本技術涉及(ji)港口(kou)集卡的(de)自動(dong)剎車(che)(che)制(zhi)動(dong)，特別是涉及(ji)港口(kou)集裝(zhuang)箱車(che)(che)用自動(dong)駕駛線控(kong)制(zhi)動(dong)系統及(ji)港口(kou)集裝(zhuang)箱車(che)(che)。

背景技術：

1、為了提高運(yun)輸效率，港口(kou)內采用了自(zi)動(dong)(dong)駕駛集裝箱(xiang)卡車(che)、牽引車(che)進行集裝箱(xiang)、貨物等(deng)的(de)(de)運(yun)輸。目前市場上(shang)大部(bu)分(fen)自(zi)動(dong)(dong)駕駛集裝箱(xiang)卡車(che)裝配的(de)(de)是wabco的(de)(de)ebs線控制(zhi)動(dong)(dong)系統(tong)，工作時(shi)(shi)會出(chu)現ebs系統(tong)不執(zhi)行制(zhi)動(dong)(dong)剎車(che)指令時(shi)(shi)或者失效的(de)(de)情況。為解決該問題(ti)，中(zhong)國公開號為cn114701459a，名稱為一(yi)種(zhong)低速自(zi)動(dong)(dong)駕駛商用車(che)的(de)(de)冗余制(zhi)動(dong)(dong)系統(tong)和精準停車(che)方法中(zhong)。

2、但是現有(you)(you)(you)的(de)(de)ebs系統主要(yao)(yao)是給有(you)(you)(you)人駕駛車(che)輛(liang)以(yi)及環(huan)(huan)境較(jiao)為復雜的(de)(de)開(kai)放環(huan)(huan)境使(shi)用，為滿足開(kai)放環(huan)(huan)境下(xia)各種(zhong)(zhong)突發情況的(de)(de)應對(dui)需求(qiu)，ebs系統集成(cheng)了多種(zhong)(zhong)龐大(da)的(de)(de)功能,當(dang)需要(yao)(yao)剎(cha)車(che)時(shi)，需要(yao)(yao)自(zi)動(dong)(dong)駕駛系統下(xia)發剎(cha)車(che)值(zhi)給ebs控(kong)(kong)制(zhi)器，再(zai)通(tong)過ebs控(kong)(kong)制(zhi)器控(kong)(kong)制(zhi)剎(cha)車(che)，導(dao)(dao)致(zhi)ebs執行(xing)剎(cha)車(che)時(shi)出現延(yan)遲，并且，由于ebs系統主要(yao)(yao)應用于有(you)(you)(you)人駕駛的(de)(de)車(che)輛(liang)上，其內有(you)(you)(you)復雜的(de)(de)針對(dui)有(you)(you)(you)人駕駛的(de)(de)算(suan)法(fa)(fa)，根據不同的(de)(de)外部(bu)環(huan)(huan)境和速度進(jin)行(xing)制(zhi)動(dong)(dong)，這(zhe)樣每(mei)次進(jin)行(xing)制(zhi)動(dong)(dong)時(shi)都會有(you)(you)(you)不同時(shi)間的(de)(de)延(yan)時(shi)，導(dao)(dao)致(zhi)無法(fa)(fa)準(zhun)確控(kong)(kong)制(zhi)剎(cha)車(che)距離，使(shi)得自(zi)動(dong)(dong)駕駛集裝(zhuang)箱(xiang)卡(ka)車(che)無法(fa)(fa)進(jin)行(xing)精準(zhun)對(dui)位(wei)。

技術實現思路

1、為解(jie)決上述(shu)技(ji)術問題，本實用(yong)新型提供港口(kou)集(ji)裝(zhuang)箱車用(yong)自動(dong)駕(jia)(jia)駛線(xian)控(kong)制(zhi)(zhi)(zhi)動(dong)系統及港口(kou)集(ji)裝(zhuang)箱車，其中，港口(kou)集(ji)裝(zhuang)箱車用(yong)自動(dong)駕(jia)(jia)駛線(xian)控(kong)制(zhi)(zhi)(zhi)動(dong)系統，包括自駕(jia)(jia)域控(kong)制(zhi)(zhi)(zhi)器(qi)、前(qian)儲氣(qi)(qi)(qi)筒(tong)、第一后(hou)(hou)儲氣(qi)(qi)(qi)筒(tong)、前(qian)右制(zhi)(zhi)(zhi)動(dong)氣(qi)(qi)(qi)室、前(qian)左制(zhi)(zhi)(zhi)動(dong)氣(qi)(qi)(qi)室、后(hou)(hou)右制(zhi)(zhi)(zhi)動(dong)氣(qi)(qi)(qi)室、后(hou)(hou)左制(zhi)(zhi)(zhi)動(dong)氣(qi)(qi)(qi)室；所述(shu)自駕(jia)(jia)域控(kong)制(zhi)(zhi)(zhi)器(qi)分別(bie)電性連接有主前(qian)橋(qiao)制(zhi)(zhi)(zhi)動(dong)開關(guan)、冗余前(qian)橋(qiao)制(zhi)(zhi)(zhi)動(dong)開關(guan)、主后(hou)(hou)橋(qiao)制(zhi)(zhi)(zhi)動(dong)開關(guan)、冗余后(hou)(hou)橋(qiao)制(zhi)(zhi)(zhi)動(dong)開關(guan)和異常檢(jian)測(ce)模塊；

2、所(suo)述主前(qian)橋(qiao)制(zhi)動(dong)開關、冗余(yu)前(qian)橋(qiao)制(zhi)動(dong)開關分別連接于所(suo)述前(qian)儲氣(qi)筒(tong)與前(qian)右制(zhi)動(dong)氣(qi)室的制(zhi)動(dong)氣(qi)路，以(yi)及前(qian)儲氣(qi)筒(tong)與前(qian)左制(zhi)動(dong)氣(qi)室的制(zhi)動(dong)氣(qi)路中；

3、所述(shu)主后橋制(zhi)(zhi)動(dong)(dong)開關和冗余后橋制(zhi)(zhi)動(dong)(dong)開關分(fen)別連接于所述(shu)第一(yi)后儲(chu)氣(qi)筒(tong)與后右制(zhi)(zhi)動(dong)(dong)氣(qi)室的(de)制(zhi)(zhi)動(dong)(dong)氣(qi)路，以及(ji)第一(yi)后儲(chu)氣(qi)筒(tong)與后左制(zhi)(zhi)動(dong)(dong)氣(qi)室的(de)制(zhi)(zhi)動(dong)(dong)氣(qi)路中；

4、所(suo)述(shu)前(qian)左(zuo)制動(dong)(dong)氣(qi)室(shi)、前(qian)右(you)制動(dong)(dong)氣(qi)室(shi)、后左(zuo)制動(dong)(dong)氣(qi)室(shi)、后右(you)制動(dong)(dong)氣(qi)室(shi)均(jun)設有異常檢測模塊。

5、優選地，還包括第三制(zhi)動(dong)裝置；所(suo)述(shu)第三制(zhi)動(dong)裝置包括第二(er)后(hou)儲(chu)氣(qi)(qi)筒(tong)和電(dian)磁(ci)(ci)閥(fa)；所(suo)述(shu)電(dian)磁(ci)(ci)閥(fa)與自(zi)駕域控制(zhi)器(qi)電(dian)性連(lian)接(jie)；所(suo)述(shu)第二(er)后(hou)儲(chu)氣(qi)(qi)筒(tong)通(tong)過電(dian)磁(ci)(ci)閥(fa)與后(hou)右(you)制(zhi)動(dong)氣(qi)(qi)室、后(hou)左(zuo)制(zhi)動(dong)氣(qi)(qi)室連(lian)接(jie)，和/或與前右(you)制(zhi)動(dong)氣(qi)(qi)室、前左(zuo)制(zhi)動(dong)氣(qi)(qi)室連(lian)接(jie)。

6、優選地，所述(shu)電磁(ci)閥為常閉電磁(ci)閥。

7、優選(xuan)地，還包括若(ruo)干(gan)雙(shuang)通(tong)單向(xiang)閥(fa)和若(ruo)干(gan)三通(tong)閥(fa)；所述主前橋制動開(kai)(kai)關、冗余(yu)前橋制動開(kai)(kai)關、主后橋制動開(kai)(kai)關和冗余(yu)后橋制動開(kai)(kai)關均設有(you)兩路(lu)出氣(qi)口；

8、所述主(zhu)前橋(qiao)制(zhi)動(dong)開(kai)關和冗(rong)余(yu)前橋(qiao)制(zhi)動(dong)開(kai)關的進氣(qi)口通過第一三通閥與(yu)前儲氣(qi)筒(tong)連接；主(zhu)后(hou)橋(qiao)制(zhi)動(dong)開(kai)關、冗(rong)余(yu)后(hou)橋(qiao)制(zhi)動(dong)開(kai)關的進氣(qi)口通過第二三通閥與(yu)第一后(hou)儲氣(qi)筒(tong)連接；

9、前(qian)(qian)(qian)(qian)右制動(dong)(dong)氣(qi)(qi)室通(tong)過(guo)(guo)第一(yi)雙通(tong)單(dan)向(xiang)閥(fa)分別(bie)與主前(qian)(qian)(qian)(qian)橋(qiao)制動(dong)(dong)開關一(yi)出(chu)(chu)氣(qi)(qi)口、冗余(yu)前(qian)(qian)(qian)(qian)橋(qiao)制動(dong)(dong)開關一(yi)出(chu)(chu)氣(qi)(qi)口連(lian)接；前(qian)(qian)(qian)(qian)左(zuo)制動(dong)(dong)氣(qi)(qi)室通(tong)過(guo)(guo)第二(er)雙通(tong)單(dan)向(xiang)閥(fa)分別(bie)與主前(qian)(qian)(qian)(qian)橋(qiao)制動(dong)(dong)開關另一(yi)出(chu)(chu)氣(qi)(qi)口、冗余(yu)前(qian)(qian)(qian)(qian)橋(qiao)制動(dong)(dong)開關另一(yi)出(chu)(chu)氣(qi)(qi)口連(lian)接；

10、后(hou)右(you)制(zhi)動氣(qi)室通(tong)過第三雙通(tong)單(dan)向閥分別與(yu)主(zhu)后(hou)橋(qiao)(qiao)制(zhi)動開關一出(chu)(chu)氣(qi)口、冗余后(hou)橋(qiao)(qiao)制(zhi)動開關一出(chu)(chu)氣(qi)口連接；后(hou)左(zuo)制(zhi)動氣(qi)室通(tong)過第四雙通(tong)單(dan)向閥分別與(yu)主(zhu)后(hou)橋(qiao)(qiao)制(zhi)動開關另一出(chu)(chu)氣(qi)口、冗余后(hou)橋(qiao)(qiao)制(zhi)動開關另一出(chu)(chu)氣(qi)口連接。

11、優選(xuan)地，所述前右制動氣室(shi)(shi)、前左(zuo)制動氣室(shi)(shi)、后右制動氣室(shi)(shi)、后左(zuo)制動氣室(shi)(shi)與其連接的雙通(tong)單向閥之間均設有abs閥。

12、優(you)選地，所述主后(hou)橋制(zhi)(zhi)動(dong)開關與(yu)其連(lian)接的abs閥(fa)之間，或冗余(yu)后(hou)橋制(zhi)(zhi)動(dong)開關與(yu)其連(lian)接的abs閥(fa)之間設有掛車制(zhi)(zhi)動(dong)裝置(zhi)(zhi)；所述掛車制(zhi)(zhi)動(dong)裝置(zhi)(zhi)與(yu)自駕域控制(zhi)(zhi)器連(lian)接。

13、優(you)選地，主前橋(qiao)制動開關(guan)、冗余前橋(qiao)制動開關(guan)、主后(hou)橋(qiao)制動開關(guan)和冗余后(hou)橋(qiao)制動開關(guan)為比例繼動閥(fa)。

14、優選地，所(suo)述(shu)(shu)自駕域控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器設有第一(yi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)模(mo)塊(kuai)和第二控(kong)(kong)(kong)制(zhi)(zhi)(zhi)模(mo)塊(kuai)；所(suo)述(shu)(shu)第一(yi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)模(mo)塊(kuai)與所(suo)述(shu)(shu)主(zhu)前橋(qiao)制(zhi)(zhi)(zhi)動(dong)開(kai)關(guan)、主(zhu)后橋(qiao)制(zhi)(zhi)(zhi)動(dong)開(kai)關(guan)連(lian)接(jie)；所(suo)述(shu)(shu)第二控(kong)(kong)(kong)制(zhi)(zhi)(zhi)模(mo)塊(kuai)與所(suo)述(shu)(shu)冗余前橋(qiao)制(zhi)(zhi)(zhi)動(dong)開(kai)關(guan)、冗余后橋(qiao)制(zhi)(zhi)(zhi)動(dong)開(kai)關(guan)連(lian)接(jie)。

15、優選地，所述自駕域(yu)控(kong)(kong)制(zhi)(zhi)器還包(bao)括控(kong)(kong)制(zhi)(zhi)模(mo)塊(kuai)(kuai)(kuai)(kuai)失效開關(guan)(guan)模(mo)塊(kuai)(kuai)(kuai)(kuai)；所述控(kong)(kong)制(zhi)(zhi)模(mo)塊(kuai)(kuai)(kuai)(kuai)失效開關(guan)(guan)模(mo)塊(kuai)(kuai)(kuai)(kuai)一端分(fen)別與第一控(kong)(kong)制(zhi)(zhi)模(mo)塊(kuai)(kuai)(kuai)(kuai)、第二控(kong)(kong)制(zhi)(zhi)模(mo)塊(kuai)(kuai)(kuai)(kuai)連(lian)接，另一端與主前橋(qiao)制(zhi)(zhi)動開關(guan)(guan)、冗余(yu)前橋(qiao)制(zhi)(zhi)動開關(guan)(guan)、主后橋(qiao)制(zhi)(zhi)動開關(guan)(guan)、冗余(yu)后橋(qiao)制(zhi)(zhi)動開關(guan)(guan)中(zhong)的至少一個連(lian)接。

16、本實用新型提供的(de)基于港口封閉區(qu)域(yu)的(de)自動(dong)駕駛制(zhi)動(dong)系(xi)統，減少了(le)制(zhi)動(dong)流(liu)程，縮短了(le)剎(cha)車(che)制(zhi)動(dong)的(de)反應(ying)時間；同時，通過自駕域(yu)控制(zhi)器直接控制(zhi)的(de)各個制(zhi)動(dong)開(kai)關，能夠更加精準(zhun)地控制(zhi)剎(cha)車(che)距離，從而(er)使得自動(dong)駕駛集裝箱卡(ka)車(che)能夠實現精準(zhun)停(ting)車(che)或精準(zhun)對位(wei)。

17、本實用新型還提供港口集裝箱(xiang)車(che)，采用如上任意所述的港口集裝箱(xiang)車(che)用自動(dong)駕(jia)駛線控制動(dong)系統，能夠實現平穩、精準剎車(che)。

技術特征：

1.港口集裝箱車用自動(dong)(dong)駕(jia)(jia)駛線控(kong)制(zhi)(zhi)動(dong)(dong)系(xi)統，其特征在于：包括自駕(jia)(jia)域控(kong)制(zhi)(zhi)器(10)、前儲氣(qi)(qi)筒(tong)(tong)(60)、第一后(hou)(hou)儲氣(qi)(qi)筒(tong)(tong)(80)、前右制(zhi)(zhi)動(dong)(dong)氣(qi)(qi)室(shi)(shi)(71)、前左(zuo)制(zhi)(zhi)動(dong)(dong)氣(qi)(qi)室(shi)(shi)(72)、后(hou)(hou)右制(zhi)(zhi)動(dong)(dong)氣(qi)(qi)室(shi)(shi)(91)、后(hou)(hou)左(zuo)制(zhi)(zhi)動(dong)(dong)氣(qi)(qi)室(shi)(shi)(92)；所述自駕(jia)(jia)域控(kong)制(zhi)(zhi)器(10)分別電性連(lian)接有主前橋制(zhi)(zhi)動(dong)(dong)開(kai)(kai)關(guan)(20)、冗余前橋制(zhi)(zhi)動(dong)(dong)開(kai)(kai)關(guan)(30)、主后(hou)(hou)橋制(zhi)(zhi)動(dong)(dong)開(kai)(kai)關(guan)(40)、冗余后(hou)(hou)橋制(zhi)(zhi)動(dong)(dong)開(kai)(kai)關(guan)(50)和(he)異常檢(jian)測模(mo)塊(107)；

2.根據權利要求1所(suo)述(shu)的港口集裝箱車用自動(dong)駕駛線控制(zhi)動(dong)系統，其特征在于(yu)：還包括(kuo)第三(san)制(zhi)動(dong)裝置；所(suo)述(shu)第三(san)制(zhi)動(dong)裝置包括(kuo)第二后儲(chu)氣(qi)筒(160)和(he)電磁閥(170)；所(suo)述(shu)電磁閥(170)與自駕域控制(zhi)器(10)電性連接(jie)；所(suo)述(shu)第二后儲(chu)氣(qi)筒(160)通過電磁閥(170)與后右(you)制(zhi)動(dong)氣(qi)室(shi)(91)、后左制(zhi)動(dong)氣(qi)室(shi)(92)連接(jie)，和(he)/或(huo)與前(qian)右(you)制(zhi)動(dong)氣(qi)室(shi)(71)、前(qian)左制(zhi)動(dong)氣(qi)室(shi)(72)連接(jie)。

3.根(gen)據(ju)權利要(yao)求2所(suo)述的港(gang)口集裝箱車用自動(dong)駕駛線控制動(dong)系統，其特征(zheng)在(zai)于：所(suo)述電(dian)磁閥(fa)(170)為常閉電(dian)磁閥(fa)。

4.根據(ju)權利要求1-3任(ren)一(yi)項所(suo)述(shu)的(de)港口(kou)集裝(zhuang)箱車用自(zi)動(dong)(dong)駕(jia)駛線控制(zhi)動(dong)(dong)系(xi)統，其特(te)征在于：還(huan)包(bao)括若干(gan)雙(shuang)通單向(xiang)閥和若干(gan)三通閥；所(suo)述(shu)主(zhu)前橋(qiao)(qiao)(qiao)制(zhi)動(dong)(dong)開關(guan)(20)、冗(rong)余前橋(qiao)(qiao)(qiao)制(zhi)動(dong)(dong)開關(guan)(30)、主(zhu)后(hou)橋(qiao)(qiao)(qiao)制(zhi)動(dong)(dong)開關(guan)(40)和冗(rong)余后(hou)橋(qiao)(qiao)(qiao)制(zhi)動(dong)(dong)開關(guan)(50)均設有(you)兩路出氣口(kou)；

5.根據權利要(yao)求4所述的港(gang)口集裝(zhuang)箱車用(yong)自動(dong)駕駛(shi)線控制動(dong)系統，其特征在于(yu)：所述前右制動(dong)氣(qi)室(71)、前左(zuo)制動(dong)氣(qi)室(72)、后右制動(dong)氣(qi)室(91)、后左(zuo)制動(dong)氣(qi)室(92)與其連接的雙通單向閥之間均設有abs閥。

6.根(gen)據權利要(yao)求5所(suo)(suo)述的港口集裝箱(xiang)車(che)用自動(dong)駕駛(shi)線控(kong)(kong)制(zhi)動(dong)系統，其特征在(zai)于：所(suo)(suo)述主后(hou)橋(qiao)(qiao)制(zhi)動(dong)開關(40)與(yu)(yu)其連(lian)接(jie)的abs閥之(zhi)間，或冗余后(hou)橋(qiao)(qiao)制(zhi)動(dong)開關(50)與(yu)(yu)其連(lian)接(jie)的abs閥之(zhi)間設有掛(gua)車(che)制(zhi)動(dong)裝置(zhi)(zhi)(180)；所(suo)(suo)述掛(gua)車(che)制(zhi)動(dong)裝置(zhi)(zhi)(180)與(yu)(yu)自駕域控(kong)(kong)制(zhi)器(10)連(lian)接(jie)。

7.根(gen)據權利要(yao)求1所述的港口集(ji)裝箱(xiang)車用自動(dong)駕(jia)駛線控制(zhi)(zhi)動(dong)系統，其特征在(zai)于(yu)：主(zhu)前橋(qiao)制(zhi)(zhi)動(dong)開(kai)關(guan)(20)、冗余前橋(qiao)制(zhi)(zhi)動(dong)開(kai)關(guan)(30)、主(zhu)后(hou)橋(qiao)制(zhi)(zhi)動(dong)開(kai)關(guan)(40)和冗余后(hou)橋(qiao)制(zhi)(zhi)動(dong)開(kai)關(guan)(50)為比例繼動(dong)閥。

8.根(gen)據權利要求1所(suo)述(shu)(shu)(shu)的港口集裝箱車用(yong)自動(dong)(dong)駕駛(shi)線控制(zhi)(zhi)(zhi)動(dong)(dong)系統(tong)，其特(te)征在于：所(suo)述(shu)(shu)(shu)自駕域控制(zhi)(zhi)(zhi)器(10)設(she)有第一控制(zhi)(zhi)(zhi)模塊(kuai)(102)和第二控制(zhi)(zhi)(zhi)模塊(kuai)(103)；所(suo)述(shu)(shu)(shu)第一控制(zhi)(zhi)(zhi)模塊(kuai)(102)與所(suo)述(shu)(shu)(shu)主前橋(qiao)(qiao)制(zhi)(zhi)(zhi)動(dong)(dong)開關(20)、主后橋(qiao)(qiao)制(zhi)(zhi)(zhi)動(dong)(dong)開關(40)連接；所(suo)述(shu)(shu)(shu)第二控制(zhi)(zhi)(zhi)模塊(kuai)(103)與所(suo)述(shu)(shu)(shu)冗(rong)余前橋(qiao)(qiao)制(zhi)(zhi)(zhi)動(dong)(dong)開關(30)、冗(rong)余后橋(qiao)(qiao)制(zhi)(zhi)(zhi)動(dong)(dong)開關(50)連接。

9.根據權利要求(qiu)8所述(shu)的(de)港(gang)口集裝箱車(che)用自動(dong)駕(jia)駛線控(kong)制(zhi)(zhi)動(dong)系統，其特征(zheng)在于：所述(shu)自駕(jia)域控(kong)制(zhi)(zhi)器(10)還(huan)包括控(kong)制(zhi)(zhi)模塊(kuai)失(shi)效開關(guan)模塊(kuai)(105)；所述(shu)控(kong)制(zhi)(zhi)模塊(kuai)失(shi)效開關(guan)模塊(kuai)(105)一(yi)端分別與(yu)第(di)一(yi)控(kong)制(zhi)(zhi)模塊(kuai)(102)、第(di)二(er)控(kong)制(zhi)(zhi)模塊(kuai)(103)連接(jie)，另一(yi)端與(yu)主前橋制(zhi)(zhi)動(dong)開關(guan)(20)、冗余前橋制(zhi)(zhi)動(dong)開關(guan)(30)、主后橋制(zhi)(zhi)動(dong)開關(guan)(40)、冗余后橋制(zhi)(zhi)動(dong)開關(guan)(50)中(zhong)的(de)至少一(yi)個(ge)連接(jie)。

10.港口集(ji)裝箱(xiang)車，其特征(zheng)在于：采用(yong)如(ru)權利要求(qiu)1-9任一項所述的港口集(ji)裝箱(xiang)車用(yong)自動駕駛(shi)線控制動系統。

技術總結
本技術公開了港口集裝箱車用自動駕駛線控制動系統及港口集裝箱車，其中，港口集裝箱車用自動駕駛線控制動系統，包括自駕域控制器、前儲氣筒、第一后儲氣筒、前右制動氣室、前左制動氣室、后右制動氣室、后左制動氣室；自駕域控制器分別電性連接有主前橋制動開關、冗余前橋制動開關、主后橋制動開關、冗余后橋制動開關和異常檢測模塊。本技術提供的基于港口封閉區域的自動駕駛制動系統，通過自駕域控制器線性控制各個制動開關，減少了制動流程，縮短了剎車制動的反應時間，能夠更加精準地控制剎車距離，從而使得自動駕駛集裝箱卡車能夠實現精準停車或精準對位。

技術研發人員：林文暢,侯學鋒,謝為輝,肖勁韜,劉平,黃良彬,嚴文裕,方守勇,郭盛曉
受保護的技術使用者：廈門中科星晨科技有限公司
技術研發日：20240318
技術公布日：2024/9/19