Title:
ARMATURE BRAKING METHOD AND APPARATUS, DEVICE AND COMPUTER STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/082405
Kind Code:
A1
Abstract:
An armature braking method, the method comprising: when a parking instruction is received, controlling each armature to perform first braking after each armature satisfies braking conditions (S101); when it is detected that at least a preset number of armatures are successfully performing said first braking, delaying for a first preset time to control all armatures to perform second braking (S102); and when a preset condition is met, delaying for a second preset time to control all the armatures to perform third braking, the preset condition being when it is detected that a walking speed request is zero and an action enable is zero or when a fault alarm is detected (S103). By controlling each armature to perform braking after each armature satisfies braking conditions, the described method prevents the problem in the existing technology of unpowered movement or sideslip being produced when power output drops to zero even though braking conditions cannot be satisfied simultaneously, which is caused by it being necessary for all armatures to simultaneously satisfy braking conditions in order to perform braking. The present invention also relates to an armature braking apparatus, a device and a computer storage medium.
Inventors:
LIU GUOLIANG (CN)
ZOU JUNHUI (CN)
ZOU JUNHUI (CN)
Application Number:
PCT/CN2022/138310
Publication Date:
April 25, 2024
Filing Date:
December 12, 2022
Export Citation:
Assignee:
HUNAN SINOBOOM INTELLIGENT EQUIPMENT CO LTD (CN)
International Classes:
B60T8/17; B60T13/74; B60T17/22; B60W30/06; B66F11/04
Foreign References:
| CN108422994A | 2018-08-21 | |||
| CN106314137A | 2017-01-11 | |||
| CN107792043A | 2018-03-13 | |||
| CN113147703A | 2021-07-23 | |||
| US20210261102A1 | 2021-08-26 | |||
| CN112224029A | 2021-01-15 | |||
| CN114933267A | 2022-08-23 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW CO., LTD. (CN)
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