AGV dual-mode service brake control circuit based on VCU

Abstract

The utility model discloses a VCU-based AGV (Automatic Guided Vehicle) dual-mode service brake control circuit, which particularly relates to the technical field of AGVs and comprises a lithium battery assembly, an AGV electric control system, an AGV electric element, a VCU controller and a service brake, the positive electrode of the lithium battery assembly is connected with the VCC end of the VCU controller through the DC-DC converter. The positive electrode of the lithium battery assembly is connected with the VCC end of the service brake through the DC-DC converter and the fuse box. The service brake is connected with a pressure sensor used for feeding back the actual service brake pressure value. Through the arrangement of the VCU controller, the service brake, the pressure sensor, the AGV electric control system, the exhaust switch, the manual and automatic switching switch, the CAN detection switch, the brake pedal device, the emergency power-off switch, the emergency power-off relay and the like, the AGV can receive instructions issued by the VCU in an automatic mode to carry out service braking, and can also carry out manual driving in a manual driving mode. And an operator steps on the brake pedal device to output a brake analog quantity signal to the VCU controller to realize service brake.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV, and more specifically, to an AGV dual-mode service brake control circuit based on a VCU. Background Art

[0002] It is known that in industrial vehicles, in order to adapt to different working conditions and application scenarios, some AGVs not only need to automatically complete cargo handling and stacking functions through program instructions, but also need to have the function of manual driving; among them, existing dual-mode AGVs require a separate set of service braking solutions in automatic mode, such as receiving instructions from the VCU through the brake valve to achieve automatic braking function; in manual mode, it is necessary to manually trigger the mechanical master cylinder with the foot, just like ordinary forklifts, to trigger the service brake.

[0003] However, in actual use, due to the two sets of braking schemes in the AGV dual mode, not only does it occupy the AGV structure space, but the braking in both manual and automatic modes has slow response, poor effect, and complex switching. Therefore, a VCU-based AGV dual-mode service brake control circuit is proposed as a further improvement. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an AGV dual-mode service brake control circuit based on a VCU to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a VCU-based AGV dual-mode service brake control circuit, comprising a lithium battery assembly, an AGV electronic control system, and an AGV electrical component, wherein the positive electrode of the lithium battery assembly is connected to the VCC terminal of the AGV electronic control system and the positive electrode of the AGV electrical component, respectively; the negative electrode of the lithium battery assembly is connected to the negative electrode of the AGV electrical component; the circuit also includes a VCU controller and a service brake;

[0006] The positive electrode of the lithium battery assembly is connected to the VCC terminal of the VCU controller through a DC-DC converter. The positive electrode of the lithium battery assembly is connected to the VCC terminal of the service brake through the DC-DC converter and the fuse box. The service brake is connected to a pressure sensor for feedback of the actual service brake pressure value.

[0007] The VCU controller is connected to a control switch for turning on the exhaust of the service brake, for turning on the CAN detection, and for switching between the manual braking mode and the automatic braking mode;

[0008] The VCU controller is connected to a brake pedal device for manual braking;

[0009] The AGV electronic control system is connected to the VCU controller and the service brake respectively through the CAN communication network;

[0010] The negative electrode of the VCU controller and the negative electrode of the service brake are both connected to the negative electrode of the lithium battery assembly.

[0011] Furthermore, the positive electrode, signal port and negative electrode of the pressure sensor are respectively connected to the PRS_VS terminal, PRS terminal and PRS_GND terminal of the service brake.

[0012] Furthermore, the control switch includes: an exhaust switch for turning on exhaust of the service brake, a CAN detection switch for turning on CAN detection, and a manual-automatic switching switch for switching between manual braking mode and automatic braking mode;

[0013] The DI1 terminal of the VCU controller is connected to the VCC terminal of the VCU controller through the exhaust switch;

[0014] The DI2 terminal of the VCU controller is connected to the VCC terminal of the VCU controller through the CAN detection switch;

[0015] The DI3 terminal of the VCU controller is connected to the VCC terminal of the VCU controller through a manual-automatic switching switch.

[0016] Furthermore, the brake pedal device includes: a pedal position switch, a pedal position detection device and a pedal sensor;

[0017] The COM terminal of the VCU controller is connected to the DI4 terminal of the VCU controller through the pedal position switch, and the signal output terminals of the pedal position detection device and the pedal sensor are both connected to the AI1 terminal of the VCU controller;

[0018] The VCC terminal of the VCU controller is connected to the VCC terminal of the brake pedal device, and the AGND terminal of the VCU controller is connected to the GND terminal of the brake pedal device.

[0019] Furthermore, the circuit further comprises: an emergency power-off relay and an emergency power-off switch;

[0020] The emergency power-off relay comprises: an emergency power-off relay coil and an emergency power-off relay switch;

[0021] The emergency power-off signal terminal of the VCU controller is connected to one end of the emergency power-off switch through the emergency power-off relay coil, and the other end of the emergency power-off switch is connected to the power supply pin end of the VCU controller;

[0022] The VCC terminal of the VCU controller is connected to the hardware emergency stop port of the service brake through an emergency power-off relay switch.

[0023] Furthermore, the VCC terminal of the service brake is connected to the IG ignition signal terminal of the service brake.

[0024] The technical effects and advantages of this utility model are:

[0025] Compared with the existing technology, by setting up a VCU controller, service brake, pressure sensor, lithium battery assembly, AGV electronic control system, AGV electrical components, DC-DC converter, fuse box, exhaust switch, manual-automatic switch, CAN detection switch, brake pedal device, emergency power-off switch and emergency power-off relay, the AGV can receive instructions issued by the VCU to perform service braking in automatic mode, and in manual driving mode, the operator steps on the brake pedal device to output a braking analog signal to the VCU controller to achieve service braking; because the two modes can be switched freely without interfering with each other, the braking response is fast and the braking effect is good; therefore, the dual-mode AGV can control the service brake through the VCU controller in both automatic mode and manual mode for precise braking and release of the service brake, which is safe, reliable, cost-effective, simple to operate and highly accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0027] The accompanying drawings are:

[0028] 1. Lithium battery assembly; 2. AGV electronic control system; 3. AGV electrical components; 4. VCU controller;

[0029] 5. Service brake; 6. DC-DC converter; 7. Fuse box; 8. Pressure sensor;

[0030] 9. Control switch; 91. Exhaust switch; 92. CAN detection switch; 93. Manual-automatic switch;

[0031] 10. Brake pedal assembly;

[0032] 101. Pedal position switch; 102. Pedal position detection device; 103. Pedal sensor;

[0033] 11. CAN communication network;

[0034] 12. Emergency power off relay;

[0035] 121. Emergency power-off relay coil; 122. Emergency power-off relay switch;

[0036] 13. Emergency power off switch. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] As attached Figure 1 The VCU-based AGV dual-mode service brake control circuit shown includes a lithium battery assembly 1, an AGV electronic control system 2, and an AGV electrical component 3. The positive electrode of the lithium battery assembly 1 is connected to the VCC terminal of the AGV electronic control system 2 and the positive electrode of the AGV electrical component 3, respectively; the negative electrode of the lithium battery assembly 1 is connected to the negative electrode of the AGV electrical component 3. The circuit also includes a VCU controller 4 and a service brake 5.

[0039] The positive electrode of the lithium battery assembly 1 is connected to the VCC terminal of the VCU controller 4 through the DC-DC converter 6. The positive electrode of the lithium battery assembly 1 is also connected to the VCC terminal of the service brake 5 through the DC-DC converter 6 and the fuse box 7. The service brake 5 is connected to a pressure sensor 8 for feedback of the actual service brake pressure value.

[0040] The pressure sensor 8 in the service brake 5 can obtain the actual value of the service brake pressure and feed it back to the VCU controller 4 via the CAN communication network 11; the VCU controller 4 compares and compensates the actual pressure value fed back by the pressure sensor 8 with the target value to achieve closed-loop control of the service brake intensity;

[0041] The VCU controller 4 is connected to a control switch 9 for opening the service brake 5 to vent, for opening the CAN detection, and for switching between the manual braking mode and the automatic braking mode;

[0042] The VCU controller 4 is connected to a brake pedal device 10 for manual braking;

[0043] The AGV electronic control system 2 is connected to the VCU controller 4 and the service brake 5 via the CAN communication network 11;

[0044] The VCU controller 4 and the service brake 5 communicate via the CAN communication network 11. The service brake 5 receives the brake pressure command issued by the VCU controller 4 and feeds back its own operating status and the brake pressure obtained by the pressure sensor 8 to the VCU controller 4.

[0045] The negative electrode of the VCU controller 4 and the negative electrode of the service brake 5 are both connected to the negative electrode of the lithium battery assembly 1 .

[0046] In a preferred embodiment, as shown in the attached Figure 1As shown, the positive electrode, signal port and negative electrode of the pressure sensor 8 are connected to the PRS_VS terminal, PRS terminal and PRS_GND terminal of the service brake 5 respectively.

[0047] In a preferred embodiment, as shown in the attached Figure 1 As shown, the control switch 9 includes: an exhaust switch 91 for starting the exhaust of the service brake 5, a CAN detection switch 92 for starting the CAN detection, and a manual-automatic switching switch 93 for switching between the manual braking mode and the automatic braking mode;

[0048] The DI1 terminal of the VCU controller 4 is connected to the VCC terminal of the VCU controller 4 through the exhaust switch 91;

[0049] If the exhaust switch 91 is closed, the DI1 terminal of the VCU controller 4 receives a high-level signal 1, and the VCU controller 4 issues an exhaust command to the service brake 5, and the service brake 5 starts to exhaust bubbles. After observing that no bubbles are discharged from the service brake 5, the exhaust switch 91 is opened, and the signal at the DI1 terminal of the VCU controller 4 changes from 1 to 0, thereby completing the exhaust of the service brake 5 of the service brake system. Then, the service brake can be operated in manual mode or automatic mode at this time.

[0050] The DI2 terminal of the VCU controller 4 is connected to the VCC terminal of the VCU controller 4 through the CAN detection switch 92;

[0051] After the vehicle is powered on, the CAN detection switch 92 is closed, and the DI2 terminal on the VCU controller 4 receives a high-level signal. At this time, the VCU controller 4 and the service brake 5 communicate through the CAN communication network 11;

[0052] The DI3 terminal of the VCU controller 4 is connected to the VCC terminal of the VCU controller 4 through the manual-automatic switching switch 93.

[0053] Among them, when the manual-automatic switching switch 93 is off, the DI3 terminal of the VCU controller 4 receives a low-level signal 0, and the AGV is in manual braking mode. Similarly, if the manual-automatic switching switch 93 is closed, the DI3 terminal of the VCU controller 4 receives a high-level signal 1, and the AGV is in automatic braking mode.

[0054] In a preferred embodiment, as shown in the attached Figure 1 As shown, the brake pedal device 10 includes: a pedal position switch 101, a pedal position detection device 102 and a pedal sensor 103;

[0055] The COM terminal of the VCU controller 4 is connected to the DI4 terminal of the VCU controller 4 through the pedal position switch 101, and the signal output terminals of the pedal position detection device 102 and the pedal sensor 103 are both connected to the AI1 terminal of the VCU controller 4;

[0056] A VCC terminal of the VCU controller 4 is connected to a VCC terminal of the brake pedal device 10 , and an AGND terminal of the VCU controller 4 is connected to a GND terminal of the brake pedal device 10 .

[0057] The power supply of the pedal position detection device 102 and the pedal sensor 103 is integrated with the power supply of the brake pedal device 10; that is, the VCC terminal of the VCU controller 4 can supply power to the pedal position detection device 102 and the pedal sensor 103;

[0058] Among them, the pedal position detection device 102 and the pedal sensor 103 respectively obtain the real position and pressure signals of the brake pedal device 10;

[0059] The pressure sensor 8 in the service brake 5 can obtain the actual value of the service brake pressure and feed it back to the VCU controller 4 through CAN communication. The VCU controller 4 compares and compensates the actual pressure value fed back by the pressure sensor 8 with the target value to achieve closed-loop control of the service brake intensity.

[0060] In a preferred embodiment, as shown in the attached Figure 1 As shown, the circuit further includes: an emergency power-off relay 12 and an emergency power-off switch 13;

[0061] The emergency power-off relay 12 includes: an emergency power-off relay coil 121 and an emergency power-off relay switch 122;

[0062] The emergency power-off signal terminal of the VCU controller 4 is connected to one end of the emergency power-off switch 13 through the emergency power-off relay coil 121, and the other end of the emergency power-off switch 13 is connected to the power supply pin terminal of the VCU controller 4;

[0063] The VCC terminal of the VCU controller 4 is connected to the hardware emergency stop port of the service brake 5 through the emergency power-off relay switch 122 .

[0064] Among them, no matter it is manual braking mode or automatic braking mode, when the vehicle fails or is in an emergency, if the emergency power-off switch 13 is pressed, the emergency power-off switch 13 will disconnect the circuit, and the emergency power-off relay coil 121 will lose power, so that the emergency power-off relay switch 122 will change from a normally open contact to a normally closed contact, and the hardware emergency stop port of the service brake 5 will be connected to the VCC end of the VCU controller 4 to obtain a high-level signal, which will directly trigger the service brake 5 to perform emergency service braking; at the same time, since the emergency power-off switch 13 disconnects the circuit, the signal received by the emergency power-off signal end of the VCU controller 4 changes from 1 to 0, triggering the VCU controller 4 to send an emergency braking command to the service brake 5 through the CAN communication network 11, and at the same time triggering the service brake under emergency conditions; thereby achieving double insurance in an emergency state.

[0065] In a preferred embodiment, as shown in the attached Figure 1 As shown, the VCC terminal of the service brake 5 is connected to the IG ignition signal terminal of the service brake 5.

[0066] Working principle of this utility model:

[0067] During use, if in manual braking mode, when the vehicle encounters a condition requiring braking during normal driving, the operator steps on the brake pedal device 10, triggering the pedal position switch 101, i.e., closing the pedal position switch 101, and the VCU controller 4 receives a brake enable signal; the pedal position detection device 102 and the pedal sensor 103 obtain the actual position and pressure signals of the brake pedal device 10, and convert them into a brake pedal analog signal, i.e., the DI4 terminal of the VCU controller 4 receives a high-level signal, the AI1 terminal of the VCU controller 4 receives the specific value of the pedal braking intensity and converts the analog signal into a brake pressure command of 3-5 MPa, which is then sent to the service brake 5, triggering the vehicle's service braking;

[0068] If the brakes are to be released, the operator releases the brake pedal device 10. At this time, the pedal position switch 101 is disconnected, the brake pedal enable signal is 0, the pedal position detection device 102 and the pedal sensor 103 will obtain the actual position and pressure signals of the brake pedal device 10, both of which are 0, the DI4 terminal of the VCU controller 4 becomes a low level 0, and the AI1 terminal of the VCU controller 4 has no analog input; at this time, the pressure sent by the VCU controller 4 to the service brake 5 is 0, the brakes are released, and the vehicle returns to normal driving state.

[0069] If in automatic braking mode, when the AGV encounters a working condition requiring braking during normal driving, the VCU controller 4 generates a brake pressure command of 3-5 MPa inside the VCU based on the simulated brake pedal enable signal and the analog signal of the on-site working condition, and sends the brake pressure command of 3-5 MPa to the service brake 5 through the CAN communication network 11. The service brake 5 receives the target command and performs service braking;

[0070] If the AGV needs to release the service brake to resume normal driving, the VCU controller 4 sends a 0 MPa pressure command to the service brake 5 to release the service brake.

[0071] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0072] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A VCU-based AGV dual-mode service brake control circuit, comprising a lithium battery assembly (1), an AGV electronic control system (2), and an AGV electrical component (3), wherein the positive electrode of the lithium battery assembly (1) is connected to the VCC terminal of the AGV electronic control system (2) and the positive electrode of the AGV electrical component (3), respectively; and the negative electrode of the lithium battery assembly (1) is connected to the negative electrode of the AGV electrical component (3); and characterized in that: The circuit further comprises: a VCU controller (4) and a service brake (5); The positive electrode of the lithium battery assembly (1) is connected to the VCC terminal of the VCU controller (4) through a DC-DC converter (6), and the positive electrode of the lithium battery assembly (1) is connected to the VCC terminal of the service brake (5) through the DC-DC converter (6) and the fuse box (7); the service brake (5) is connected to a pressure sensor (8) for feeding back the actual service brake pressure value; The VCU controller (4) is connected to a control switch (9) for activating the service brake (5) for exhaust, for activating CAN detection, and for switching between a manual braking mode and an automatic braking mode; The VCU controller (4) is connected to a brake pedal device (10) for manual braking; The AGV electronic control system (2) is connected to the VCU controller (4) and the service brake (5) respectively via a CAN communication network (11); The negative electrode of the VCU controller (4) and the negative electrode of the service brake (5) are both connected to the negative electrode of the lithium battery assembly (1).

2. The VCU-based AGV dual-mode service brake control circuit according to claim 1, characterized in that: The positive electrode, signal port and negative electrode of the pressure sensor (8) are respectively connected to the PRS_VS terminal, PRS terminal and PRS_GND terminal of the service brake (5).

3. The VCU-based AGV dual-mode service brake control circuit according to claim 1, characterized in that: The control switch (9) includes: an exhaust switch (91) for activating exhaust of the service brake (5), a CAN detection switch (92) for activating CAN detection, and a manual-automatic switching switch (93) for switching between a manual braking mode and an automatic braking mode; The DI 1 terminal of the VCU controller (4) is connected to the VCC terminal of the VCU controller (4) through the exhaust switch (91); The DI 2 terminal of the VCU controller (4) is connected to the VCC terminal of the VCU controller (4) via a CAN detection switch (92); The DI 3 terminal of the VCU controller (4) is connected to the VCC terminal of the VCU controller (4) via a manual-automatic switching switch (93).

4. The VCU-based AGV dual-mode service brake control circuit according to claim 1, characterized in that: The brake pedal device (10) comprises: a pedal position switch (101), a pedal position detection device (102) and a pedal sensor (103); The COM terminal of the VCU controller (4) is connected to the DI4 terminal of the VCU controller (4) via the pedal position switch (101), and the signal output terminals of the pedal position detection device (102) and the pedal sensor (103) are both connected to the AI1 terminal of the VCU controller (4); The VCC terminal of the VCU controller (4) is connected to the VCC terminal of the brake pedal device (10), and the AGND terminal of the VCU controller (4) is connected to the GND terminal of the brake pedal device (10).

5. The VCU-based AGV dual-mode service brake control circuit according to claim 1, characterized in that: The circuit further comprises: an emergency power-off relay (12) and an emergency power-off switch (13); The emergency power-off relay (12) comprises: an emergency power-off relay coil (121) and an emergency power-off relay switch (122); The emergency power-off signal terminal of the VCU controller (4) is connected to one end of the emergency power-off switch (13) via the emergency power-off relay coil (121), and the other end of the emergency power-off switch (13) is connected to the power supply pin terminal of the VCU controller (4); The VCC terminal of the VCU controller (4) is connected to the hardware emergency stop port of the service brake (5) via an emergency power-off relay switch (122).

6. The VCU-based AGV dual-mode service brake control circuit according to claim 1, characterized in that: The VCC terminal of the service brake (5) is connected to the IG ignition signal terminal of the service brake (5).

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