0073] In one possible implementation, the above Figure 6 The operation step of collecting the air pressure value at each collection time in step S601 can be triggered based on the interrupt trigger signal of the timer.

[0074] Step S602: determine the average of the air pressure values ​​collected at each collection time as the air pressure value of the target air cushion at the current detection time.

[0075] In a possible implementation, the mean value of step S602 may be obtained by: calculating the air pressure value x collected at each collection time i in the current detection cycle. i , through the formula: , the sum S of the air pressure values ​​collected at n collection moments i in the current detection cycle is obtained. Then, according to the sum S and each air pressure value x i The total number N valid , through the formula: , and the mean value A is obtained. Since the built-in air pressure sensor is affected by vibration and may output invalid values ​​or abnormal values, the air pressure values ​​x used to calculate the mean value A are i Can be a valid value after filtering.

[0076] It should be noted that due to the unevenness and obstacles on the support surface, the air pressure value inside each target air cushion is dynamically fluctuating. If high-frequency air pressure adjustment is performed based on the air pressure value at each collection moment, it will lead to increased energy consumption and decreased driving stability of the air cushion vehicle. However, this application configures the average of the air pressure values ​​collected at each collection moment within a detection cycle as the air pressure value at the current detection moment, and performs subsequent internal air pressure control based on the air pressure value, thereby ensuring control accuracy while avoiding the risk of increased energy consumption and decreased driving stability caused by high-frequency adjustment.

[0077] In a possible implementation, in order to facilitate the driver to dynamically monitor the operating status of each target air cushion, the real-time monitoring data of each built-in air pressure sensor can also be configured to be displayed. Specifically, the air pressure signal output end of each built-in air pressure sensor is electrically connected to the signal input end of each air pressure monitoring instrument of the console, so that the air pressure monitoring instrument displays the air pressure value transmitted in real time by each built-in air pressure sensor.

[0078] S502: The inflation and deflation device compares the air pressure value with the preset air pressure value of the target air cushion, and outputs a pressure adjustment signal based on the comparison result.

[0079] It should be noted that, in actual application scenarios, the above-mentioned pressure adjustment signal is a signal representing the air pressure adjustment method for inflating or deflating the target air cushion.

[0080] It should be noted that in actual application scenarios, the above-mentioned preset air pressure value can be a threshold value set based on the inflation volume of the target air cushion under normal operating conditions, or it can be a threshold value set by the driver through the operating console according to the path conditions of the driving path. The present application configures an inflation and deflation device to compare the air pressure value with the preset air pressure value of the target air cushion, and outputs a pressure adjustment signal corresponding to the air pressure adjustment method based on the comparison result, thereby determining the air pressure adjustment method for the target air cushion. Among them, the pressure adjustment signal represents the air pressure adjustment method for inflating or deflating the target air cushion.

[0081] S503, the inflation and deflation device calculates the air pressure adjustment amount based on the preset air pressure value, air pressure value and preset air pressure adjustment rate of the target air cushion, and controls the internal air pressure of the target air cushion based on the air pressure adjustment amount, the preset air pressure adjustment rate and the air pressure adjustment method corresponding to the pressure adjustment signal.

[0082] It should be noted that, in actual application scenarios, the above-mentioned preset air pressure adjustment rate can be the inflation and deflation rate of the airflow control valve connected to the air inlet of the target air cushion. The present application configures an inflation and deflation device to calculate the air pressure adjustment amount based on the preset air pressure value, air pressure value and preset air pressure adjustment rate of the target air cushion, and controls the internal air pressure of the target air cushion based on the air pressure adjustment amount, the preset air pressure adjustment rate and the air pressure adjustment method corresponding to the pressure adjustment signal, thereby realizing independent air pressure control of each target air cushion and improving the driving stability of the air cushion vehicle.

[0083] It should be noted that, in actual application scenarios, while starting to control the internal air pressure of the target air cushion, the built-in air pressure sensor of the target air cushion enters the next detection cycle, thereby realizing dynamic air pressure control.

[0084] In a possible implementation, in order to avoid the inability to control the internal air pressure of the target air cushion due to a failure of the air flow control valve, after the internal air pressure of the target air cushion is controlled based on the air pressure adjustment amount, the preset air pressure adjustment rate and the air pressure adjustment method corresponding to the pressure adjustment signal, it is possible to determine whether the air flow control valve is faulty based on the collected signal of the internal air pressure sensor of the target air cushion. The specific implementation method may be:

[0085] Step A1, sending a control instruction including the air pressure adjustment amount, the preset air pressure adjustment rate and the pressure adjustment signal to the air flow control valve corresponding to the target air cushion, triggering the timer to start the countdown, and adding 1 to the counter value. And triggering step A2. The initial value of the counter is 0.

[0086] Step A2, determine whether the value of the technology device is greater than a preset threshold. If not, trigger step A3, and if so, trigger step A7.

[0087] Step A3, determine whether the current time reaches the end time. If not, step A3 is triggered, and if so, step A4 is triggered.

[0088] Step A4, judging whether the change of the air pressure value of the target air cushion at the current moment relative to the air pressure value of the target air cushion at the current detection moment before control is equal to the air pressure adjustment amount. If not, triggering step A5, if yes, triggering step A6.

[0089] Step A5, sending feedback information with the content of resending to the console, and triggering step A1.

[0090] Step A6, sending feedback information indicating that the operation has been executed to the console.

[0091] In a possible implementation, after receiving the feedback information sent in step A6 indicating that the operation has been executed, the console resets the timer and the counter to facilitate subsequent detection.

[0092] Step A7, sending feedback information indicating that control command reception fails to be sent to the control console.

[0093] This application configures the average of the air pressure values ​​collected at each collection moment within a detection cycle as the air pressure value at the current detection moment, and performs subsequent internal air pressure control based on the air pressure value, thereby ensuring control accuracy while avoiding the risk of increased energy consumption and decreased driving stability caused by high-frequency adjustment. Subsequently, the air pressure value is compared with the preset air pressure value of the target air cushion by configuring the charging and discharging device, and a pressure adjustment signal corresponding to the air pressure adjustment method is output based on the comparison result, thereby determining the air pressure adjustment method for the target air cushion. Finally, the air pressure adjustment amount is calculated based on the preset air pressure value, air pressure value and preset air pressure adjustment rate of the target air cushion by configuring the charging and discharging device, and the internal air pressure of the target air cushion is controlled based on the air pressure adjustment amount, the preset air pressure adjustment rate and the air pressure adjustment method corresponding to the pressure adjustment signal, so as to achieve independent air pressure control of each target air cushion and improve the driving stability of the air cushion vehicle.

[0094] In a possible implementation, the inflation and deflation device compares the air pressure value with the preset air pressure value of the target air cushion, and outputs a pressure adjustment signal based on the comparison result, including:

[0095] Determine whether the air pressure value is greater than the preset air pressure value, and if so, output the pressure adjustment signal for deflation adjustment;

[0096] When the air pressure value is equal to the preset air pressure value, the output content is a pressure adjustment signal that does not require adjustment;

[0097] When the air pressure value is less than the preset air pressure value, the output content is a pressure adjustment signal for inflation adjustment. In a possible implementation, before the inflation and deflation device compares the air pressure value with the preset air pressure value of the target air cushion, the inflation and deflation control method further includes:

[0098] The inflation and deflation device determines whether the air pressure value is less than a preset air pressure threshold. If so, the output content is an alarm signal that the target air cushion is damaged. If not, the inflation and deflation device executes the operating steps of comparing the air pressure value with the preset air pressure value of the target air cushion.

[0099] It should be noted that, in actual application scenarios, the above-mentioned preset air pressure threshold is the minimum air pressure value required for the target air cushion to maintain its shape. Since the air pressure inside the target air cushion will drop when it is damaged, it will not return to zero directly because it will be affected by the size of the damaged opening. Therefore, the present application configures the inflation and deflation device to determine whether the air pressure value is less than the preset air pressure threshold before the inflation and deflation device compares the air pressure value with the preset air pressure value of the target air cushion, thereby realizing the detection of whether the target air cushion is damaged, thereby assisting the driver in troubleshooting and improving the operational safety of the air cushion vehicle.

[0100] In a possible implementation, the warning signal may be a signal for triggering the operation of an audible and visual alarm corresponding to the damaged target air cushion. Upon receiving the warning signal, the audible and visual alarm emits an audible and visual warning signal to remind the driver that the target air cushion corresponding to the audible and visual alarm is damaged.

[0101] In a possible implementation, when the content of the pressure regulation signal is deflation regulation, the inflation and deflation device calculates the pressure regulation amount based on the preset pressure value, the pressure value and the preset pressure regulation rate of the target air cushion, and controls the internal air pressure of the target air cushion based on the pressure regulation amount, the preset pressure regulation rate and the pressure regulation method corresponding to the pressure regulation signal, including:

[0102] According to the preset air pressure value P of the target air cushion P , air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P +K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion T ;

[0103] The control console of the inflation and deflation device adjusts the opening of the air flow control valve connected to the air inlet of each other air cushion based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, so that the air pressure value of each other air cushion remains unchanged during the control process of the internal air pressure of the target air cushion;

[0104] The console adjusts the opening of the air flow control valve connected to the air inlet of the target air cushion based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, so that the air pressure value of the target air cushion increases to the air pressure value corresponding to the air pressure adjustment amount.

[0105] It should be noted that, in actual application scenarios, the value range of the above preset air pressure adjustment rate is (0, 1).

[0106] It should be noted that, in actual application scenarios, in order to ensure the normal operation of each air cushion during driving, the high-pressure gas pressure provided by the air compressor must be higher than the maximum value of the maximum working pressure of each outer air cushion and each central air cushion, and the high-pressure gas flow rate input to each air cushion is adjusted through each air flow control valve, so as to control the internal air pressure of the target air cushion. When the target air cushion needs to be inflated, the pressure value of the high-pressure air in the air supply pipeline will fluctuate due to the increase in the air intake of the target air cushion. If the air flow control valves corresponding to the other air cushions remain unchanged, the other air cushions will have the risk of internal air pressure drop, thereby affecting the driving stability of the air cushion vehicle. Therefore, the present application configures the process of controlling the air pressure of the target air cushion, based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, to adjust the opening of the air flow control valve connected to the air inlet of each other air cushion, so that the air pressure value of each other air cushion remains unchanged during the control of the internal air pressure of the target air cushion, thereby improving the driving stability of the air cushion vehicle.

[0107] In a possible implementation, when the content of the pressure regulation signal is inflation regulation, the inflation and deflation device calculates the pressure regulation amount based on the preset pressure value, the pressure value and the preset pressure regulation rate of the target air cushion, and controls the internal air pressure of the target air cushion based on the pressure regulation amount, the preset pressure regulation rate and the pressure regulation method corresponding to the pressure regulation signal, including:

[0108] According to the preset air pressure value P of the target air cushion P , air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P -K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion T ;

[0109] The control console of the inflation and deflation device adjusts the opening of the air flow control valve connected to the air inlet of each other air cushion based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, so that the air pressure value of each other air cushion remains unchanged during the control process of the internal air pressure of the target air cushion;

[0110] The console adjusts the opening of the air flow control valve connected to the air inlet of the target air cushion based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, so that the air pressure value of the target air cushion drops to the air pressure value corresponding to the air pressure adjustment amount.

[0111] It should be noted that in actual application scenarios, when the target air cushion pressure value drops, the gas pressure in the air supply pipeline will increase, and in order to ensure that the air pressure values ​​of other air cushions remain constant, the air flow control valves of other air cushions will also reduce their openings. Therefore, in order to prevent the air supply pipeline from rupturing due to overload, a pressure relief valve can be installed in the air supply pipeline. When the air pressure inside the air supply pipeline exceeds the safety pressure, part of the high-pressure gas is released through the pressure relief valve.

[0112] In order to facilitate the above Figure 5 The understanding of the inflation and deflation control method shown is explained here in conjunction with a possible implementation of the present application:

[0113] like Figure 7 The figure shows a flow chart of a method for controlling inflation and deflation. For the sake of convenience, only one target air cushion is used for illustration. The specific operation steps are as follows:

[0114] Step S701, when it is detected that the current moment is the end moment of the current detection cycle of the target air cushion, a sampling array of the target air cushion in the current detection cycle is obtained, and step S702 is triggered.

[0115] In a possible implementation, the sampling array in the above step S701 stores the air pressure values ​​collected by the built-in air pressure sensor of the target air cushion at each sampling moment in the current detection cycle.

[0116] Step S702, remove the abnormal data in the sampling array to obtain the effective air pressure values ​​of the target air cushion in the current detection cycle, and trigger step S703.

[0117] Step S703: determine the average of the effective air pressure values ​​as the air pressure value of the target air cushion at the current detection time, and trigger step S704.

[0118] Step S704, determining whether the air pressure value is less than a preset air pressure threshold, if so, triggering step S705, if not, triggering step S706.

[0119] Step S705: outputting a warning signal indicating that the target air cushion is damaged.

[0120] In one possible implementation, in order to avoid energy waste caused by continued input of high-pressure gas into the damaged target air cushion, after the above-mentioned step S705 is executed, the airflow control valve connected to the air inlet of the damaged target air cushion can be triggered to close, and the target air cushion can be updated to the next outer air cushion or central air cushion that arrives at the current detection moment, and step S701 can be re-executed.

[0121] Step S706, determining whether the air pressure value is greater than a preset air pressure value. If not, step S707 is triggered, and if so, step S708 is triggered.

[0122] Step S707, determining whether the air pressure value is equal to the preset air pressure value. If yes, step S717 is triggered, if not, step S711 is triggered.

[0123] Step S708: according to the preset air pressure value P of the target air cushion P , air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P -K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion T . And trigger step S709 and step S710.

[0124] Step S709: Based on the air pressure adjustment amount and the preset air pressure adjustment rate of other air cushions except the target air cushion, the opening of the air flow control valve connected to the air inlet of each other air cushion is adjusted respectively, so that the air pressure value of each other air cushion remains unchanged during the control process of the internal air pressure of the target air cushion. Step S714 is triggered.

[0125] Step S710, based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, adjust the opening of the air flow control valve connected to the air inlet of the target air cushion so that the air pressure value of the target air cushion drops to the air pressure value corresponding to the air pressure adjustment amount, and trigger step S714.

[0126] Step S711, according to the preset air pressure value P of the target air cushion P , air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P +K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion T . And trigger step S712 and step S713.

[0127] Step S712: Based on the air pressure adjustment amount and the preset air pressure adjustment rate of other air cushions except the target air cushion, the opening of the air flow control valve connected to the air inlet of each other air cushion is adjusted respectively, so that the air pressure value of each other air cushion remains unchanged during the control process of the internal air pressure of the target air cushion. Step S715 is triggered.

[0128] Step S713, based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, adjust the opening of the air flow control valve connected to the air inlet of the target air cushion to increase the air pressure value of the target air cushion to the air pressure value corresponding to the air pressure adjustment amount, and trigger step S715.

[0129] Step S714, recording the internal air pressure values ​​of the target air cushion and other air cushions at each acquisition time after the control starts, and triggering step S716.

[0130] Step S715, recording the internal air pressure values ​​of the target air cushion and other air cushions at each acquisition time after the control starts, and triggering step S716.

[0131] Step S716, determining whether the change in the internal air pressure value of the target air cushion at the current acquisition time relative to the air pressure value at the current detection time before regulation is equal to the air pressure adjustment amount of the target air cushion. If so, triggering step S717. If not, triggering step S716.

[0132] Step S717: Update the target air cushion to the other air cushion that first arrives at or has arrived at the detection time, and trigger step S701.

[0133] In a possible implementation, the above step S716 may also be implemented as follows: according to a preset control sequence, the target air cushion is updated to another air cushion whose control sequence is only later than that of the target air cushion that has not been updated.

[0134] It should be noted that in actual application scenarios, the above Figure 7 Steps S701 to S703 are as follows: Figure 5 A possible implementation of step S501 is shown in FIG. Figure 7 Steps S706 and S707 are shown as follows: Figure 5 A possible implementation of step S502 is shown in FIG. Figure 7 Steps S708 to S713 are as shown in FIG. Figure 5 A possible implementation of step S503 is shown.

[0135] A third aspect of the present application provides an air cushion vehicle, comprising: an air cushion suspension system as provided in the first aspect of the present application and any possible implementation of the first aspect.

[0136] In a possible implementation, the structural diagram of an air cushion vehicle provided in the third aspect of the present application is as follows: Figure 8 As shown. The vehicle cabin 1 and the propulsion device 2 are deployed on a base installed with an air cushion suspension system 3. The vehicle cabin 1 includes a control console, which is used to control the air cushion suspension system 3 and the propulsion device 2. The propulsion device 2 uses two symmetrically arranged thrust fans and corresponding steering control surfaces.

[0137] In a possible implementation, a cross-sectional view of an air cushion vehicle provided in the third aspect of the present application is as follows: Fig. 9 The installation positions of the control console 1, the air compressor 2, the air supply pipeline 3, the air flow control valve 4, the outer air cushion 5 and the central air cushion 6 in the air cushion suspension system provided in the first aspect of the present application and any possible implementation of the first aspect are as shown in FIG. Fig. 9 shown.

[0138] An embodiment of the present application also provides a computer program product, including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the inflation and deflation control methods provided in the embodiments of the present application.

[0139] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any one of the inflation and deflation control methods provided in the embodiment of the present application.

[0140] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0141] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0142] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0143] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. An air cushion suspension system, characterized in that: include: an inflation and deflation device, a plurality of outer air cushions and at least one central air cushion, The outer air cushion surrounds the outer side of the central air cushion, the air inlet of the target air cushion is connected to an air flow control valve of the inflation and deflation device, the air flow control valves connected to the target air cushions are different, and the target air cushion is one of the outer air cushions or one of the central air cushions; The inflation and deflation device is used to adjust the airflow control valve to respectively control the internal air pressure of each of the outer air cushions and the central air cushion.

2. The air cushion suspension system according to claim 1, characterized in that: The inflation and deflation device comprises: A control console, an air compressor, an air supply pipeline and a plurality of air flow control valves, The first signal output terminal of the console is electrically connected to the control terminal of the air compressor, and each second signal output terminal of the console is electrically connected to each airflow control valve respectively; The air outlet of the air compressor is communicated with the air inlet of the air supply pipeline, and the multiple air outlets of the air supply pipeline are respectively communicated with the air flow control valves.

3. The air cushion suspension system according to claim 1, characterized in that: The distance between the bottom surface of the outer air cushion and the support surface is smaller than the distance between the central air cushion and the support surface.

4. The air cushion suspension system according to claim 2, characterized in that: The air pressure signal input end of the console is electrically connected to the signal output end of the built-in air pressure sensor of each of the outer air cushions, and the air pressure signal input end of the console is electrically connected to the signal output end of the built-in air pressure sensor of at least one of the central air cushions.

5. A method for controlling gas filling and deflation, characterized in that: Applied to the air cushion suspension system according to any one of claims 1 to 4, the inflation and deflation control method comprises: The inflation and deflation device obtains the air pressure value of the target air cushion at the current detection time, and the target air cushion is the outer air cushion or the central air cushion; The inflation and deflation device compares the air pressure value with a preset air pressure value of the target air cushion, and outputs a pressure adjustment signal based on the comparison result; The inflation and deflation device calculates an air pressure adjustment amount based on the preset air pressure value of the target air cushion, the air pressure value and a preset air pressure adjustment rate, and controls the internal air pressure of the target air cushion based on the air pressure adjustment amount, the preset air pressure adjustment rate and the air pressure adjustment method corresponding to the pressure adjustment signal.

6. The method for controlling the gas filling and discharging according to claim 5, characterized in that: The inflation and deflation device compares the air pressure value with the preset air pressure value of the target air cushion and outputs a pressure adjustment signal based on the comparison result, including: Determine whether the air pressure value is greater than the preset air pressure value, and if so, output the pressure adjustment signal for deflation adjustment; When the air pressure value is equal to the preset air pressure value, the output content is the pressure adjustment signal that does not need to be adjusted; when the air pressure value is less than the preset air pressure value, the output content is the pressure adjustment signal for inflation adjustment.

7. The method for controlling the gas filling and discharging according to claim 5, characterized in that: Before the inflation and deflation device compares the air pressure value with the preset air pressure value of the target air cushion, the inflation and deflation control method further includes: The inflation and deflation device determines whether the air pressure value is less than a preset air pressure threshold value. If so, the output content is an alarm signal that the target air cushion is damaged. If not, the inflation and deflation device executes the operation steps of comparing the air pressure value with the preset air pressure value of the target air cushion.

8. The method for controlling the gas filling and discharging according to claim 6, characterized in that: In the case where the content of the pressure regulation signal is the deflation regulation, the inflation and deflation device calculates the pressure regulation amount based on the preset pressure value of the target air cushion, the pressure value and the preset pressure regulation rate, and controls the internal air pressure of the target air cushion based on the pressure regulation amount, the preset pressure regulation rate and the pressure regulation method corresponding to the pressure regulation signal, including: According to the preset air pressure value P of the target air cushion P , the air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P +K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion. T ; The control console of the inflation and deflation device respectively adjusts the opening of the air flow control valve connected to the air inlet of each of the other air cushions based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, so that the air pressure value of each of the other air cushions remains unchanged during the control process of the internal air pressure of the target air cushion; The console adjusts the opening of the air flow control valve connected to the air inlet of the target air cushion based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, so that the air pressure value of the target air cushion increases to the air pressure value corresponding to the air pressure adjustment amount.

9. The method for controlling the gas filling and discharging according to claim 6, characterized in that: In the case where the content of the pressure regulation signal is the inflation regulation, the inflation and deflation device calculates the air pressure regulation amount based on the preset air pressure value of the target air cushion, the air pressure value and the preset air pressure regulation rate, and controls the internal air pressure of the target air cushion based on the air pressure regulation amount, the preset air pressure regulation rate and the air pressure regulation method corresponding to the pressure regulation signal, including: According to the preset air pressure value P of the target air cushion P , the air pressure value P CT And preset air pressure adjustment rate K d , through the formula: P T =P P -K d ×(P CT -P P ), and obtain the air pressure adjustment amount P of the target air cushion. T ; The control console of the inflation and deflation device respectively adjusts the opening of the air flow control valve connected to the air inlet of each of the other air cushions based on the air pressure adjustment amount and the preset air pressure adjustment rate of the other air cushions except the target air cushion, so that the air pressure value of each of the other air cushions remains unchanged during the control process of the internal air pressure of the target air cushion; The console adjusts the opening of the air flow control valve connected to the air inlet of the target air cushion based on the air pressure adjustment amount of the target air cushion and the preset air pressure adjustment rate, so that the air pressure value of the target air cushion drops to the air pressure value corresponding to the air pressure adjustment amount.

10. An air cushion vehicle, characterized in that: include: An air cushion suspension system as claimed in claims 1 to 4.

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