Suspension control system, vehicle and control method thereof

Abstract

The invention provides a suspension control system, a vehicle and a control method thereof. The suspension control system includes: a vehicle frame; a plurality of axles; the suspension oil cylinders are arranged corresponding to the wheels and are configured to drive the corresponding wheels to be close to or far away from the top of the frame so as to be separated from the ground or be in contact with the ground; a plurality of load detection devices configured to detect a load borne by the corresponding suspension cylinder in a state in which the corresponding wheel is in contact with the ground; and the control device is configured to determine whether the position of the piston of the suspension oil cylinder relative to the cylinder body needs to be adjusted according to the working scene of the vehicle. The vehicle comprises the suspension control system. The control method of the vehicle comprises the steps that whether the position of a piston of a suspension oil cylinder relative to a cylinder body needs to be adjusted or not is determined according to the working scene of the vehicle; and whether the vehicle is allowed to run or not is determined according to the load borne by the suspension oil cylinder corresponding to the wheel making contact with the ground. According to the technical scheme, the adverse effect of the complex environment on the working efficiency of the vehicle can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of wheeled vehicle control, and particularly to a suspension control system, a vehicle and a control method thereof. Background Art

[0002] With the rapid development of the modern economy and the acceleration of the industrialization process, the social demand for mineral resources has been increasing year by year. The open-pit mining volume has also gradually increased, and the transportation volume required for stripping earthwork and mining minerals is increasing. The demand for mining dump trucks in mining areas is also getting higher and higher.

[0003] However, the mining area environment is harsh, the roads are potholed, and there is a lot of scattered material on the road surface, which poses a great threat to vehicle driving. Due to the inconvenient maintenance conditions in the mining area, once a tire has a flat tire, a blowout or other failures, it will affect the normal driving of the vehicle and have a greater adverse impact on the working efficiency of the vehicle. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a suspension control system, a vehicle and a control method thereof for a vehicle, so as to reduce the adverse impact of complex environments on the working efficiency of the vehicle.

[0005] The first aspect of the present disclosure provides a suspension control system, including:

[0006] A frame;

[0007] A plurality of axles, connected to the frame;

[0008] A plurality of wheels, each end of each axle is connected with a wheel;

[0009] A plurality of suspension cylinders, corresponding to the plurality of wheels, each suspension cylinder is configured to drive the corresponding wheel to approach or move away from the top of the frame to leave the ground or contact the ground;

[0010] A plurality of load detection devices, corresponding to the plurality of suspension cylinders and the plurality of wheels, each load detection device is configured to detect the load borne by the corresponding suspension cylinder in the state where the corresponding wheel contacts the ground; and

[0011] A control device, operably connected to the plurality of load detection devices and the plurality of suspension cylinders, configured to determine whether it is necessary to adjust the position of the piston of the suspension cylinder relative to the cylinder body according to the working scenario of the vehicle, so that the corresponding wheel leaves the ground or contacts the ground, and the state information includes at least one of the following: whether the wheel has a failure, whether the wheel contacts the ground, and the magnitude of the load borne by the suspension cylinder corresponding to the wheel.

[0012] In the suspension control system of some embodiments, it includes a plurality of accumulators corresponding to the plurality of suspension cylinders, and each accumulator is selectively communicable or disconnectable with the corresponding suspension cylinder.

[0013] In the suspension control system of some embodiments, it includes a plurality of accumulator control valves corresponding to the plurality of suspension cylinders. Each accumulator control valve has a first working position and a second working position. In the first working position of the accumulator control valve, the suspension cylinder corresponding to the accumulator control valve is in fluid communication with the corresponding accumulator. In the second working position of the accumulator control valve, the suspension cylinder corresponding to the accumulator control valve is disconnected from the corresponding accumulator.

[0014] In the suspension control system of some embodiments, it includes a plurality of reversing valves corresponding to the plurality of suspension cylinders. Each reversing valve has a first working position, a second working position, and a third working position. In the first working position of the reversing valve, the rod chamber of the suspension cylinder corresponding to the reversing valve is connected to the oil inlet pipeline, and the rodless chamber is connected to the oil return pipeline. The corresponding suspension cylinder drives the corresponding wheel close to the top of the vehicle frame so that it can be lifted off the ground. In the second working position of the reversing valve, neither the rod chamber nor the rodless chamber of the suspension cylinder corresponding to the reversing valve is supplied with oil or returns oil. The piston of the corresponding suspension cylinder remains stationary relative to the cylinder body so that the corresponding wheel remains in a state of being lifted off the ground or in contact with the ground. In the third working position of the reversing valve, the rodless chamber of the suspension cylinder corresponding to the reversing valve is connected to the oil inlet pipeline, and the rod chamber is connected to the oil return pipeline. The corresponding suspension cylinder drives the corresponding wheel away from the top of the vehicle frame so that it can contact the ground.

[0015] In the suspension control system of some embodiments, the suspension control system has a first working mode and a second working mode.

[0016] In the first working mode, the accumulator control valves corresponding to the wheels in contact with the ground are all in the first working position, and the corresponding reversing valves are in the second working position.

[0017] In the second working mode, the accumulator control valves corresponding to at least one of the suspension cylinders are in the second working position, and the corresponding reversing valves are in the first working position or the third working position.

[0018] In the suspension control system of some embodiments, it includes a plurality of position detection devices. The plurality of position detection devices are correspondingly arranged with the plurality of suspension cylinders. Each position detection device is configured to detect the position of the piston of the corresponding suspension cylinder relative to the cylinder body to determine whether the corresponding wheel is lifted off the ground.

[0019] In the suspension control system of some embodiments, the load detection device includes a pressure detection device configured to detect the hydraulic pressure of the corresponding suspension cylinder to determine the load borne by the corresponding suspension cylinder.

[0020] The second aspect of the present disclosure provides a vehicle including the suspension control system described in the first aspect of the present disclosure.

[0021] The third aspect of the present disclosure provides a control method for a vehicle based on the vehicle described in the second aspect of the present disclosure, including: determining whether it is necessary to adjust the position of the piston of the suspension cylinder relative to the cylinder block according to the working scenario of the vehicle so that the corresponding wheel leaves the ground or contacts the ground; determining whether to allow the vehicle to travel according to the load borne by the suspension cylinder corresponding to the wheel in contact with the ground.

[0022] In the control method of a vehicle in some embodiments, it includes: if at least one wheel fails, separating the failed wheel from the ground, and if the loads borne by the suspension cylinders corresponding to the remaining wheels in contact with the ground are all less than or equal to a first preset value, allowing the vehicle to travel.

[0023] In the control method of a vehicle in some embodiments, it includes: if after at least one wheel changes from leaving the ground to contacting the ground, the loads borne by the suspension cylinders corresponding to each wheel in contact with the ground are all less than or equal to a second preset value, allowing the vehicle to travel.

[0024] In the control method of a vehicle in some embodiments, it includes: if all wheels are in contact with the ground and the loads borne by the suspension cylinders corresponding to each wheel are all less than or equal to a third preset value, separating the wheels provided at both ends of at least one axle from the ground.

[0025] In the control method of a vehicle in some embodiments, it includes: after separating the wheels provided at both ends of at least one axle from the ground, if the loads borne by the suspension cylinders corresponding to the remaining wheels in contact with the ground are all less than or equal to a fourth preset value, allowing the vehicle to travel.

[0026] In the control method of a vehicle in some embodiments, the suspension control system includes at least three axles arranged along the length direction of the vehicle, and separating the wheels provided at both ends of at least one axle from the ground includes: separating the wheels provided at both ends of at least one axle other than the two axles located at both ends in the length direction of the vehicle from the ground.

[0027] The fourth aspect of the present disclosure provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the vehicle control method as described in the third aspect of the present disclosure.

[0028] Other features and advantages of the present disclosure will become clear from the following detailed description of the exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present disclosure and form a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0030] Figure 1 is a schematic structural diagram of a suspension control system according to some embodiments of the present disclosure.

[0031] Figure 2 is Figure 1 a top view structural diagram of the suspension control system shown.

[0032] Figure 3 is a schematic diagram of the control principle of a suspension control system according to some embodiments of the present disclosure.

[0033] Figure 4 is a schematic diagram of the hydraulic control principle of one of the suspension cylinders of a suspension system according to some embodiments of the present disclosure.

[0034] In the drawings, each reference numeral represents:

[0035] 1, vehicle frame;

[0036] 2, suspension cylinder; 211, first suspension cylinder; 212, second suspension cylinder; 221, third suspension cylinder; 222, fourth suspension cylinder; 231, fifth suspension cylinder; 232, sixth suspension cylinder;

[0037] 3, axle; 31, first axle; 32, second axle; 33, third axle;

[0038] 4, wheel; 411, first wheel; 412, second wheel; 421, third wheel; 422, fourth wheel; 431, fifth wheel; 432, sixth wheel;

[0039] 5, reducer assembly;

[0040] 61, upper fork arm; 62, lower fork arm; 63, connecting seat;

[0041] 71, hydraulic oil tank; 72, hydraulic pump; 73, overflow valve; 74, reversing valve; 75, accumulator control valve; 76, accumulator;

[0042] 81. Pressure detection device. Specific embodiments

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present disclosure and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure.

[0044] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, these technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0045] In the description of the present disclosure, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without further statement, these terms have no special meanings, and thus cannot be construed as limiting the scope of protection of the present disclosure.

[0046] In the description of the present disclosure, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal", and "top, bottom" are usually based on the orientation or positional relationships shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the scope of protection of the present disclosure; the orientation words "inside, outside" refer to the inside and outside relative to the outline of each component itself.

[0047] Reference Figures 1 to 4, some embodiments of the present disclosure provide a suspension control system, including a vehicle frame 1, a plurality of axles 3, a plurality of wheels 4, a plurality of suspension cylinders 2, a plurality of load detection devices, and a control device.

[0048] The plurality of axles 3 are connected to the vehicle frame 1. Each end of each axle 3 is connected with a wheel 4. The plurality of suspension cylinders 2 are arranged corresponding to the plurality of wheels 4. Each suspension cylinder 2 is configured to drive the corresponding wheel 4 to approach or move away from the top of the vehicle frame 1 to leave the ground or contact the ground. The plurality of load detection devices are arranged corresponding to the plurality of suspension cylinders 2 and the plurality of wheels 4. Each load detection device is configured to detect the load borne by the corresponding suspension cylinder 2 in a state where the corresponding wheel 4 contacts the ground. The control device is operably connected to the plurality of load detection devices and the plurality of suspension cylinders 2, and is configured to determine whether it is necessary to adjust the position of the piston of the suspension cylinder 2 relative to the cylinder body according to the working scenario of the vehicle, so that the corresponding wheel 4 leaves the ground or contacts the ground.

[0049] Each wheel 4 includes a tire. Each suspension cylinder 2 can transfer the vehicle body weight to the tire of the corresponding wheel 4. Therefore, the load borne by each suspension cylinder 2 can reflect the load-bearing condition of the tire of the corresponding wheel 4.

[0050] Optionally, referring to Figure 1 , the suspension control system includes a plurality of reducer assemblies 5, a plurality of upper fork arms 61, a plurality of lower fork arms 62, and a plurality of connection seats 63 arranged corresponding to the plurality of wheels 4. Each reducer assembly 5 is in transmission connection with the corresponding wheel 4. The upper fork arm 61 and the lower fork arm 62 together serve as a guiding mechanism of the suspension. The open ends of the upper fork arm 61 and the lower fork arm 62 are respectively rotatably connected to the axle 3 through a pin shaft. One of the cylinder body and the piston rod of each suspension cylinder 2 is hinged to the suspension support of the vehicle frame 1 through a pin shaft, and the other is hinged to the connection seat 63 fixed to the corresponding upper fork arm 61 through a pin shaft. Of course, the connection form between the vehicle frame 1 and the plurality of wheels 4 is not limited to the above form, as long as it can achieve the separation or contact of the corresponding wheel 4 from the ground.

[0051] Optionally, referring to Figure 2, the multiple axles 3 include a first axle 31, a second axle 32, and a third axle 33; the multiple wheels 4 include a first wheel 411 and a second wheel 412 disposed at both ends of the first axle 31, a third wheel 421 and a fourth wheel 422 disposed at both ends of the second axle 32, and a fifth wheel 431 and a sixth wheel 432 disposed at both ends of the third axle 33. Correspondingly, the multiple suspension cylinders 2 include a first suspension cylinder 211, a second suspension cylinder 212, a third suspension cylinder 221, a fourth suspension cylinder 222, a fifth suspension cylinder 231, and a sixth suspension cylinder 232. In some embodiments not shown, the number of axles 3 may be more or less, and correspondingly, the number of wheels 4 and suspension cylinders 2 may also be more or less. Each wheel 4 may be in the form of a single tire or a double tire, and the multiple wheels 4 may be in the form of all single tires, all double tires, or a mixture of single and double tires. For example Figure 1 and Figure 2 in the illustrated embodiment, the wheels 4 at both ends of each axle 3 are in the form of double tires.

[0052] Optionally, the interior of each suspension cylinder 2 is filled with a certain volume of hydraulic oil and nitrogen. The hydraulic oil generates a damping force through the small holes in the suspension cylinder 2 when the suspension bounces up and down, which can achieve the function of shock damping. The compressed nitrogen, as an elastic medium, has a variable stiffness characteristic and can provide a spring force.

[0053] Referring to Figure 4 , in the suspension control system of some embodiments, the load detection device includes a pressure detection device 81, and the pressure detection device 81 is configured to detect the oil pressure of the corresponding suspension cylinder 2 to determine the load borne by the corresponding suspension cylinder 2. The higher the oil pressure, the greater the load borne by the suspension cylinder 2.

[0054] Optionally, the working scenario of the vehicle is described by suspension state information, and the suspension state information includes at least one of the following: whether the wheel 4 fails, whether the wheel 4 touches the ground, and the magnitude of the load borne by the suspension cylinder 2 corresponding to the wheel 4. The failure of the wheel 4 may be, for example, a flat tire or a blowout of the tire of the wheel 4.

[0055] In the suspension control system provided by the embodiments of the present disclosure, the multiple wheels 4, the multiple suspension cylinders 2, and the multiple load detection devices are correspondingly arranged. Each wheel 4 can be independently driven by the corresponding suspension cylinder 2 to move closer to or away from the top of the vehicle frame 1, so as to leave the ground or touch the ground. And the load borne by the suspension cylinder 2 corresponding to each wheel 4 can be separately obtained by the load detection device. The suspension control system can determine whether to drive the wheel 4 to move by the corresponding suspension cylinder 2 to make the wheel 4 leave the ground or touch the ground according to the usage state of each wheel 4 and the load condition of the suspension cylinder 2 corresponding to each wheel 4.

[0056] It can be seen that the suspension control system provided by the embodiments of the present disclosure can, when a tire has a flat tire, a blowout or other failures, separately lift the corresponding wheel 4 off the ground, enabling the vehicle to meet the conditions for normal driving. Therefore, it can reduce the adverse effects of complex environments such as mining area conditions on the working efficiency of the vehicle; or when the vehicle is in an unloaded or lightly loaded state, actively lift some wheels 4 off the ground, thereby reducing the driving resistance under complex environments such as mining area conditions, reducing tire wear, and lowering the economic cost.

[0057] Referring to Figure 4 , in the suspension control system of some embodiments, it includes a plurality of accumulators 76 corresponding to a plurality of suspension cylinders 2, and each accumulator 76 is selectively communicable or disconnectable with the corresponding suspension cylinder 2.

[0058] Optionally, referring to Figure 4 , each accumulator 76 is selectively communicable or disconnectable with the rod chamber of the corresponding suspension cylinder 2. In some embodiments not shown, each accumulator 76 is selectively communicable or disconnectable with the rodless chamber of the corresponding suspension cylinder 2.

[0059] In this embodiment, the accumulator 76 can absorb the pulse pressure generated by the road surface in a state of being in fluid communication with the corresponding suspension cylinder 2, thereby realizing the functions of shock absorption and maintaining the system pressure.

[0060] Referring to Figure 4 , in the suspension control system of some embodiments, it includes a plurality of accumulator control valves 75 corresponding to a plurality of suspension cylinders 2. Each accumulator control valve 75 has a first working position and a second working position. In the first working position of the accumulator control valve 75, the suspension cylinder 2 corresponding to the accumulator control valve 75 is in fluid communication with the corresponding accumulator 76. In the second working position of the accumulator control valve 75, the suspension cylinder 2 corresponding to the accumulator control valve 75 is disconnected from the corresponding accumulator 76.

[0061] In this embodiment, by switching the working position of the accumulator control valve 75, the fluid communication or disconnection between the suspension cylinder 2 and the corresponding accumulator 76 can be controlled.

[0062] Referring to Figure 4, in the suspension control system of some embodiments, it includes a plurality of reversing valves 74 corresponding to a plurality of suspension cylinders 2. Each reversing valve 74 has a first working position, a second working position, and a third working position. In the first working position of the reversing valve 74, the rod chamber of the suspension cylinder 2 corresponding to the reversing valve 74 is connected to the oil inlet pipeline, and the rodless chamber is connected to the oil return pipeline. The corresponding suspension cylinder 2 drives the corresponding wheel 4 close to the top of the vehicle frame 1 so that it can be separated from the ground. In the second working position of the reversing valve 74, neither the rod chamber nor the rodless chamber of the suspension cylinder 2 corresponding to the reversing valve 74 is supplied with oil or returns oil. The piston of the corresponding suspension cylinder 2 remains stationary relative to the cylinder block so that the corresponding wheel 4 remains in a state of being separated from the ground or in contact with the ground. In the third working position of the reversing valve 74, the rodless chamber of the suspension cylinder 2 corresponding to the reversing valve 74 is connected to the oil inlet pipeline, and the rod chamber is connected to the oil return pipeline. The corresponding suspension cylinder 2 drives the corresponding wheel 4 away from the top of the vehicle frame 1 so that it can contact the ground.

[0063] In this embodiment, by switching the working position of the reversing valve 74, it is possible to control whether the piston of the suspension cylinder 2 moves relative to the cylinder block and the moving direction, thereby controlling whether the wheel 4 moves relative to the vehicle frame 1 to approach or move away from the ground.

[0064] In the suspension control system of some embodiments, the suspension control system has a first working mode and a second working mode. In the first working mode, the accumulator control valves 75 corresponding to the wheels 4 in contact with the ground are all in the first working position, and the corresponding reversing valves 74 are in the second working position; in the second working mode, at least one accumulator control valve 75 corresponding to the suspension cylinder 2 is in the second working position, and the corresponding reversing valve 74 is in the first working position or the third working position.

[0065] The plurality of accumulator control valves 75 and the plurality of reversing valves 74 corresponding to the plurality of suspension cylinders 2 form a control valve group of the suspension control system. Optionally, the above-mentioned accumulator control valve 75 and reversing valve 74 are solenoid valves, and the control device is communicatively connected to the accumulator control valve 75 and the reversing valve 74 to send control signals for switching the working position or maintaining the working position to the accumulator control valve 75 and the reversing valve 74.

[0066] In this embodiment, when the vehicle is in a normal driving state, the suspension control system can be in the first working mode; when it is necessary to adjust the position of the wheel 4 relative to the vehicle frame 1 and the ground, the suspension control system can be in the second working mode.

[0067] Optionally, referring to Figure 4 , the suspension control system includes a hydraulic oil tank 71, a hydraulic pump 72, and a relief valve 73. The hydraulic oil tank 71 is configured to store hydraulic oil. The hydraulic pump 72 can be, for example, Figure 3In the working motor drive, the working motor is communicatively connected to the control device. The overflow valve 73 is disposed at the outlet end of the hydraulic pump 72 and is configured to maintain a constant pressure in the hydraulic system.

[0068] Optionally, referring to Figure 4 , the reversing valve 74 has an inlet valve port P, an outlet valve port T, a first working oil port A, and a second working oil port B. The inlet valve port P is connected to the oil outlet of the hydraulic pump 72. The outlet valve port T is connected to the hydraulic oil tank 71 through an oil return pipeline. The first working oil port A is connected to the rodless cavity of the suspension cylinder 2, and the second working oil port B is connected to the rod cavity of the suspension cylinder 2. In the first working position of the reversing valve 74, the inlet valve port P is in communication with the first working oil port A, and the outlet valve port T is in communication with the second working oil port B. The rodless cavity of the suspension cylinder 2 is supplied with oil, and the rod cavity discharges oil. In the second working position of the reversing valve 74, neither the rod cavity nor the rodless cavity of the suspension cylinder 2 is supplied with oil or returns oil. In the third working position of the reversing valve 74, the inlet valve port P is in communication with the second working oil port B, and the outlet valve port T is in communication with the first working oil port A. The rod cavity of the reversing valve 74 is supplied with oil, and the rodless cavity discharges oil. Optionally, the reversing valve 74 is a three-position four-way reversing valve with an n-type neutral function.

[0069] In the suspension control system of some embodiments, it includes a plurality of position detection devices. The plurality of position detection devices are correspondingly arranged with the plurality of suspension cylinders 2. Each position detection device is configured to detect the position of the piston of the corresponding suspension cylinder 2 relative to the cylinder block to determine whether the corresponding wheel 4 is off the ground.

[0070] The position detection device can adopt a displacement sensor built in the suspension cylinder to directly detect the position of the piston relative to the cylinder block, or adopt an external travel switch to indirectly obtain the position of the piston relative to the cylinder block through the telescopic length of the piston rod. Optionally, the control device is operably connected to the plurality of position detection devices, so as to determine whether the corresponding wheel 4 is off the ground according to the position of the piston of the suspension cylinder 2 relative to the cylinder block.

[0071] In this embodiment, the detection result of the position detection device can be used as a basis for judging whether the corresponding wheel 4 is in contact with the ground. When the position detection device detects that the position of the piston of the corresponding suspension cylinder 2 relative to the cylinder block reaches the first preset position, it indicates that the corresponding wheel 4 is in a state of contacting the ground. When the position detection device detects that the position of the piston of the corresponding suspension cylinder 2 relative to the cylinder block reaches the second preset position, it indicates that the corresponding wheel 4 has reached the position closest to the top of the vehicle frame 1, and the suspension is in a fully retracted state.

[0072] Some embodiments of the present disclosure provide a vehicle, including the suspension control system provided by the embodiments of the present disclosure.

[0073] The vehicle can be, for example, a mining dump truck. The vehicle provided by the embodiments of the present disclosure has the advantages of the suspension control system provided by the embodiments of the present disclosure.

[0074] Some embodiments of the present disclosure provide a control method for a vehicle provided by the embodiments of the present disclosure, including: determining, according to the working scenario of the vehicle, whether it is necessary to adjust the position of the piston of the suspension cylinder 2 relative to the cylinder block so that the corresponding wheel 4 is lifted off the ground or contacts the ground; determining whether to allow the vehicle to travel according to the load borne by the suspension cylinder 2 corresponding to the wheel 4 in contact with the ground.

[0075] The control method for the vehicle provided by the embodiments of the present disclosure has the advantages of the vehicle provided by the embodiments of the present disclosure. Moreover, this control method can determine whether to allow the vehicle to travel according to the load borne by the suspension cylinder 2 corresponding to the wheel 4 in contact with the ground, so that the vehicle can travel safely.

[0076] In the control method for the vehicle of some embodiments, it includes: if at least one wheel 4 fails, lifting the failed wheel 4 off the ground, and if the loads borne by the suspension cylinders 2 corresponding to the remaining wheels 4 in contact with the ground are all less than or equal to a first preset value, allowing the vehicle to travel.

[0077] In this embodiment, when the vehicle is in the process of traveling, if the tire of a certain wheel 4 has a flat tire, a blowout or other failures, resulting in the inability to use the tire normally and the vehicle cannot continue to travel, the corresponding suspension cylinder 2 can be used to drive the wheel 4 off the ground. At the same time, the load detection devices corresponding to the remaining wheels 4 in contact with the ground detect the hydraulic pressure of their corresponding suspension cylinders 2 and feedback it to the control device. After analysis by the control device, if the loads borne by the remaining suspension cylinders 2 are all less than or equal to the first preset value, the vehicle can continue to travel.

[0078] Optionally, based on Figure 3 and Figure 4According to the control principle shown, the specific implementation steps of the control method in this embodiment are as follows: The control device sends a working instruction to the working motor to drive the hydraulic pump 72 to operate. The hydraulic pump 72 sucks oil from the hydraulic oil tank 71 and transports it to the control valve group. When it is necessary to retract a certain suspension and make the corresponding wheel 4 leave the ground, the control device sends a working signal to the control valve group corresponding to the corresponding suspension cylinder 2. The right position of the reversing valve 74 is energized and switched to the first working position. The oil inlet port P is communicated with the second working port B, and the oil return port T is communicated with the first working port A. At the same time, the accumulator control valve 75 is energized and switched to the second working position, so that the accumulator 76 is disconnected from the rodless cavity of the suspension cylinder 2. At this time, under the action of the hydraulic pump 72, the hydraulic oil flows from the inlet pipeline through the second working port B of the reversing valve 74 into the rodless cavity of the suspension cylinder 2 and pushes the piston rod to move. And the oil in the rodless cavity of the suspension cylinder 2 enters the return oil pipe through the working port A and flows back into the hydraulic oil tank 71. Under the action of the hydraulic oil, the piston rod gradually moves. The position detection device is used to detect the position of the piston rod relative to the cylinder block to determine the displacement of the piston rod. When the second preset position is reached, the control device controls the reversing valve 74 to power off and return to the second working position, and at the same time shuts down the working motor to stop the operation of the hydraulic pump 72. At this time, both the first working port A and the second working port B of the reversing valve 74 are in a closed state, the suspension remains in the retracted state, the corresponding wheel 4 remains in the lifted state and leaves the ground, and the pressure detection device 81 corresponding to the remaining wheels 4 in contact with the ground detects the pressure data in the corresponding suspension cylinder 2 and feeds it back to the control device. After analysis by the control device, if the load borne by the remaining suspension cylinders 2 is less than the first preset value, the vehicle can continue to drive.

[0079] Optionally, before the vehicle travels, the traveling motor corresponding to the wheel 4 that has left the ground is turned off to reduce energy consumption.

[0080] In the control method of the vehicle in some embodiments, it includes: If at least one wheel 4 changes from leaving the ground to contacting the ground, and the loads borne by the suspension cylinders 2 corresponding to the wheels 4 in contact with the ground are all less than or equal to the second preset value, the vehicle is allowed to drive.

[0081] In this embodiment, after the suspension in the retracted state is lowered and the corresponding wheel 4 contacts the ground, it is possible to judge whether the condition for allowing the vehicle to drive is met according to the load magnitudes borne by the suspension cylinders 2 corresponding to the wheels 4 in contact with the ground.

[0082] Optionally, based on Figure 3 and Figure 4According to the control principle shown, the specific implementation steps of the control method in this embodiment are as follows: When it is necessary to lower the suspension in the retracted state, the control device issues a working instruction to the working motor, driving the hydraulic pump 72 to operate. The hydraulic pump 72 sucks oil from the hydraulic oil tank 71 and transports it to the control valve group. The control device issues a signal instruction to the control valve group corresponding to the suspension to be lowered. The left position of the directional control valve 74 in the control valve group is energized and switched to the third working position. The oil inlet port P is connected to the first working oil port A, and the oil return port T is connected to the second working oil port B. The accumulator control valve 75 remains energized and in the off state. Under the action of the hydraulic pump 72, the hydraulic oil flows from the inlet pipeline through the first working oil port A of the directional control valve 74 into the rodless cavity of the suspension cylinder 2 and pushes the piston rod to move. The oil in the rod chamber of the suspension cylinder 2 enters the return oil pipe through the second working oil port B and flows back into the hydraulic oil tank 71. The piston rod gradually moves under the action of the hydraulic oil. The position of the piston rod relative to the cylinder block is detected by the position detection device. When the first preset position is reached, the control device controls the directional control valve 74 to de-energize and return to the second working position. At this time, both the first working oil port A and the second working oil port B of the directional control valve 74 are in the closed state. The working motor is shut down to stop the operation of the working pump, so that the corresponding wheel 4 returns to the state of contacting the ground, and the accumulator control valve 75 is controlled to de-energize and switch to the first working position, so that the accumulator 76 and the rod chamber of the suspension cylinder 2 are in fluid communication. The pressure of each suspension cylinder 2 is detected by the pressure detection device 81 and fed back to the control device. After analysis by the control device, if the load data of each suspension is normal, the vehicle can drive normally.

[0083] Optionally, before the vehicle travels, the traveling motor corresponding to the wheel 4 that is separated from the ground is turned off to reduce energy consumption.

[0084] In the control method of the vehicle in some embodiments, it includes: If all the wheels 4 are in contact with the ground, and the loads borne by the suspension cylinders 2 corresponding to all the wheels 4 are less than or equal to the third preset value, the wheels 4 provided at both ends of at least one axle 3 are all separated from the ground.

[0085] In this embodiment, before the vehicle travels, each load detection device can detect the load borne by the corresponding suspension cylinder 2 and feed it back to the control device. The control device can determine whether the vehicle is in the unloaded or lightly loaded state by analyzing the load magnitudes borne by the suspension cylinders 2. If it is in one of these two states, some of the wheels 4 can be separated from the ground to reduce the driving resistance and tire wear.

[0086] Optionally, based on Figure 3 and Figure 4According to the control principle shown, the specific implementation steps of the control method in this embodiment are as follows: When the loads borne by the suspension cylinders 2 corresponding to the wheels 4 in contact with the ground are all less than or equal to the third preset value, the control device determines that the vehicle is in an unloaded or lightly loaded state. First, a control command is sent to the working motor to drive the hydraulic pump 72 to operate. The hydraulic pump 72 sucks oil from the hydraulic oil tank 71 and transports it to the reversing valve 74. At the same time, the control device sends a control command to the reversing valve 74 corresponding to the wheel 4 that needs to be lifted off the ground. Referring to the method mentioned above, the corresponding suspension is retracted, and the corresponding wheel 4 is maintained in the lifted state and lifted off the ground.

[0087] In the control method of a vehicle in some embodiments, it includes: after all the wheels 4 provided at both ends of at least one axle 3 are lifted off the ground, if the loads borne by the suspension cylinders 2 corresponding to the remaining wheels 4 in contact with the ground are all less than or equal to the fourth preset value, the vehicle is allowed to travel.

[0088] In this embodiment, the control device further detects the load magnitudes borne by the remaining suspensions through the pressure detection device 81. If the detected data are all lower than the fourth preset value, the vehicle can travel normally.

[0089] Optionally, before the vehicle travels, the traveling motors corresponding to the wheels 4 lifted off the ground are turned off to reduce energy consumption.

[0090] The above-mentioned first preset value, second preset value, and fourth preset value can be determined according to the safe load range of the vehicle tires during driving in their corresponding working scenarios, and the third preset value can be determined according to the standards of vehicle light load and no load. Optionally, the first preset value, second preset value, and fourth preset value have the same value.

[0091] In the control method of a vehicle in some embodiments, the suspension control system includes at least three axles 3 arranged along the length direction of the vehicle. Making all the wheels 4 provided at both ends of at least one axle 3 lift off the ground includes: making all the wheels 4 provided at both ends of at least one axle 3 other than the two axles 3 located at both ends in the length direction of the vehicle lift off the ground.

[0092] Optionally, the suspension control system includes three axles 3 arranged along the length direction of the vehicle. Making all the wheels 4 provided at both ends of at least one axle 3 lift off the ground includes: making all the wheels 4 provided at both ends of one axle 3 located at the middle position in the length direction of the vehicle lift off the ground.

[0093] In this embodiment, for a vehicle including at least three axles 3, by making all the wheels 4 provided at both ends of at least one axle 3 other than the two axles 3 located at both ends in the length direction of the vehicle lift off the ground, while reducing the driving resistance and tire wear, the load-bearing stability of the remaining wheels 4 in contact with the ground can be taken into account.

[0094] Some embodiments of the present disclosure provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the control method of the vehicle provided by the embodiments of the present disclosure.

[0095] The computer-readable storage medium provided by the embodiments of the present disclosure stores a program capable of executing the control method provided by the embodiments of the present disclosure, and thus has the advantages of the control method of the vehicle provided by the embodiments of the present disclosure.

[0096] In some embodiments, the above-described control device may be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described in the present disclosure.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present disclosure or perform equivalent replacements for some technical features, and all of them should be covered by the scope of the technical solutions claimed in the present disclosure.

Claims

1. A suspension control system for a vehicle, characterized in that, Comprising: A vehicle frame (1); A plurality of axles (3) connected to the vehicle frame (1); A plurality of wheels (4), with each end of each axle (3) connected to one of the wheels (4); A plurality of suspension cylinders (2) provided corresponding to the plurality of wheels (4), each suspension cylinder (2) being configured to drive the corresponding wheel (4) closer to or farther from the top of the vehicle frame (1) to leave the ground or contact the ground; A plurality of load detection devices provided corresponding to the plurality of suspension cylinders (2) and the plurality of wheels (4), each load detection device being configured to detect the load borne by the corresponding suspension cylinder (2) in a state where the corresponding wheel (4) is in contact with the ground; And A control device operably connected to the plurality of load detection devices and the plurality of suspension cylinders (2), configured to determine whether it is necessary to adjust the position of the piston of the suspension cylinder (2) relative to the cylinder body according to the working scenario of the vehicle, so that the corresponding wheel (4) leaves the ground or contacts the ground.

2. The suspension control system according to claim 1, wherein, Comprising a plurality of accumulators (76) provided corresponding to the plurality of suspension cylinders (2), each accumulator (76) being selectively communicable with or disconnectable from the corresponding suspension cylinder (2).

3. The suspension control system according to claim 2, characterized in that, Comprising a plurality of accumulator control valves (75) provided corresponding to the plurality of suspension cylinders (2), each accumulator control valve (75) having a first working position and a second working position. In the first working position of the accumulator control valve (75), the suspension cylinder (2) corresponding to the accumulator control valve (75) is in fluid communication with the corresponding accumulator (76). In the second working position of the accumulator control valve (75), the suspension cylinder (2) corresponding to the accumulator control valve (75) is disconnected from the corresponding accumulator (76).

4. The suspension control system according to claim 3, characterized in that, Comprising a plurality of reversing valves (74) provided corresponding to the plurality of suspension cylinders (2), each reversing valve (74) having a first working position, a second working position, and a third working position. In the first working position of the reversing valve (74), the rod chamber of the suspension cylinder (2) corresponding to the reversing valve (74) is connected to the oil inlet pipeline, and the rodless chamber is connected to the oil return pipeline, and the corresponding suspension cylinder (2) drives the corresponding wheel (4) closer to the top of the vehicle frame (1) so as to be able to leave the ground. In the second working position of the reversing valve (74), neither the rod chamber nor the rodless chamber of the suspension cylinder (2) corresponding to the reversing valve (74) is supplied with oil or returns oil, and the piston of the corresponding suspension cylinder (2) remains stationary relative to the cylinder body so that the corresponding wheel (4) remains in a state of leaving the ground or contacting the ground. In the third working position of the reversing valve (74), the rodless chamber of the suspension cylinder (2) corresponding to the reversing valve (74) is connected to the oil inlet pipeline, and the rod chamber is connected to the oil return pipeline, and the corresponding suspension cylinder (2) drives the corresponding wheel (4) away from the top of the vehicle frame (1) so as to be able to contact the ground.

5. The suspension control system according to claim 4, characterized in that, The suspension control system has a first working mode and a second working mode, In the first working mode, the accumulator control valves (75) corresponding to the wheels (4) in contact with the ground are all in the first working position, and the corresponding reversing valves (74) are in the second working position; In the second working mode, the accumulator control valves (75) corresponding to at least one of the suspension cylinders (2) are in the second working position, and the corresponding reversing valves (74) are in the first working position or the third working position.

6. The suspension control system according to any one of claims 1 to 5, characterized in that It includes a plurality of position detection devices, which are correspondingly arranged with a plurality of the suspension cylinders (2). Each position detection device is configured to detect the position of the piston of the corresponding suspension cylinder (2) relative to the cylinder block to determine whether the corresponding wheel (4) is off the ground.

7. The suspension control system according to any one of claims 1 to 5, characterized in that, The load detection device includes a pressure detection device (81), which is configured to detect the hydraulic pressure of the corresponding suspension cylinder (2) to determine the load borne by the corresponding suspension cylinder (2).

8. A vehicle, characterized in that, It includes the suspension control system according to any one of claims 1 to 7.

9. A control method for a vehicle according to claim 8, characterized in that, It includes: According to the working scenario of the vehicle, determine whether it is necessary to adjust the position of the piston of the suspension cylinder (2) relative to the cylinder block so that the corresponding wheel (4) is off the ground or in contact with the ground; According to the load borne by the suspension cylinder (2) corresponding to the wheel (4) in contact with the ground, determine whether to allow the vehicle to travel.

10. The control method of a vehicle according to claim 9, characterized in that, It includes: If at least one of the wheels (4) fails, lift the failed wheel (4) off the ground. If the loads borne by the suspension cylinders (2) corresponding to the remaining wheels (4) in contact with the ground are all less than or equal to a first preset value, allow the vehicle to travel.

11. The control method of the vehicle according to claim 9, characterized in that, It includes: If at least one of the wheels (4) changes from being off the ground to being in contact with the ground, and the loads borne by the suspension cylinders (2) corresponding to the wheels (4) in contact with the ground are all less than or equal to a second preset value, allow the vehicle to travel.

12. The control method of a vehicle according to claim 9, wherein, It includes: If all the wheels (4) are in contact with the ground and the loads borne by the suspension cylinders (2) corresponding to all the wheels (4) are all less than or equal to a third preset value, lift the wheels (4) provided at both ends of at least one axle (3) off the ground.

13. The control method of a vehicle according to claim 12, wherein, It includes: After lifting the wheels (4) provided at both ends of at least one axle (3) off the ground, if the loads borne by the suspension cylinders (2) corresponding to the remaining wheels (4) in contact with the ground are all less than or equal to a fourth preset value, allow the vehicle to travel.

14. The control method of a vehicle according to claim 12, wherein, The suspension control system includes at least three axles (3) arranged along the length direction of the vehicle. Lifting the wheels (4) provided at both ends of at least one axle (3) off the ground includes: lifting the wheels (4) provided at both ends of at least one axle (3) other than the two axles (3) located at both ends in the length direction of the vehicle off the ground.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 9 to 14.

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