The present invention relates to a vehicle braking arrangement for a vehicle with wheels contacting the ground during normal running. The vehicle braking arrangement includes an emergency brake control unit, a first emergency braking system including non-reversible braking means arranged to operate independently of the vehicle wheels, at least one acceleration detector, and a wheel brake anti-locking system. The emergency brake control unit is arranged to input acceleration data (a) when the wheel brake anti-locking system is active, and to calculate the coefficient of friction () between the wheels and the ground. The emergency brake control unit is arranged to determine if the first emergency braking system should be activated in dependence of a first plurality of parameters, where one of these parameters is the coefficient of friction ().

The present invention relates to a vehicle braking arrangement for a vehicle with wheels contacting the ground during normal running. The vehicle braking arrangement includes an emergency brake control unit, a first emergency braking system including non-reversible braking means arranged to operate independently of the vehicle wheels, at least one acceleration detector, and a wheel brake anti-locking system. The emergency brake control unit is arranged to input acceleration data (a) when the wheel brake anti-locking system is active, and to calculate the coefficient of friction () between the wheels and the ground. The emergency brake control unit is arranged to determine if the first emergency braking system should be activated in dependence of a first plurality of parameters, where one of these parameters is the coefficient of friction ().

A speed control apparatus for an inline pipeline inspection tool includes a body configured to be moved by a compressible product moving through a pipeline and a speed control mechanism supported by the body. The speed control mechanism includes a contact member that is positionable against an inner surface of the pipeline and an actuator configured to act on the contact member to adjust a speed of the body when the speed deviates from a predetermined speed. The speed control apparatus forms a drive system that provides forward propulsion to prevent the tool from slowing or stopping due to a problematic feature in the pipeline. The speed control apparatus also forms a brake system that minimizes overspeed conditions that can occur when built-up pressure initially dislodges the tool from the problematic feature in the pipeline.

A speed control apparatus for an inline pipeline inspection tool includes a body configured to be moved by a compressible product moving through a pipeline and a speed control mechanism supported by the body. The speed control mechanism includes a contact member that is positionable against an inner surface of the pipeline and an actuator configured to act on the contact member to adjust a speed of the body when the speed deviates from a predetermined speed. The speed control apparatus forms a drive system that provides forward propulsion to prevent the tool from slowing or stopping due to a problematic feature in the pipeline. The speed control apparatus also forms a brake system that minimizes overspeed conditions that can occur when built-up pressure initially dislodges the tool from the problematic feature in the pipeline.

An elliptically interfacing gear assisted braking system may include an input shaft with a coupled input gear, a wobble plate, a rotor with a reaction gear, and an actuated brake mechanism, or brake. The input shaft may define an axis of rotation and the wobble plate may have a wobble axis disposed at a non-zero angle relative to the rotation axis. A set of face teeth disposed on one surface of the wobble plate may partially mesh with the input gear, and a set of wobble teeth on an opposite surface of the wobble plate may partially mesh with the reaction gear. Rotation of the input shaft may thereby cause rotation of the wobble plate and rotor. The brake may mate with the rotor and when actuated, slow the rotor with respect to the input shaft. Rolling contact forces between the surfaces of the wobble teeth and reaction teeth may then induce nutation in the wobble plate, thereby dissipating rotational energy.

An elliptically interfacing gear assisted braking system may include an input shaft with a coupled input gear, a wobble plate, a rotor with a reaction gear, and an actuated brake mechanism, or brake. The input shaft may define an axis of rotation and the wobble plate may have a wobble axis disposed at a non-zero angle relative to the rotation axis. A set of face teeth disposed on one surface of the wobble plate may partially mesh with the input gear, and a set of wobble teeth on an opposite surface of the wobble plate may partially mesh with the reaction gear. Rotation of the input shaft may thereby cause rotation of the wobble plate and rotor. The brake may mate with the rotor and when actuated, slow the rotor with respect to the input shaft. Rolling contact forces between the surfaces of the wobble teeth and reaction teeth may then induce nutation in the wobble plate, thereby dissipating rotational energy.

A parking brake fail safety control system and method for a vehicle having an electric-axle, may enable safe parking braking on a level ground, a slope, etc. By controlling the torque from a first motor configured for a rear wheel-first electric-axle and the torque from a second motor configured for a rear wheel-second electric-axle to have the same magnitude in opposite directions and by increasing/decreasing the torque from the first motor and the torque from the second motor, depending on a change of wheel speed when a parking brake fails.

A parking brake fail safety control system and method for a vehicle having an electric-axle, may enable safe parking braking on a level ground, a slope, etc. By controlling the torque from a first motor configured for a rear wheel-first electric-axle and the torque from a second motor configured for a rear wheel-second electric-axle to have the same magnitude in opposite directions and by increasing/decreasing the torque from the first motor and the torque from the second motor, depending on a change of wheel speed when a parking brake fails.

A speed control apparatus for an inline pipeline inspection tool includes a body configured to be moved by a compressible product moving through a pipeline and a speed control mechanism supported by the body. The speed control mechanism includes a contact member that is positionable against an inner surface of the pipeline and an actuator configured to act on the contact member to adjust a speed of the body when the speed deviates from a predetermined speed. The speed control apparatus forms a drive system that provides forward propulsion to prevent the tool from slowing or stopping due to a problematic feature in the pipeline. The speed control apparatus also forms a brake system that minimizes overspeed conditions that can occur when built-up pressure initially dislodges the tool from the problematic feature in the pipeline.

An elliptically interfacing gear assisted braking system may include an input shaft with a coupled input gear, a wobble plate, a rotor with a reaction gear, and an actuated brake mechanism, or brake. The input shaft may define an axis of rotation and the wobble plate may have a wobble axis disposed at a non-zero angle relative to the rotation axis. A set of face teeth disposed on one surface of the wobble plate may partially mesh with the input gear, and a set of wobble teeth on an opposite surface of the wobble plate may partially mesh with the reaction gear. Rotation of the input shaft may thereby cause rotation of the wobble plate and rotor. The brake may mate with the rotor and when actuated, slow the rotor with respect to the input shaft. Rolling contact forces between the surfaces of the wobble teeth and reaction teeth may then induce nutation in the wobble plate, thereby dissipating rotational energy.