Automatic centering electro-hydraulic system for vehicle

Abstract

The utility model provides a vehicle automatic centering electro-hydraulic system, and belongs to the technical field of vehicle automatic centering. The system comprises a hydraulic module and an electrical control module. The hydraulic module comprises a closed pump, a walking unit, an open pump and a steering unit. And the closed pump is connected with the walking unit. And the open pump is connected with the steering unit. The electrical control module comprises a swing angle sensor, a signal emitter, a signal receiver and a controller. And the swing angle sensor is arranged in the closed pump. And the swing angle sensor is connected with the controller. And the controller is connected with an electric proportional valve corresponding to the closed pump. And the signal transmitter is arranged on the centering library corresponding to the vehicle loading object. The signal receiver is arranged on a vehicle loading object. And the signal transmitter corresponds to the signal receiver. And the signal receiver is connected with the controller. And the controller is connected with the open pump. According to the invention, automatic and accurate centering control of the vehicle can be realized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle automatic centering, and in particular to a vehicle automatic centering hydraulic-electric system. Background Art

[0002] At present, with the continuous advancement of science and technology, intelligent driving and unmanned driving have become current research hotspots. In the process of developing the automatic driving of unmanned vehicles, when the vehicle is in motion, it is impossible to accurately control the vehicle speed and steering angle, especially when driving special vehicles with multiple axes. The control of the vehicle is more difficult, so it usually leads to the inability to achieve high-precision centering of the vehicle, affecting the driving process and accurate parking. Therefore, a vehicle automatic centering hydraulic-electric system is urgently needed. Utility Model Content

[0003] The disclosed embodiment provides a vehicle automatic centering hydraulic-electric system to solve the problem that the vehicle cannot be automatically and accurately centered.

[0004] In a first aspect, an embodiment of the present disclosure provides a vehicle automatic centering hydraulic-electric system, comprising:

[0005] Hydraulic module and electrical control module.

[0006] The hydraulic module includes: a closed pump, a travel unit, an open pump and a steering unit. The closed pump is connected to the travel unit. The open pump is connected to the steering unit.

[0007] The electrical control module includes: a swing angle sensor, a signal transmitter, a signal receiver and a controller. The swing angle sensor is arranged in the closed pump. The swing angle sensor is connected to the controller. The controller is connected to the electric proportional valve corresponding to the closed pump.

[0008] The signal transmitter is arranged on the centering warehouse corresponding to the vehicle loading object. The signal receiver is arranged on the vehicle loading object. The signal transmitter corresponds to the signal receiver. The signal receiver is connected to the controller. The controller is connected to the open pump.

[0009] In an exemplary embodiment of the present disclosure, the steering unit comprises:

[0010] A plurality of steering motors. The open pumps are connected to the plurality of steering motors respectively. The plurality of steering motors are all connected to the controller.

[0011] In an exemplary embodiment of the present disclosure, the walking unit includes:

[0012] A plurality of travel motors. The closed pumps are connected to the plurality of travel motors respectively. The plurality of travel motors are all connected to the controller.

[0013] In an exemplary embodiment of the present disclosure, the electrical control module further includes:

[0014] A speed sensor is configured to monitor the driving speed of the vehicle and is connected to the controller.

[0015] In an exemplary embodiment of the present disclosure, the vehicle automatic centering hydraulic-electric system further includes:

[0016] Auxiliary modules.

[0017] The auxiliary module includes: a pressure detection unit, a cooling unit, a temperature sensor and an oil tank. The pressure detection unit is configured to monitor the pressure of the oil tank. The pressure detection unit is connected to the controller.

[0018] The temperature sensor is configured to monitor the temperature of the oil tank. The temperature sensor is connected to the controller. The controller is connected to the cooling unit. The cooling unit is configured to cool the oil tank.

[0019] In an exemplary embodiment of the present disclosure, the vehicle automatic centering hydraulic-electric system further includes:

[0020] Braking module: The braking module is connected to the controller.

[0021] In an exemplary embodiment of the present disclosure, the vehicle automatic centering hydraulic-electric system further includes:

[0022] The motor is connected to the closed pump and the open pump respectively.

[0023] The embodiments of the present disclosure provide a vehicle automatic centering hydraulic-electric system with the following beneficial effects:

[0024] First, the vehicle automatic centering hydraulic-electric system provided in this embodiment can provide the vehicle with traveling hydraulic power through the closed traveling hydraulic variable pump, converting kinetic energy into hydraulic energy. According to the monitoring data of the swing angle sensor, the current of the electric proportional valve of the closed pump is controlled, thereby realizing the flow control of the closed pump, thereby controlling the minimum driving speed of the vehicle, and reserving more adjustment time for the automatic centering of the vehicle.

[0025] Second, the vehicle automatic centering hydraulic-electric system provided in this embodiment can determine the offset of the vehicle load based on the data transmitted by the signal transmitter and the signal receiver, and control the open pump through the controller to control the steering of the vehicle, thereby gradually reducing the offset and achieving accurate centering of the vehicle load. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 It is a schematic diagram of the structure of the vehicle automatic centering hydraulic-electric system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to enable people in the technical field to better understand the present solution, the technical solution in the embodiment of the present solution will be clearly described below in conjunction with the drawings in the embodiment of the present solution. Obviously, the described embodiment is an embodiment of a part of the present solution, not all of the embodiments. Based on the embodiments in the present solution, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present solution.

[0029] The term "including" and any other variations in the specification and claims of this solution and the above drawings mean "including but not limited to", and is intended to cover non-exclusive inclusions and is not limited to the examples listed in the text. In addition, the terms "first" and "second" are used to distinguish different objects, not to describe a specific order.

[0030] The following is a detailed description of the implementation of the present disclosure in conjunction with the specific drawings:

[0031] Figure 1 This is a schematic diagram of the structure of a vehicle automatic centering hydraulic-electric system provided by an embodiment of the present disclosure. Figure 1 The vehicle automatic centering hydraulic-electric system 10 comprises:

[0032] A hydraulic module 11 and an electrical control module 12 .

[0033] The hydraulic module 11 includes a closed pump 111 , a travel unit 112 , an open pump 113 , and a steering unit 114 . The closed pump 111 is connected to the travel unit 112 , and the open pump 113 is connected to the steering unit 114 .

[0034] The electrical control module 12 includes: a swing angle sensor 121, a signal transmitter 122, a signal receiver 123 and a controller 124. The swing angle sensor 121 is disposed in the closed pump 111. The swing angle sensor 121 is connected to the controller 124. The controller 124 is connected to the electric proportional valve 1111 corresponding to the closed pump 111.

[0035] The signal transmitter 122 is disposed on the centering warehouse 21 corresponding to the vehicle load 20. The signal receiver 123 is disposed on the vehicle load 20. The signal transmitter 122 corresponds to the signal receiver 123. The signal receiver 123 is connected to the controller 124. The controller 124 is connected to the open pump 113.

[0036] In this embodiment, the vehicle automatic centering hydraulic-electric system 10 includes: a hydraulic module 11 and an electrical control module 12. The hydraulic module 11 includes: a closed pump 111, a travel unit 112, an open pump 113 and a steering unit 114. Among them, the closed pump 111 is a travel hydraulic variable pump, which is used to provide travel hydraulic power for the vehicle and convert kinetic energy into hydraulic energy. The closed pump 111 is connected to the travel unit 112, and the travel unit 112 is a control unit that adjusts the vehicle's driving speed according to the hydraulic changes of the closed pump 111. The open pump 113 is a steering hydraulic variable pump, which is used to provide steering hydraulic power for the vehicle and convert kinetic energy into hydraulic energy. The open pump 113 is connected to the steering unit 114, and the steering unit 114 is a control unit that controls the steering of the vehicle according to the hydraulic changes of the open pump 113.

[0037] The electrical control module 12 includes: a swing angle sensor 121, a signal transmitter 122, a signal receiver 123 and a controller 124. The swing angle sensor 121 is a sensor for sensing the tilt angle and roll speed of the vehicle. The controller 124 is the command center of the computer, responsible for determining the order of executing the program and giving the operation control commands required by each component when executing the instruction. The controller 124 can be a PLC (Programmable Logic Controller), which is a digital logic controller that can work stably in a complex environment. The swing angle sensor 121 is arranged in the closed pump 111 and connected to the controller 124. The controller 124 is connected to the electric proportional valve 1111 corresponding to the closed pump 111. The controller 124 controls the current size of the electric proportional valve 1111 corresponding to the closed pump 111 according to the monitoring data of the swing angle sensor 121, thereby controlling the displacement size of the closed pump 111.

[0038] The signal transmitter 122 is a centering reservoir laser pulse signal transmitter, which is arranged on the centering reservoir 21 corresponding to the vehicle load 20, and is used to receive the real-time position information of the vehicle load. The signal receiver 123 is a laser pulse signal receiver, which is arranged on the vehicle load 20, and is used to monitor the actual position information of the vehicle load, and the signal transmitter 122 corresponds to the signal receiver 123, and the signal transmitter 122 sends the real-time position information of the vehicle load to the signal receiver 123. The signal receiver 123 is connected to the controller 124, and the signal receiver 123 transmits the received real-time position information and the monitored actual position information to the controller 124, and the controller 124 analyzes the real-time position information and the actual position information to obtain the offset of the vehicle load. The controller 124 is connected to the open pump 113, and the controller 124 controls the displacement of the open pump 113 according to the analysis result, thereby realizing the steering control of the vehicle.

[0039] It can be concluded from the above that the present embodiment can control the displacement of the closed pump through the controller 124 according to the monitoring data of the swing angle sensor 121, thereby realizing the control of the minimum driving speed of the vehicle. The controller 124 analyzes the offset of the vehicle load according to the monitoring data of the signal transmitter 122 and the signal receiver 123, thereby realizing the displacement control of the open pump 112, and then controlling the steering of the vehicle, and realizing the automatic and precise centering of the vehicle.

[0040] In one embodiment of the present disclosure, the steering unit 114 includes:

[0041] Multiple steering motors 1141. The open pump 113 is connected to the multiple steering motors 1141 respectively. The multiple steering motors 1141 are all connected to the controller 124.

[0042] In this embodiment, the steering unit 114 includes: a plurality of steering motors 1141. The plurality of steering motors 1141 are a plurality of hydraulic motors through which the output flow of the open pump 113 flows, and are the power source of the hydraulic-electric system. The open pump 113 is respectively connected to the plurality of steering motors 1141, and the flow output by the open pump 113 flows through the steering multi-way valve, thereby being distributed to each steering motor 1141. The plurality of steering motors 1141 convert hydraulic energy into kinetic energy, thereby realizing the steering function of the vehicle. The plurality of steering motors 1141 are all connected to the controller 124, and each steering motor 1141 is equipped with a steering encoder, which transmits the steering information of the vehicle to the controller 124. The controller 124 analyzes the steering speed and steering position of the vehicle according to the steering information of each steering motor 1141, realizes the steering adjustment of the vehicle, controls the displacement of the open pump 113, forms a control closed loop, and gradually adjusts the steering process of the vehicle.

[0043] From the above, it can be concluded that the open pump 113 in this embodiment can control multiple steering motors 1141 by outputting flow to realize the steering function of the vehicle. The controller 124 controls the displacement of the open pump 113 according to the steering information monitored by the steering encoder, thereby forming a control closed loop, automatically realizing gradual adjustment of the vehicle steering process, thereby improving the automatic centering accuracy of the unmanned vehicle.

[0044] In one embodiment of the present disclosure, the walking unit 112 includes:

[0045] Multiple travel motors 1121. The closed pump 111 is connected to the multiple travel motors 1121 respectively. The multiple travel motors 1121 are all connected to the controller 124.

[0046] In this embodiment, the travel unit 112 includes: a plurality of travel motors 1121. The plurality of travel motors 1121 are a plurality of hydraulic motors through which the output flow of the closed pump 112 flows. The closed pump 111 is respectively connected to the plurality of travel motors 1121. The output flow of the closed pump 111 flows through the plurality of travel motors 1121. The plurality of travel motors 1121 convert hydraulic energy into kinetic energy to realize the travel function of the vehicle. The plurality of travel motors 1121 are all connected to the controller 124. The controller 124 controls the current in the electromagnetic coils of the plurality of travel motors 1121 according to the travel speed of the vehicle, thereby controlling the displacement of the closed pump 111, forming a closed-loop control, and gradually adjusting the travel speed of the vehicle.

[0047] From the above, it can be concluded that the output flow of the closed pump 111 in this embodiment can control multiple travel motors 1121 to realize the walking function. The controller 124 reversely controls the displacement of the closed pump 111 through multiple travel motors 1121, thereby realizing a closed loop, realizing continuous adjustment of the vehicle's driving speed, and controlling the minimum driving speed.

[0048] In one embodiment of the present disclosure, the electrical control module 12 further includes:

[0049] Speed ​​sensor 125 . The speed sensor 125 is configured to monitor the driving speed of the vehicle. The speed sensor 125 is connected to the controller 124 .

[0050] In this embodiment, the electrical control module 12 further includes: a speed sensor 125. The speed sensor 125 is an electronic instrument for detecting the moving speed of an object or device, and the speed sensor 125 is used to monitor the driving speed of the vehicle. The speed sensor 125 is connected to the controller 124, and the controller 124 analyzes the current driving speed of the vehicle according to the monitoring data of the speed sensor 125, thereby controlling the current size in the electromagnetic coils of the multiple travel motors 1121, and further controlling the displacement of the closed pump 111.

[0051] It can be concluded from the above that the speed sensor 125 provided in this embodiment can monitor the driving speed of the vehicle, and through the analysis of the controller 124, timely control the vehicle slippage and idling problems, thereby improving the safety of unmanned driving technology.

[0052] In one embodiment of the present disclosure, the vehicle automatic centering hydraulic-electric system 10 further includes:

[0053] Auxiliary module 13.

[0054] The auxiliary module 13 includes: a pressure detection unit 131, a cooling unit 132, a temperature sensor 133 and an oil tank 134. The pressure detection unit 131 is configured to monitor the pressure of the oil tank 134. The pressure detection unit 131 is connected to the controller 124.

[0055] The temperature sensor 133 is configured to monitor the temperature of the oil tank 134. The temperature sensor 133 is connected to the controller 124. The controller 124 is connected to the cooling unit 132. The cooling unit 132 is configured to cool the oil tank 134.

[0056] In this embodiment, the vehicle automatic centering hydraulic and electrical system 10 also includes: an auxiliary module 13. The auxiliary module 13 includes: a pressure detection unit 131, a cooling unit 132, a temperature sensor 133 and a fuel tank 134. Among them, the pressure detection unit 131 is used to monitor the pressure value in the fuel tank 134 to determine the remaining oil in the fuel tank 134. The pressure detection unit 131 is connected to the controller 124, and the pressure detection unit 131 transmits the monitoring result to the controller 124. The controller 124 analyzes the monitoring result to determine the current remaining oil in the fuel tank 134, and issues an oil reminder in time when the remaining oil is low. In this embodiment, the cooling unit 132 is used to cool the fuel tank 134 to prevent the fuel tank 134 from being overheated and causing safety accidents. The temperature sensor 133 is a sensor that converts a temperature variable into a transmittable standardized output signal, and is used to monitor the temperature value of the fuel tank 134. The temperature sensor 133 is connected to the controller 124, and the temperature sensor 133 transmits the monitoring result to the controller 124, and the controller 124 determines the current temperature of the oil tank 134. The controller 124 is connected to the cooling unit 132, and when the monitoring value received by the controller 124 from the temperature sensor 133 is too high, the controller 124 controls the cooling unit 132 to cool the oil tank 134.

[0057] It can be concluded from the above that this embodiment adopts protective measures for the fuel tank 134 by setting the auxiliary module 13. By analyzing the monitoring value of the pressure detection unit 131, the remaining fuel in the fuel tank 134 is judged to prevent the low fuel level from affecting the driving process of the vehicle. By analyzing the monitoring value of the temperature sensor 133, the temperature of the fuel tank 134 is judged to prevent the fuel tank 134 from being damaged by excessive temperature and causing driving safety accidents.

[0058] In one embodiment of the present disclosure, the vehicle automatic centering hydraulic-electric system 10 further includes:

[0059] Braking module 14 The braking module 14 is connected to the controller 124 .

[0060] In this embodiment, the vehicle automatic centering hydraulic-electric system 10 also includes: a braking module 14. The braking module 14 is used to realize the braking function of the vehicle, and the braking module 14 is divided into three braking modes, namely: service braking, parking braking and emergency braking. Service braking refers to the process of controlling the natural deceleration and stopping of the vehicle during normal driving of the vehicle; parking braking refers to applying a resistance to the vehicle when the vehicle is in a stationary state to prevent the vehicle from slipping; emergency braking refers to the need to urgently control the vehicle to stop due to emergencies during the normal driving of the vehicle, and stop the vehicle within the shortest distance. The braking module 14 is connected to the controller 124. When the vehicle needs to trigger different braking operations during driving, the controller 124 controls the braking module 14 to implement the corresponding braking process.

[0061] It can be concluded from the above that, in the present embodiment, when encountering different situations, the controller 124 can control the braking module 14 to implement different modes of braking processes, thereby ensuring the safety of the vehicle driving process.

[0062] In one embodiment of the present disclosure, the vehicle automatic centering hydraulic-electric system 10 further includes:

[0063] Motor 15. Motor 15 is connected to closed pump 111 and open pump 113 respectively.

[0064] In this embodiment, the vehicle automatic centering hydraulic-electric system 10 further includes: a motor 15. The motor 15 is an electromagnetic device that realizes the conversion or transmission of electric energy according to the law of electromagnetic induction, and is used to input a power source for the hydraulic-electric system. Its input power matches the power required by the hydraulic-electric system, and the motor 15 can convert electric energy into kinetic energy. The motor 15 is connected to the closed pump 111 and the open pump 113 respectively, and is used to provide kinetic energy for the closed pump 111 and the open pump 113 to ensure the normal operation of the closed pump 111 and the open pump 113.

[0065] It can be concluded from the above that the present embodiment can provide a sufficient power source for the entire hydraulic-electric system through the motor 15 to ensure the normal operation of the closed pump 111 and the open pump 113 .

[0066] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A vehicle automatic centering hydraulic and electrical system, characterized in that: include: Hydraulic module and electrical control module; The hydraulic module includes: a closed pump, a travel unit, an open pump and a steering unit; the closed pump is connected to the travel unit; the open pump is connected to the steering unit; The electrical control module includes: a swing angle sensor, a signal transmitter, a signal receiver and a controller; the swing angle sensor is arranged in the closed pump; the swing angle sensor is connected to the controller; the controller is connected to the electric proportional valve corresponding to the closed pump; The signal transmitter is arranged on the centering warehouse corresponding to the vehicle load; the signal receiver is arranged on the vehicle load; the signal transmitter corresponds to the signal receiver; the signal receiver is connected to the controller; and the controller is connected to the open pump.

2. The vehicle automatic centering hydraulic-electric system according to claim 1, characterized in that: The steering unit comprises: A plurality of steering motors; the open pumps are connected to the plurality of steering motors respectively; and the plurality of steering motors are all connected to the controller.

3. The vehicle automatic centering hydraulic-electric system according to claim 1, characterized in that: The walking unit comprises: A plurality of travel motors; the closed pumps are connected to the plurality of travel motors respectively; and the plurality of travel motors are all connected to the controller.

4. The vehicle automatic centering hydraulic-electric system according to claim 1, characterized in that: The electrical control module further comprises: A speed sensor; the speed sensor is configured to monitor the driving speed of the vehicle; the speed sensor is connected to the controller.

5. The vehicle automatic centering hydraulic-electric system according to claim 1, characterized in that: Also includes: Auxiliary modules; The auxiliary module comprises: a pressure detection unit, a cooling unit, a temperature sensor and an oil tank; the pressure detection unit is configured to monitor the pressure of the oil tank; the pressure detection unit is connected to the controller; The temperature sensor is configured to monitor the temperature of the oil tank; the temperature sensor is connected to the controller; the controller is connected to the cooling unit; and the cooling unit is configured to cool the oil tank.

6. The vehicle automatic centering hydraulic-electric system according to claim 1, characterized in that: Also includes: Braking module; The braking module is connected to the controller.

7. The vehicle automatic centering hydraulic-electric system according to claim 1, characterized in that: Also includes: Motor; the motor is connected to the closed pump and the open pump respectively.

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