CN110587590A - Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism - Google Patents
Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism Download PDFInfo
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- CN110587590A CN110587590A CN201910720395.5A CN201910720395A CN110587590A CN 110587590 A CN110587590 A CN 110587590A CN 201910720395 A CN201910720395 A CN 201910720395A CN 110587590 A CN110587590 A CN 110587590A
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- steering engine
- seat
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- magnetic attraction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Steering Controls (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
This application belongs to magnetism and inhales steering wheel technical field, mainly provides a steering wheel is inhaled to magnetism and magnetism steering wheel system is inhaled to magnetism, the steering wheel is inhaled to magnetism includes: a steering engine processor is magnetically attracted; the male seat and the female seat are respectively connected with the magnetic steering engine processor; the motor is used for receiving a control instruction sent by the magnetic attraction steering engine processor and moving according to the control instruction; and be used for right the steering wheel treater is inhaled to magnetism public seat female seat and the steering wheel seat is inhaled to magnetism that the motor goes on fixing through set up a plurality of female seat reference voltage ports on female seat for it inserts the direction to inhale to magnetism public seat of steering wheel and this magnetism can automatic identification when inhaling the female seat of steering wheel, and it is spacing to have solved the restriction of the steering wheel structure of inhaling to make magnetism inhale the steering wheel and have machinery, and different access directions have different spacing, if inhale the steering wheel system can't learn to inhale and can lead to magnetism to inhale the steering wheel and can't carry out the problem of moving according to the correct logic of setting for when inserting the direction.
Description
Technical Field
This application belongs to magnetism and inhales steering wheel technical field, especially relates to a steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism.
Background
At present, the robot is widely applied to daily life and entertainment, and usually, a main controller and a plurality of magnetic attraction steering engines are adopted to control the joint motion of the robot, the magnetic attraction steering engines are connected in series or in parallel on a plurality of ports of the main controller through buses, and the main controller sends control signals to the magnetic attraction steering engines through the buses. Each magnetic attraction steering engine and the main controller are connected to the main controller through a group of wires (including power wires, grounding wires and signal wires). The signal line is also connected between the main controller and the magnetic attraction steering engine inside the main controller and between the main controller and the magnetic attraction steering engine so as to realize the communication between the main controller and the magnetic attraction steering engine. In one application, the signal line is a Multiple magnetic actuator Control Bus (msmscb). Main control unit inhales the steering wheel control bus through multiple magnetism and inhales the steering wheel communication with magnetism, and main control unit is ordered down and is inhaled the steering wheel for magnetism, and magnetism is inhaled the steering wheel and also can be given main control unit with the signal passback, and main control unit can learn the state of inhaling the steering wheel of magnetism, including the position, whether overcurrent etc.. The steering wheel control bus is inhaled to magnetism through this multiple magnetism can connect a plurality of steering wheel of inhaling on a port of main control unit, because the steering wheel control bus is inhaled to magnetism of each sharing of steering wheel, consequently, every magnetism is inhaled the steering wheel and need be set for ID (identification number or account number or unique code), just can be used for distinguishing the object magnetism of will linking up when main control unit send instruction and inhale the steering wheel, is equipped with the memory in this magnetism and inhales the ID that the steering wheel was inhaled to each magnetism in the steering wheel.
However, the restriction of the magnetic attraction steering engine structure enables the magnetic attraction steering engine to have mechanical limitation, different limitation exists in different access directions, and if the magnetic attraction steering engine system cannot know the access directions, the magnetic attraction steering engine cannot act according to correct set logics.
Disclosure of Invention
An object of this application provides a steering wheel and steering wheel system is inhaled to magnetism aims at solving the restriction of the steering wheel structure of inhaling to make the steering wheel of inhaling to inhale magnetism have machinery spacing, and different access directions exist different spacing, if inhale the steering wheel system and can't lead to inhaling the problem that the steering wheel can't carry out the action according to the correct logic of setting for when can't learn the access direction.
In order to solve the technical problem, the application provides a steering wheel is inhaled to magnetism, includes:
a steering engine processor is magnetically attracted; the angle sensor is connected with the magnetic attraction steering engine processor; the male seat and the female seat are respectively connected with the magnetic steering engine processor; the motor is used for receiving a control instruction sent by the magnetic attraction steering engine processor and moving according to the control instruction; and
the magnetic attraction steering engine seat is used for fixing the magnetic attraction steering engine processor, the angle sensor, the male seat, the female seat and the motor;
the female block includes: the magnetic attraction steering engine comprises a female seat communication port, a plurality of female seat reference voltage ports, at least one female seat voltage source port, at least one female seat grounding port and a female seat magnetic attraction piece, wherein the female seat communication port, the plurality of female seat reference voltage ports, the at least one female seat voltage source port and the at least one female seat grounding port are respectively connected with the magnetic attraction steering engine processor; the male seat includes: public seat communication port, public seat voltage sampling port, public seat voltage source port, public seat ground connection port and public seat magnetism adsorb the piece, public seat communication port public seat voltage sampling port public seat voltage source port public seat ground connection port respectively with the steering wheel treater of magnetism is inhaled and is connected.
Optionally, the steering wheel is inhaled to magnetism still includes: the relay is used for receiving a relay control signal sent by the magnetic attraction steering engine processor and controlling the connection relation between the female seat communication port and the male seat communication port according to the relay control signal, and the relay is connected with the female seat communication port, the male seat communication port and the magnetic attraction steering engine processor respectively.
Optionally, the female seat includes: the magnetic actuator seat surface voltage division circuit comprises a first female seat reference voltage port, a second female seat reference voltage port, a third female seat reference voltage port, a fourth female seat reference voltage port and a magnetic actuator seat surface voltage division circuit; steering wheel seat face bleeder circuit is inhaled to magnetism includes: the circuit comprises a first capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor and a fifth resistor;
a first end of the first capacitor and a first end of the first resistor are connected to the male seat voltage source port in common, and a second end of the first resistor and a first end of the second resistor are connected to the first female seat reference voltage port in common;
the second end of the second resistor and the first end of the third resistor are connected to the second mother socket reference voltage port in common;
the second end of the third resistor and the first end of the fourth resistor are connected to the third mother socket reference voltage port in common;
a second end of the fourth resistor and a first end of the fifth resistor are connected to the fourth mother socket reference voltage port in common;
and the second end of the fifth resistor is grounded.
Optionally, the male seat comprises a sampling communication interface connected with the magnetic attraction steering engine processor, a sixth resistor and an anti-surge unit;
public seat voltage source port with the first pin of sampling communication interface is connected, the first end of sixth resistance with the second pin of sampling communication interface connect in altogether the first input of anti-surge unit, the second end of sixth resistance with public seat communication port connects, public seat voltage sampling port with the third pin of sampling communication interface connect in altogether the second input of anti-surge unit, the output ground connection of anti-surge unit, the second end of anti-surge unit with the fourth pin of sampling communication interface connects in altogether ground.
Optionally, the magnetically attracted steering engine further comprises a hot plug circuit, and the hot plug circuit is respectively connected with the magnetically attracted steering engine processor and the male seat;
the hot plug circuit comprises: the bus driving chip, the seventh resistor, the eighth resistor, the second capacitor and the ninth resistor;
the first end of the seventh resistor is connected with the public seat communication port, the second end of the seventh resistor, the first end of the eighth resistor and the first input end of the bus driving chip are connected with the second input end of the bus driving chip in a sharing way, the power end of the bus driving chip, the second end of the eighth resistor, the first end of the second capacitor and the first end of the ninth resistor are connected with the public seat voltage source port in a sharing way, the second end of the second capacitor is grounded, the grounding end of the bus driving chip is grounded, the first output end of the bus driving chip and the second end of the ninth resistor are connected with the signal receiving end of the magnetic steering engine processor in a sharing way, the second output end of the bus driving chip is connected with the signal transmitting end of the magnetic steering engine processor, the first enabling signal end of the bus driving chip is connected with the receiving signal enabling signal end of the magnetic steering engine processor, and a second enabling signal end of the bus driving chip is connected with a transmitting signal enabling signal end of the magnetic attraction steering engine processor.
The application also provides a magnetic attraction steering engine system which comprises a main controller and N magnetic attraction steering engines according to any one of claims 1 to 5, wherein the 1 st magnetic attraction steering engine in the N magnetic attraction steering engines is connected with a male seat of the main controller, the 2 nd magnetic attraction steering engine is connected with the 1 st magnetic attraction steering engine female seat, and the rest is repeated, the ith magnetic attraction steering engine male seat is connected with the (i-1) th magnetic attraction steering engine female seat, wherein i is more than or equal to 2 and less than or equal to N;
after a male seat voltage sampling port of the ith magnetic suction steering engine receives a female seat reference voltage signal output by a female seat reference voltage port of the ith-1 magnetic suction steering engine, the ith magnetic suction steering engine determines an access direction according to the female seat reference voltage signal and sends a corresponding feedback voltage signal to the ith-1 magnetic suction steering engine through the male seat voltage sampling port;
when the ith magnetic suction steering engine is in an abnormal condition, the level of the public seat voltage sampling port is controlled to overturn, and abnormal information is sent to the (i-1) th magnetic suction steering engine so as to send the abnormal information to the main controller step by step.
Optionally, when the ith-1 th magnetic attraction steering engine is disconnected, the ith-1 th magnetic attraction steering engine generates a corresponding rear-stage disconnection abnormal signal according to the received feedback voltage signal, and sends the rear-stage disconnection abnormal signal to the main controller step by step.
Optionally, the i-1 st magnetism is inhaled the steering wheel and is generated corresponding back level disconnection abnormal signal according to the feedback voltage signal that receives, and will back level disconnection abnormal signal send to main control unit after step by step, still include:
and the main controller sequentially clears the addresses of the magnetic attraction steering engines in each magnetic attraction steering engine from the i-1 st magnetic attraction steering engine so as to sequentially disconnect the communication circuit between each magnetic attraction steering engine and the next magnetic attraction steering engine.
Optionally, the main control unit is followed the i-1 st magnetism is inhaled the steering wheel and is started in order to each magnetism inhale the steering wheel address of inhaling in the steering wheel machine and after clearing in proper order, still include:
the main controller sends a magnetic attraction steering engine address to each magnetic attraction steering engine in sequence.
Optionally, main control unit according to the preface to each the steering wheel is inhaled to magnetism sends a magnetism and inhales the steering wheel address, include:
each the steering wheel is inhaled to magnetism acquires one the steering wheel address is inhaled to the control switches on with the communication circuit of the next steering wheel of inhaling of its connection, in order by the steering wheel is inhaled to next magnetism receives and preserves one the steering wheel address is inhaled to magnetism that main control unit sent.
The application provides steering wheel and steering wheel system is inhaled to magnetism, the steering wheel is inhaled to magnetism includes: a steering engine processor is magnetically attracted; the male seat and the female seat are respectively connected with the magnetic steering engine processor; the motor is used for receiving a control instruction sent by the magnetic attraction steering engine processor and moving according to the control instruction; and be used for right the steering wheel treater is inhaled to magnetism public seat female seat and the steering wheel seat is inhaled to magnetism that the motor goes on fixing through set up a plurality of female seat reference voltage ports on female seat for it inserts the direction to inhale to magnetism public seat of steering wheel and this magnetism can automatic identification when inhaling the female seat of steering wheel, and it is spacing to have solved the restriction of the steering wheel structure of inhaling to make magnetism inhale the steering wheel and have machinery, and different access directions have different spacing, if inhale the steering wheel system can't learn to inhale and can lead to magnetism to inhale the steering wheel and can't carry out the problem of moving according to the correct logic of setting for when inserting the direction.
Drawings
Fig. 1 is a schematic structural view of a magnetically attracted steering engine according to an embodiment of the present application.
Fig. 2 is a schematic structural view of a magnetically attracted steering engine according to another embodiment of the present application.
FIG. 3 is a top view of a magnetically attracted steering engine provided in one embodiment of the present application.
Fig. 4 is a bottom view of a magnetically attracted steering engine provided in an embodiment of the present application.
FIG. 5 is a front view of a magnetically attracted steering engine provided in one embodiment of the present application.
FIG. 6 is a right side view of a magnetically attracted steering engine provided in one embodiment of the present application.
FIG. 7 is a left side view of a magnetically attracted steering engine provided in one embodiment of the present application.
Fig. 8 is a schematic circuit structure diagram of a magnetic attraction steering engine seat surface voltage divider circuit according to an embodiment of the present application.
Fig. 9 is a schematic view of a circuit structure in a magnetic steering engine male seat according to an embodiment of the present application.
Fig. 10 is a schematic circuit structure diagram of a hot plug circuit according to an embodiment of the present application.
FIG. 11 is a schematic structural view of a magnetically attractive steering engine system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the application of the magnetic attraction steering engine system, a main controller and a plurality of magnetic attraction steering engines are generally adopted to control the joint motion of the robot, each magnetic attraction steering engine is connected in series or in parallel on a plurality of ports of the main controller through a bus, and the main controller sends a control signal to the magnetic attraction steering engines through the bus. Each magnetic attraction steering engine and the main controller are connected to the main controller through a group of wires (including power wires, grounding wires and signal wires), and the signal wires are connected inside the main controller, inside the magnetic attraction steering engine and between the main controller and the magnetic attraction steering engine so as to realize the communication between the main controller and the magnetic attraction steering engine.
Fig. 1 is a schematic structural view of the steering engine is inhaled to magnetism that this application one embodiment provided, and as shown in fig. 1, the steering engine is inhaled to magnetism in this embodiment includes: a magnetically attracted steering engine processor 30; an angle sensor 40 connected with the magnetically attracted steering engine processor 30; the male seat 20 and the female seat 10 are respectively connected with the magnetic steering engine processor 30; a motor 70 for receiving the control instruction sent by the magnetic attraction steering engine processor 30 and moving according to the control instruction; the magnetic attraction steering engine seat 50 is used for fixing the magnetic attraction steering engine processor 30, the angle sensor 40, the male seat 20, the female seat 10 and the motor 70; the female housing 10 includes: the magnetic attraction steering engine processor 30 comprises a female seat communication port 101, a plurality of female seat reference voltage ports 102, at least one female seat voltage source port 103, at least one female seat grounding port 104 and a female seat magnetic attraction piece, wherein the female seat communication port 101, the plurality of female seat reference voltage ports 102, the at least one female seat voltage source port 103 and the at least one female seat grounding port 104 are respectively connected with the magnetic attraction steering engine processor 30; the male socket 20 includes: public seat communication port 201, public seat voltage sampling port 202, public seat voltage source port 203, public seat ground port 204 and public seat magnetism adsorb the piece, and public seat communication port 201, public seat voltage sampling port 202, public seat voltage source port 203, public seat ground port 204 are connected with magnetism steering wheel treater 30 respectively.
In this embodiment, a plurality of female seat reference voltage ports 102 are arranged on a female seat of a magnetic attraction steering engine, a connecting line between the female seat reference voltage ports 102 is polygonal, the voltage of the female seat reference voltage ports 102 is different, the female seat reference voltage ports 102 correspond to the magnetic attraction steering engines in an access direction one by one, a male seat voltage sampling port 202 of a male seat of the magnetic attraction steering engine and each female seat reference voltage port 102 correspond to a unique access direction, when a male seat 20 of an adjacent magnetic attraction steering engine is attracted to a female seat 10 of the magnetic attraction steering engine, a male seat voltage sampling port 202 of the adjacent magnetic attraction steering engine is electrically connected with one female seat reference voltage port 102 of the magnetic attraction steering engine, and the female seat reference voltage port 102 corresponds to the access directions of the two magnetic attraction steering engines, so that the voltage of one female seat reference voltage port 102 connected with the adjacent male seat voltage sampling port 202 is sampled, therefore, the access directions of the adjacent magnetic attraction steering engines and the magnetic attraction steering engines can be known according to the voltage obtained by sampling, and the problem that the rotation action of the magnetic attraction steering engines caused by the abnormal access directions fails or cannot be executed in large-angle rotation is solved. In one embodiment, referring to fig. 2, the magnetically attracted steering engine further comprises: the relay is used for receiving a relay control signal sent by the magnetic attraction steering engine processor 30 and controlling the connection relation between the female seat communication port 101 and the male seat communication port 201 according to the relay control signal, and the relay is respectively connected with the female seat communication port 101, the male seat communication port 201 and the magnetic attraction steering engine processor 30.
In this embodiment, inhale and be normally open state between public seat communication port 201 and the female seat communication port 101 in the helm machine, inhale the steering wheel and last one-level magnetism when being connected with steering wheel or main control unit is inhaled to this magnetism, this magnetism is inhaled and can be write into an ID address in the helm machine, the steering wheel treater 30 sends a relay control signal of inhaling this moment, so that public seat communication port 201 and female seat communication port 101 between electric connection, when making the next-level magnetism inhale the steering wheel and this magnetism inhale the steering wheel and insert, main control unit can inhale the steering wheel to next-level magnetism and write into rather than the ID address that corresponds, thereby reach the purpose of inhaling the steering wheel write into the ID address to each magnetism behind the steering wheel system installation, avoid inhaling the problem of the logic confusion that the steering wheel just write into fixed ID. In one embodiment, fig. 3 is a top view of the magnetically attracted steering engine of fig. 2, and referring to fig. 3, the male seat in this embodiment includes: a male communications port 201, a male voltage sampling port 202, a male voltage source port 203, a male ground port 204, and a male magnetic attraction 205. In this embodiment, the male socket communication port 201, the male socket voltage sampling port 202, the male socket voltage source port 203, and the male socket ground port 204 are respectively connected to the magnetically attracted steering engine processor 30.
In one embodiment, fig. 4 is a bottom view of the magnetically attracted steering engine of fig. 2, referring to fig. 4, the female seat comprises: female seat communication port 101, four female seat reference voltage ports 102, four female seat voltage source ports 103, four female seat ground ports 104 and female seat magnetic adsorption piece 105, in this embodiment, female seat communication port 101, four female seat reference voltage ports 102, four female seat voltage source ports 103, four female seat ground ports 104 are connected with magnetic steering engine processor 30 respectively, wherein the line between four female seat reference voltage ports 102 is quadrangle, and each female seat reference voltage port 102 is located one corner of the quadrangle.
In one embodiment, fig. 5 is a front view of a magnetically attractive steering engine provided in an embodiment of the present application, and fig. 6 and 7 are a right side view and a left side view thereof, respectively, referring to fig. 5, 6 and 7, a male seat and a magnetically attractive steering engine processor 30 are disposed on a first side surface of a magnetically attractive steering engine seat, and an angle sensor 40, a motor 70 and a relay 60 are disposed on a second side surface of a magnetically attractive steering engine seat 50.
In one embodiment, the connection lines between the plurality of female seat reference voltage ports 102 are polygonal, specifically, the connection line between every two adjacent female seat reference voltage ports 102 is formed into a polygon, so that the male seat voltage sampling port 202 can be correspondingly connected with different female seat reference voltage ports 202 when being accessed in different directions, and the phenomenon that the male seat voltage sampling port 202 is accessed to the same female seat reference voltage port when being accessed in different directions to cause the misjudgment of the access direction is avoided.
In one embodiment, the plurality of mother sockets 102 are arranged along the edge of the mother socket in sequence.
In this embodiment, a plurality of female seat reference voltage ports 102 are arranged along the border of female seat according to the preface and are set up, and at this moment, when steering wheel was inhaled with this magnetism to adjacent magnetism, a female seat reference voltage port 102 electric connection that its public seat voltage sampling port 202 and access direction correspond, because this female seat reference voltage port 102 has only voltage value, consequently, can obtain the access direction of adjacent magnetism steering wheel through detecting the voltage size of the voltage sampling signal that public seat voltage sampling port 202 received.
In one embodiment, the female dock 10 includes four female dock reference voltage ports 102, the four female dock reference voltage ports 102 being arranged in a quadrilateral arrangement.
In the present embodiment, the female socket includes four female socket reference voltage ports 102, and the four female socket reference voltage ports 102 are respectively located at four corners of a quadrangle.
In one embodiment, the female socket 10 includes: a first female seat reference voltage port 1021, a second female seat reference voltage port 1022, a third female seat reference voltage port 1023, a fourth female seat reference voltage port 1024 and a magnetic steering engine seat surface voltage division circuit; referring to fig. 8, the magnetic attraction steering engine seat surface voltage division circuit includes: the circuit comprises a first capacitor C1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4 and a fifth resistor R5;
a first end of the first capacitor C1 and a first end of the first resistor R1 are commonly connected to the male voltage source port 203, and a second end of the first resistor R1 and a first end of the second resistor R2 are commonly connected to the first female reference voltage port 1021;
a second terminal of the second resistor R2 and a first terminal of the third resistor R3 are connected to the second mother socket reference voltage port 1022;
a second terminal of the third resistor R3 and a first terminal of the fourth resistor R4 are connected to the third mother socket reference voltage port 1023;
a second terminal of the fourth resistor R4 and a first terminal of the fifth resistor R5 are connected to the fourth mother socket reference voltage port 1024;
the second terminal of the fifth resistor R5 is connected to ground.
In this embodiment, the first resistor R1, the second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 form a voltage divider circuit, the voltage divider circuit has four output ports, the voltage of each output port is different from the voltage of the other output ports, the four output ports are respectively connected to the four mother socket reference voltage ports 102 on the mother socket in a one-to-one correspondence manner, for example, in this embodiment, the second end of the first resistor R1 is connected to the first mother socket reference voltage port 1021, the second end of the second resistor R2 is connected to the second mother socket reference voltage port 1022, the second end of the third resistor R3 is connected to the third mother socket reference voltage port 1023, and the second end of the fourth resistor R4 is connected to the fourth reference voltage port.
In one embodiment, the first female reference voltage port 1021 and the third female reference voltage port 1023 are arranged in a central symmetry with the female communication port 101 as a center, and the second female reference voltage port 1022 and the fourth female reference voltage port 1024 are arranged in a central symmetry with the female communication port 101 as a center.
In this embodiment, the female seat communication port 101 is disposed at a center of the female seat surface, and the four female seat reference voltage ports 102 are disposed in a central symmetry manner with the female seat communication port 101 as a center, for example, the first female seat reference voltage port 1021 and the third female seat reference voltage port 1023 are disposed in a central symmetry manner with the female seat communication port 101 as a center, and the second female seat reference voltage port 1022 and the fourth female seat reference voltage port 1024 are disposed in a central symmetry manner with the female seat communication port 101 as a center.
In one embodiment, the male socket 20 comprises a sampling communication interface 22 connected with the magnetically-attracted steering engine processor 30, a sixth resistor R6 and an anti-surge unit 21; referring to fig. 9, the male voltage source port 203 is connected to the first pin of the sampling communication interface 22, the first end of the sixth resistor R6 and the second pin of the sampling communication interface 22 are connected to the first input end of the anti-surge unit 21, the second end of the sixth resistor R6 is connected to the male communication port 201, the male voltage sampling port 202 and the third pin of the sampling communication interface 22 are connected to the second input end of the anti-surge unit 21, the output end of the anti-surge unit 21 is grounded, and the second end of the anti-surge unit 21 and the fourth pin of the sampling communication interface 22 are connected to the ground.
In this embodiment, the male socket 20 includes four interfaces, which are respectively a male socket communication port 201, a male socket voltage sampling port 202, a male socket voltage source port 203, and a male socket ground port 204 connected to the magnetically attracted steering engine processor 30, when the magnetic attraction steering engine is connected with the upper-stage magnetic attraction steering engine or the main controller, in order to prevent voltage and current surge generated at the moment of access, the magnetic attraction steering engine processor 30 at the rear end is prevented from being burnt by current peak generated at the moment of signal access through the connection of the male seat voltage sampling port 202 and the anti-surge unit 21, then inhale steering wheel treater 30 is inhaled to magnetism through sampling communication interface 22 access, simultaneously, in order to avoid the pulse burr peak that the communication line produced at the hot plug in-process to damage the steering wheel treater 30 is inhaled to magnetism of rear end, public seat communication port 201 is connected with the steering wheel treater 30 is inhaled to magnetism through sixth resistance and anti-surge unit 21 in proper order.
In one embodiment, referring to fig. 9, anti-surge unit 21 includes: a first transient suppression diode T1 and a second transient suppression diode T2;
a first terminal of the first transient suppression diode T1 and a first terminal of the second transient suppression diode T2 are commonly connected to the common rail voltage sampling port 202, and a second terminal of the first transient suppression diode T1 and a second terminal of the second transient suppression diode T2 are commonly connected to ground.
In this embodiment, the first transient suppression diode T1 and the second transient suppression diode T2 respectively absorb transient high-energy signals in the male socket communication port 201 and the male socket voltage sampling port 202, and clamp signals in the working communication port and the male socket voltage sampling port 202 within a preset voltage range, so as to prevent surge pulses from damaging the back-end circuit during hot plugging.
In one embodiment, the magnetically attracted steering engine in this embodiment further includes a hot plug circuit, and the hot plug circuit is respectively connected to the magnetically attracted steering engine processor 30 and the male seat; referring to fig. 10, the hot swap circuit includes: the bus driving circuit comprises a bus driving chip U1, a seventh resistor R7, an eighth resistor R8, a second capacitor C2 and a ninth resistor R9;
a first end of a seventh resistor R7 is connected to the male communications port 201, a second end of the seventh resistor R7, a first end of an eighth resistor R8, and a first input end 1A of a bus driver chip U1 are commonly connected to a second input end 2Y of the bus driver chip U2, a power supply end of the bus driver chip U1, a second end of an eighth resistor R8, a first end of a second capacitor C2, and a first end of a ninth resistor R9 are commonly connected to the male voltage source port 203, a second end of a second capacitor C2 is grounded, a ground end GND of the bus driver chip U1 is grounded, a first output end 1Y of the bus driver chip U1 and a second end of the ninth resistor R9 are commonly connected to a signal receiving end RX of the magnetically attracted steering engine processor 30, a second output end 2A of the bus driver chip U1 is connected to a signal transmitting end TX of the magnetically attracted steering engine processor 30, a first enable signal end 1CE of the bus driver U1 and a magnetically attracted steering engine receiving end of the magnetically attracted steering engine processor 30 are connected to an EN _ signal receiving end, the second enable signal terminal TX _ EN of the bus driver chip U1 is connected to the transmit signal enable signal terminal TX _ EN of the magnetic steering engine processor 30.
In this embodiment, when the male seat of the magnetically attracted steering engine is connected with the last magnetically attracted steering engine or the main controller, hot plugging is required, that is, under the condition that the power supply of the system is not turned off, a module or a board card is inserted into or pulled out of the system without affecting the normal operation of the system, in the working state, the communication rate of the signal line between the magnetically attracted steering engines reaches 1 mhz, when the male seat of the magnetically attracted steering engine is connected with the last magnetically attracted steering engine or the main controller, if the signal line is connected first and the ground line is connected later, the voltage on the power line and the signal line is equal, the same voltage as that on the power line needs to be borne on the signal line, otherwise the signal line is burnt out and possibly damages the rear end circuit, in order to avoid that the pulse spike generated in the hot plugging process damages the magnetic attracted steering engine processor 30 at the rear end, the signal line cannot be directly, in this embodiment, a hot plug circuit is arranged between the male seat communication port 201 and the magnetic attraction steering engine processor 30, so that the damage to the magnetic attraction steering engine processor 30 caused by the spike of the pulse burr generated in the hot plug process is avoided.
Specifically, a first input end 1A and a second input end 2Y of a bus driving chip U1 are connected in common and connected with a male seat communication port 201 through a seventh resistor R7, when a male seat of a magnetic attraction steering engine is connected with a magnetic attraction steering engine of a previous stage or a main controller, a communication signal firstly enters the bus driving chip U1 through the male seat communication port 201, and then the bus driving chip U1 performs signal transmission based on an instruction sent by the magnetic attraction steering engine processor 30, for example, in this embodiment, a first enable signal end 1CE of the bus driving chip U1 receives a receive signal enable signal sent by a receive signal enable signal end RX _ EN of the magnetic attraction steering engine processor 30, a second enable signal end 2CE of the bus driving chip U2 receives a transmit signal enable signal sent by a transmit signal enable signal end TX _ EN of the magnetic attraction steering engine processor 30, if the magnetic attraction steering engine processor 30 needs to receive a signal, then set up received signal enable signal to high level, public seat communication port 201 carries out signal transmission with the signal receiving terminal RX of inhaling steering wheel processor 30 this moment, if inhale steering wheel processor 30 and need send the signal, then set up the enabling signal of sending signal to high level, and public seat communication port 201 carries out signal transmission with the signal transmitting terminal TX of inhaling steering wheel processor 30 this moment.
In one embodiment, the magnetic attraction steering engine system is provided in the embodiment, as shown in fig. 11, the magnetic attraction steering engine system in the embodiment includes a main controller and N magnetic attraction steering engines according to any one of claims 1 to 5, wherein a male seat of a 1 st magnetic attraction steering engine in the N magnetic attraction steering engines is connected with the main controller, a male seat of a 2 nd magnetic attraction steering engine is connected with a female seat of the 1 st magnetic attraction steering engine, and so on, a male seat of an ith magnetic attraction steering engine is connected with a female seat of an i-1 th magnetic attraction steering engine, wherein i is greater than or equal to 2 and less than or equal to N;
after the male seat voltage sampling port 202 of the ith magnetic suction steering engine receives a female seat reference voltage signal output by the female seat reference voltage port 102 of the (i-1) th magnetic suction steering engine, the ith magnetic suction steering engine determines the access direction according to the female seat reference voltage signal, and sends a corresponding feedback voltage signal to the (i-1) th magnetic suction steering engine through the male seat voltage sampling port 202;
when the ith magnetic suction steering engine is in an abnormal condition, abnormal information is sent to the (i-1) th magnetic suction steering engine by controlling the level of the public seat voltage sampling port 202 to overturn so as to send the abnormal information to the main controller step by step.
In this embodiment, the male seat voltage sampling port 202 of the ith magnetically attractive steering engine receives the female seat reference voltage signal output from the female seat reference voltage port 102 of the (i-1) th magnetically attractive steering engine, and determines the access direction of the male seat of the magnetically attractive steering engine based on the direction of the female seat reference voltage signal, for example, the first female seat reference voltage port 1021, the second female seat reference voltage port 1022, the third female seat reference voltage port 1023 and the fourth female seat reference voltage port 1024 on the female seat output voltage signals with different voltages, respectively, the male seat voltage sampling port 202 of the ith magnetically attractive steering engine determines which female seat reference voltage port 102 of the (i-1) th magnetically attractive steering engine the male seat of the ith magnetically attractive steering engine is connected based on the voltage of the received female seat reference voltage signal, because each female seat reference voltage port 102 corresponds to an access direction, therefore, the access direction of the ith magnetic suction steering engine can be judged. After the steering wheel is inhaled to ith magnetism according to female seat reference voltage signal confirms the access direction, then through public seat voltage sampling port 202 to the steering wheel is inhaled to ith-1 magnetism sends corresponding feedback voltage signal, and is concrete, after the steering wheel is inhaled to ith magnetism according female seat reference voltage signal confirms the access direction, through changing its public seat voltage sampling port 202 into the output to send corresponding feedback voltage signal, this feedback voltage signal can be heartbeat signal, send a pulse signal according to predetermineeing interval time promptly, in concrete work, each magnetism is inhaled the steering wheel and is all inhaled steering wheel or main control unit and feed back to one-level magnetism through the mode that sends heartbeat signal of going up to make magnetism inhale steering wheel or main control unit and can know next-level magnetism and inhale the steering wheel.
Further, when an abnormal condition occurs in the ith magnetic suction steering engine, the level of the public seat voltage sampling port 202 is controlled to turn over, and abnormal information is sent to the (i-1) th magnetic suction steering engine so as to send the abnormal information to the main controller step by step. In this embodiment, after voltage sampling is completed in the previous access direction determination process at the male socket voltage sampling port 202 of the ith magnetically-attracted steering engine, the output level is a low level, and if the voltage sampling is detected to be abnormal, the low level of the male socket voltage sampling port 202 can be changed into a high level, for example, the level is turned over from 0V to 3.3V, at this time, the level of the female socket reference voltage port 102 of the last magnetically-stage magnetically-attracted steering engine changes, the magnetically-attracted steering engine processor 30 of the last-stage magnetically-attracted steering engine (i-1 th magnetically-attracted steering engine) determines that the ith magnetically-attracted steering engine is abnormal based on the level change of the female socket reference voltage port 102, and then reports the abnormal information to the main controller step by step.
Since the level of the male seat voltage sampling port 202 of each magnetically attracted steering engine is a low level after being connected to the upper-stage magnetically attracted steering engine, if the magnetically attracted steering engine processor 30 of the i-1 st magnetically attracted steering engine judges that the i-th magnetically attracted steering engine is abnormal based on the level change of the female seat reference voltage port 102, the abnormal information can be reported by turning over the level of the working voltage sampling port, in one embodiment, in order to confirm the serial number of the abnormal magnetically attracted steering engine, the serial number of the abnormal magnetically attracted steering engine can be coupled in the turning over level to convey the information of the abnormal magnetically attracted steering engine, for example, if the i-th magnetically attracted steering engine is abnormal, the level of the male seat voltage sampling port 202 is changed from 0V to Vi;
Vi＝V0+i*Vref；
v0 is reference voltage, Vref is preset reference voltage, and each magnetism inhales the steering wheel and reports voltage signal Vi to main control unit through the mode of level upset step by step, and main control unit obtains the unusual result that the steering wheel appears is inhaled to ith magnetism based on voltage signal Vi that reports to realized that the communication port of magnetism inhales the steering wheel does not initiatively report to the complete machine, also can realize the function that the steering wheel exception handling of inhaling reports.
In one embodiment, when the ith-1 th magnetic suction steering engine is disconnected, the ith-1 th magnetic suction steering engine generates a corresponding rear-stage disconnection abnormal signal according to the received feedback voltage signal and sends the rear-stage disconnection abnormal signal to the main controller step by step.
In this embodiment, inhale the steering wheel as ith according female seat reference voltage signal confirms behind the direction of access, through changing its public seat voltage sampling port 202 into output to send corresponding feedback voltage signal, this feedback voltage signal can be heartbeat signal, send a pulse signal according to predetermineeing interval promptly, in concrete work, each magnetism is inhaled the steering wheel and is all inhaled steering wheel or main control unit and feed back through the last one-level magnetism of the mode of sending heartbeat signal to make magnetism inhale steering wheel or main control unit and can know next one-level and inhale the steering wheel and insert. If the ith magnetic attraction steering engine is disconnected, the ith-1 magnetic attraction steering engine cannot receive heartbeat signals sent by the ith magnetic attraction steering engine, the ith-1 magnetic attraction steering engine generates corresponding rear-stage disconnection abnormal signals according to the received feedback voltage signals, and sends the rear-stage disconnection abnormal signals to the main controller step by step. Specifically, the rear-stage disconnection abnormal signal can be an i-1 st magnetic suction steering engine which stops outputting a heartbeat signal by controlling a public telephone sampling port of the magnetic suction steering engine, so that each magnetic suction steering engine sequentially uploads the rear-stage disconnection abnormal signal to the main controller.
In one embodiment, the i-1 st magnetically-attracted steering engine generates a corresponding rear-stage disconnection abnormal signal according to the received feedback voltage signal, and after sending the rear-stage disconnection abnormal signal to the main controller step by step, the method further includes:
and the main controller sequentially clears the addresses of the magnetic attraction steering engines in each magnetic attraction steering engine from the i-1 st magnetic attraction steering engine so as to sequentially disconnect the communication circuit between each magnetic attraction steering engine and the next magnetic attraction steering engine.
In this embodiment, after the main controller receives a rear-stage disconnection abnormal signal, a magnetic attraction steering engine address zero clearing signal is sent to a last-stage magnetic attraction steering engine (i.e., the (i-1) th magnetic attraction steering engine), at this time, the magnetic attraction steering engine address of the (i-1) th magnetic attraction steering engine is cleared, an analog switch inside the magnetic attraction steering engine and used for communicating with the next-stage magnetic attraction steering engine is disconnected, then a magnetic attraction steering engine address zero clearing signal is sent to the magnetic attraction steering engine address of the (i-2) th magnetic attraction steering engine, and so on, all analog switches in all the magnetic attraction steering engines are finally disconnected, and the magnetic attraction steering engine addresses in all the magnetic attraction steering engines are reset, so that the problem that when a certain magnetic attraction steering engine is disconnected and cannot receive a control instruction, other magnetic attraction steering engines still execute.
In one embodiment, after the main controller sequentially clears the addresses of the magnetically attracted steering engines in each magnetically attracted steering engine from the i-1 th magnetically attracted steering engine, the method further includes:
the main controller sends a magnetic attraction steering engine address to each magnetic attraction steering engine in sequence.
In this embodiment, main control unit inhales the magnetism of steering wheel with all magnetism and inhales the steering wheel address zero clearing after, inhales the steering wheel to each magnetism in proper order and sends a magnetism and inhale the steering wheel address, and at this moment, main control unit inhales the steering wheel reassignment magnetism to each magnetism to the steering wheel address is inhaled to magnetism based on the magnetism of reassignment and to the steering wheel address of inhaling that corresponds send the action instruction, has avoided inhaling the problem that the steering wheel sent the action instruction to damage magnetism still to the damage under the circumstances of damage, disconnection appearing in the steering wheel.
In one embodiment, the main controller sequentially sends a magnetic attraction steering engine address to each magnetic attraction steering engine, including:
each the steering wheel is inhaled to magnetism acquires one the steering wheel address is inhaled to the control switches on with the communication circuit of the next steering wheel of inhaling of its connection, in order by the steering wheel is inhaled to next magnetism receives and preserves one the steering wheel address is inhaled to magnetism that main control unit sent.
In this embodiment, after each magnetically attracted steering engine receives an address of a magnetically attracted steering engine, the communication circuit of the next magnetically attracted steering engine connected to the magnetically attracted steering engine is controlled to be turned on, at this time, the main controller sends a magnetically attracted steering engine address again according to a preset interval time or a feedback signal written based on the address of the magnetically attracted steering engine, and since the analog switch is turned on, the next magnetically attracted steering engine receives and stores a magnetically attracted steering engine address sent by the main controller, for example, if the i-1 th magnetically attracted steering engine receives the address of the magnetically attracted steering engine, the analog switch in the magnetically attracted steering engine is turned on, the main controller sends a magnetically attracted steering engine address again, since the 1 st to the i-1 st magnetically attracted steering engines have written the magnetically attracted steering engine address, the magnetically attracted steering engine address is written into an internal memory or register when passing through the i-th magnetically attracted steering engine, and the analog switch in the i-, and the next magnetic attraction steering engine receives and stores one magnetic attraction steering engine address sent by the main controller, and so on.
The application provides steering wheel and steering wheel system is inhaled to magnetism, the steering wheel is inhaled to magnetism includes: a magnetically attracted steering engine processor 30; a male seat and a female seat which are respectively connected with the magnetically attracted steering engine processor 30; a motor 70 for receiving the control instruction sent by the magnetic attraction steering engine processor 30 and moving according to the control instruction; and it is right to be used for the steering wheel treater is inhaled to magnetism 30 public seat female seat and the steering wheel seat is inhaled to magnetism that motor 70 goes on fixing, through set up a plurality of female seat reference voltage ports 102 on female seat for public seat of adjacent magnetism steering wheel and this magnetism can automatic identification its access direction when inhaling the female seat of steering wheel, the restriction of having solved magnetism steering wheel structure makes magnetism inhale the steering wheel and has mechanical spacing, different access direction has different spacing, if inhale the problem that steering wheel system can lead to magnetism to inhale the steering wheel and can't carry out the action according to the correct logic of setting for when can't learn the access direction.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a steering wheel is inhaled to magnetism which characterized in that includes: a steering engine processor is magnetically attracted; the angle sensor is connected with the magnetic attraction steering engine processor; the male seat and the female seat are respectively connected with the magnetic steering engine processor; the motor is used for receiving a control instruction sent by the magnetic attraction steering engine processor and moving according to the control instruction; and
the magnetic attraction steering engine seat is used for fixing the magnetic attraction steering engine processor, the angle sensor, the male seat, the female seat and the motor;
the female block includes: the magnetic attraction steering engine comprises a female seat communication port, a plurality of female seat reference voltage ports, at least one female seat voltage source port, at least one female seat grounding port and a female seat magnetic attraction piece, wherein the female seat communication port, the plurality of female seat reference voltage ports, the at least one female seat voltage source port and the at least one female seat grounding port are respectively connected with the magnetic attraction steering engine processor; the male seat includes: public seat communication port, public seat voltage sampling port, public seat voltage source port, public seat ground connection port and public seat magnetism adsorb the piece, public seat communication port public seat voltage sampling port public seat voltage source port public seat ground connection port respectively with the steering wheel treater of magnetism is inhaled and is connected.
2. The magnetically attractive steering engine of claim 1, further comprising: the relay is used for receiving a relay control signal sent by the magnetic attraction steering engine processor and controlling the connection relation between the female seat communication port and the male seat communication port according to the relay control signal, and the relay is connected with the female seat communication port, the male seat communication port and the magnetic attraction steering engine processor respectively.
3. The magnetically attractive steering engine of claim 1, wherein the female socket comprises: the magnetic actuator seat surface voltage division circuit comprises a first female seat reference voltage port, a second female seat reference voltage port, a third female seat reference voltage port, a fourth female seat reference voltage port and a magnetic actuator seat surface voltage division circuit; steering wheel seat face bleeder circuit is inhaled to magnetism includes: the circuit comprises a first capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor and a fifth resistor;
a first end of the first capacitor and a first end of the first resistor are connected to the male seat voltage source port in common, and a second end of the first resistor and a first end of the second resistor are connected to the first female seat reference voltage port in common;
the second end of the second resistor and the first end of the third resistor are connected to the second mother socket reference voltage port in common;
the second end of the third resistor and the first end of the fourth resistor are connected to the third mother socket reference voltage port in common;
a second end of the fourth resistor and a first end of the fifth resistor are connected to the fourth mother socket reference voltage port in common;
and the second end of the fifth resistor is grounded.
4. The magnetically attractive steering engine of claim 1, wherein the male seat comprises a sampling communication interface, a sixth resistor and an anti-surge unit connected to the magnetically attractive steering engine processor;
public seat voltage source port with the first pin of sampling communication interface is connected, the first end of sixth resistance with the second pin of sampling communication interface connect in altogether the first input of anti-surge unit, the second end of sixth resistance with public seat communication port connects, public seat voltage sampling port with the third pin of sampling communication interface connect in altogether the second input of anti-surge unit, the output ground connection of anti-surge unit, the second end of anti-surge unit with the fourth pin of sampling communication interface connects in altogether ground.
5. The magnetically attractive steering engine of claim 1, further comprising a hot plug circuit, wherein the hot plug circuit is connected to the magnetically attractive steering engine processor and the male seat respectively;
the hot plug circuit comprises: the bus driving chip, the seventh resistor, the eighth resistor, the second capacitor and the ninth resistor;
the first end of the seventh resistor is connected with the public seat communication port, the second end of the seventh resistor, the first end of the eighth resistor and the first input end of the bus driving chip are connected with the second input end of the bus driving chip in a sharing way, the power end of the bus driving chip, the second end of the eighth resistor, the first end of the second capacitor and the first end of the ninth resistor are connected with the public seat voltage source port in a sharing way, the second end of the second capacitor is grounded, the grounding end of the bus driving chip is grounded, the first output end of the bus driving chip and the second end of the ninth resistor are connected with the signal receiving end of the magnetic steering engine processor in a sharing way, the second output end of the bus driving chip is connected with the signal transmitting end of the magnetic steering engine processor, the first enabling signal end of the bus driving chip is connected with the receiving signal enabling signal end of the magnetic steering engine processor, and a second enabling signal end of the bus driving chip is connected with a transmitting signal enabling signal end of the magnetic attraction steering engine processor.
6. A magnetic attraction steering engine system is characterized by comprising a main controller and N magnetic attraction steering engines according to any one of claims 1 to 5, wherein a male seat of the 1 st magnetic attraction steering engine in the N magnetic attraction steering engines is connected with the main controller, a male seat of the 2 nd magnetic attraction steering engine is connected with a female seat of the 1 st magnetic attraction steering engine, the rest is repeated, a male seat of the ith magnetic attraction steering engine is connected with a female seat of the (i-1) th magnetic attraction steering engine, and i is more than or equal to 2 and less than or equal to N;
after a male seat voltage sampling port of the ith magnetic suction steering engine receives a female seat reference voltage signal output by a female seat reference voltage port of the ith-1 magnetic suction steering engine, the ith magnetic suction steering engine determines an access direction according to the female seat reference voltage signal and sends a corresponding feedback voltage signal to the ith-1 magnetic suction steering engine through the male seat voltage sampling port;
when the ith magnetic suction steering engine is in an abnormal condition, the level of the public seat voltage sampling port is controlled to overturn, and abnormal information is sent to the (i-1) th magnetic suction steering engine so as to send the abnormal information to the main controller step by step.
7. The magnetically attracted steering engine system of claim 6, wherein when the ith magnetically attracted steering engine is disconnected, the (i-1) magnetically attracted steering engine generates a corresponding rear-stage disconnection abnormal signal according to the received feedback voltage signal and sends the rear-stage disconnection abnormal signal to the main controller stage by stage.
8. The magnetically attractive steering engine system of claim 7, wherein the i-1 st magnetically attractive steering engine generates a corresponding rear-stage disconnection abnormal signal according to the received feedback voltage signal, and sends the rear-stage disconnection abnormal signal to the main controller stage by stage, further comprising:
and the main controller sequentially clears the addresses of the magnetic attraction steering engines in each magnetic attraction steering engine from the i-1 st magnetic attraction steering engine so as to sequentially disconnect the communication circuit between each magnetic attraction steering engine and the next magnetic attraction steering engine.
9. The magnetically attracted steering engine system of claim 8, wherein the main controller sequentially clears the addresses of the magnetically attracted steering engines in each magnetically attracted steering engine from the i-1 st magnetically attracted steering engine, further comprising:
the main controller sends a magnetic attraction steering engine address to each magnetic attraction steering engine in sequence.
10. The magnetically attractive steering engine system of claim 9, wherein the main controller sends a magnetically attractive steering engine address to each of the magnetically attractive steering engines in sequence, comprising:
each the steering wheel is inhaled to magnetism acquires one the steering wheel address is inhaled to the control switches on with the communication circuit of the next steering wheel of inhaling of its connection, in order by the steering wheel is inhaled to next magnetism receives and preserves one the steering wheel address is inhaled to magnetism that main control unit sent.
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