CN113984257A

CN113984257A - Torque sensor and data processing method of torque sensor

Info

Publication number: CN113984257A
Application number: CN202111262411.4A
Authority: CN
Inventors: 孙敏
Original assignee: Nanjing Dmhc Science&technology Co ltd
Current assignee: Nanjing Dmhc Science&technology Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-01-28
Also published as: WO2023071636A1

Abstract

The embodiment of the application provides a torque sensor and a data processing method of the torque sensor, and relates to the technical field of electric power bicycles. The torque sensor of the present application includes: the sensor comprises a sensor module and a processing module fixedly connected with the sensor body; the processing module comprises: the device comprises a micro control unit and a storage unit electrically connected with the micro control unit; the micro control unit is used for performing analog-to-digital conversion processing on the basis of the sensor signal sent by the sensor module to obtain a signal subjected to analog-to-digital conversion, sending the signal subjected to analog-to-digital conversion processing to a controller of equipment where the moment sensor is located, and sending the signal subjected to analog-to-digital conversion processing to the storage unit; and the storage unit is used for storing the signals after the analog-to-digital conversion processing. The torque sensor related signal information can be stored, and historical information can be conveniently backtracked, collected and analyzed.

Description

Torque sensor and data processing method of torque sensor

Technical Field

The application relates to the technical field of electric power-assisted bicycles, in particular to a torque sensor and a data processing method of the torque sensor.

Background

On the electric power-assisted bicycle, in order to realize the power-assisted function, a torque sensor is needed to convert the detected pedaling force into related electric signals and two paths of pedaling frequency signals, and a controller adjusts the driving force output by a motor in a driving system according to the magnitude of the signals, so that the purpose of providing auxiliary power during riding is achieved.

In the prior art, signals generated by the torque sensor are generally transmitted to the controller in real time, because the signals are led out through a cable, the signals output by the torque sensor cannot be stored locally in the torque sensor, the controller generally does not store information of related signals of the torque sensor, and when the torque sensor breaks down or is damaged, historical information can not be backtracked, collected and analyzed.

Disclosure of Invention

The purpose of the present application includes, for example, providing a torque sensor and a data processing method of the torque sensor, which can store information of signals related to the torque sensor, and facilitate the backtracking, collection and analysis of historical information.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

in a first aspect, an embodiment of the present application provides a torque sensor, including:

the sensor comprises a sensor module and a processing module fixedly connected with the sensor body;

the processing module comprises: the device comprises a micro control unit and a storage unit electrically connected with the micro control unit;

the micro control unit is used for performing analog-to-digital conversion processing on the basis of the sensor signal sent by the sensor module to obtain a signal subjected to analog-to-digital conversion, sending the signal subjected to analog-to-digital conversion processing to a controller of equipment where the moment sensor is located, and sending the signal subjected to analog-to-digital conversion processing to the storage unit;

and the storage unit is used for storing the signals after the analog-to-digital conversion processing.

In an optional implementation, the processing module further includes:

a pre-processing unit;

the preprocessing unit is electrically connected with the micro control unit;

the preprocessing unit is used for preprocessing the sensor signal sent by the sensor module and sending the preprocessed sensor signal to the micro control unit;

the micro control unit is specifically configured to:

and performing analog-to-digital conversion processing on the preprocessed sensor signals to obtain signals subjected to analog-to-digital conversion processing, sending the signals subjected to analog-to-digital conversion processing to a controller of the equipment where the moment sensor is located, and sending the signals subjected to analog-to-digital conversion processing to the storage unit.

In an optional implementation, the processing module further includes:

an output interface;

the input end of the output interface is connected with the micro control unit, and the output end of the output interface is fixedly connected with a high-level bus and a low-level bus;

the micro control unit is specifically further configured to:

and sending the signals subjected to the analog-to-digital conversion to the output interface, and sending the signals to a controller of the equipment where the torque sensor is located through the high-level bus and the low-level bus.

In an alternative embodiment, the output interface comprises:

a controller area network interface;

the micro control unit is specifically further configured to:

and packaging the signals after the analog-to-digital conversion processing based on a controller area network protocol, sending the packaged signals to the controller area network interface, and sending the packaged signals to the storage unit.

In an alternative embodiment, the type of the analog-to-digital conversion processed signal is carried in an arbitration segment of the encapsulated signal for transmission, and the analog-to-digital conversion processed signal is carried in a data segment of the encapsulated signal for transmission.

In an optional embodiment, the sensor module is connected with the preprocessing unit through a signal connecting line;

the signal connecting line is used for transmitting the sensor signal.

In an alternative embodiment, the signal connection line comprises:

the moment signal connecting line, the first treading frequency signal connecting line and the second treading frequency signal connecting line;

the moment signal connecting line is used for transmitting moment signals, the first step frequency signal connecting line is used for transmitting first step frequency signals, and the second step frequency signal connecting line is used for transmitting second step frequency signals.

In an alternative embodiment, the first tread signal connection line and the second tread signal connection line are further connected to the controller.

In an optional embodiment, the sensor module is connected with the pretreatment unit through a power supply connecting wire;

the power connecting line is used for supplying power to the processing module.

In a second aspect, an embodiment of the present application provides a data processing method for a torque sensor, which is applied to a processing module in the torque sensor described in any one of the foregoing embodiments, and the method includes:

acquiring a sensor signal sent by a sensor module in a torque sensor;

performing analog-to-digital conversion processing on the sensor signal to obtain a signal subjected to analog-to-digital conversion processing;

sending the signals subjected to analog-to-digital conversion to a controller of the equipment where the torque sensor is located;

and sending the signals after the analog-to-digital conversion processing to the storage unit.

The beneficial effects of the embodiment of the application include, for example:

the application provides a torque sensor includes: a sensor module and a processing module. The processing module comprises: the sensor comprises a micro-control unit and a storage unit, wherein the micro-control unit is used for carrying out analog-to-digital conversion processing on a sensor signal generated by a sensor module and storing the sensor signal into the storage unit. Like this, set up a memory cell in torque sensor inside for torque sensor becomes an information storage node, has realized sensor signal's local save, when torque sensor breaks down or damages, can in time transfer the historical sensor signal of saving, through modes such as historical information backtracking, collection and analysis, learns the fault reason.

In addition, the torque sensor packages the torque signal connecting line, the first frequency-stepping signal connecting line and the second frequency-stepping signal connecting line of the sensor module for transmitting the sensor signal inside the torque sensor, the signal after analog-to-digital conversion of the sensor is output through the output interface, and is transmitted through the high-level bus and the low-level bus, so that even if the signal types required to be transmitted by the sensor module are increased, for the torque sensor, only two cables are needed to be connected with the controller, the number of cables externally connected with the torque sensor is reduced, and the installation difficulty of the torque sensor is reduced. Besides, the first treading frequency signal and the second treading frequency signal are directly transmitted to the controller micro control unit, and the first treading frequency signal and the second treading frequency signal received through the controller local area network interface of the torque sensor are compared and verified, so that the accuracy of two-path treading frequency signal transmission is improved, the requirement of the bicycle on safety performance is met, and the use experience of a user is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of a prior art torque sensor;

fig. 2 is a schematic structural diagram of a torque sensor provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a controller driving motor of a torque sensor according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of another structure of a torque sensor provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a torque signal processing circuit of a torque sensor according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a first step-frequency signal processing circuit of a torque sensor according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a second step-frequency signal processing circuit of the torque sensor according to the embodiment of the present disclosure;

FIG. 8 is a schematic diagram of another exemplary torque sensor provided in an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of another exemplary torque sensor provided in an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a controller area network protocol data frame of a torque sensor according to an embodiment of the present disclosure;

FIG. 11 is a schematic diagram of another exemplary torque sensor provided in an embodiment of the present disclosure;

fig. 12 is a schematic step flow chart of a data processing method of a torque sensor according to an embodiment of the present application.

Icon: 101-a torque sensor; 102-supply VCC; 103-a controller; 1011-a sensor module; 1012-a processing module; 1012 a-memory cell; 1012 b-micro control unit; 1012 c-pretreatment unit; 1012 d-output interface; 1012e-CAN interface; 1031-controller CAN interface; 1032-a controller micro control unit; 104-a driving chip; 105-a three-phase bridge arm driving circuit; 106-motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the present invention product is usually put into use, it is only for convenience of describing the present application and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

When the electric power-assisted bicycle is pedaled by manpower, the driving system gives driving force to assist the bicycle to move forwards. In order to control the driving force of the driving system more accurately, a torque sensor is needed to collect pedal force and convert the pedal force into a relevant torque signal and two paths of pedal frequency signals, and a controller adjusts the driving force according to the magnitude of the signals. However, as shown in fig. 1, the current torque sensor 101 generally requires an external power source VCC102 and a ground GND. The output signals of the torque sensor 101 include: the torque sensor 101 and the controller 103 cannot store information of related signals of the torque sensor 101, and when the torque sensor 101 is in a fault or damaged, historical information can not be backtracked, collected and analyzed.

Based on this, the applicant has studied and proposed a torque sensor and a data processing method of the torque sensor, wherein the torque sensor 101 includes: a sensor module 1011 and a processing module 1012. Wherein the processing module 1012 comprises: a Micro Controller Unit (MCU) 1012b and a storage Unit 1012a, wherein the micro controller Unit 1012b is used for performing analog-to-digital conversion processing on the sensor signal generated by the sensor module 1011 and storing the processed signal into the storage Unit 1012 a. Thus, the storage unit 1012a is arranged in the torque sensor 101, so that the torque sensor 101 becomes an information storage node, local storage of sensor signals is realized, when the torque sensor 101 breaks down or is damaged, the stored historical sensor signals can be called in time, and the failure reason can be obtained through the modes of historical information backtracking, acquisition, analysis and the like.

The torque sensor and the data processing method of the torque sensor provided in the embodiments of the present application are explained below with reference to a plurality of specific application examples.

The schematic structural diagram of the torque sensor 101 provided in the embodiment of the present application is shown in fig. 2, and includes: a sensor module 1011 and a processing module 1012 fixedly connected to the sensor body.

The specific physical form of the processing module 1012 may be a Printed Circuit Board (PCB) Board. The sensor module 1011 and the processing module 1012 are fixedly connected to each other, and together form the torque sensor 101. Illustratively, the sensor module 1011 and the processing module 1012 are enclosed in the same housing and are fixedly connected, and the connection between the sensor module 1011 and the controller 103 extends from the housing. The sensor module 1011 and the processing module 1012 can be fixedly connected inside the housing by means of plugging, welding, cable connection, etc., so that the connection line between the sensor module 1011 and the processing module 1012 does not need to be sensed and considered during installation.

The sensor module 1011 and the processing module 1012 are fixedly connected to each other, and the relative position inside the torque sensor 101 is not limited herein.

Optionally, the processing module 1012 comprises: a micro control unit 1012b and a memory unit 1012a electrically connected to the micro control unit 1012 b.

The micro control unit 1012b may be a single-chip microcomputer or a single-chip microcomputer, and is configured to perform analog-to-digital conversion on the sensor signal sent by the sensor module 1011 to obtain an analog-to-digital converted signal, send the analog-to-digital converted signal to the controller 103 of the device where the torque sensor 101 is located, and send the analog-to-digital converted signal to the storage unit 1012 a. The storage unit 1012a may be a memory burned on the PCB, or may also be a FLASH (FLASH memory) chip soldered on the PCB, and is configured to store the signal after the analog-to-digital conversion processing.

In the embodiment of the present application, taking an electric power assisted bicycle as an example, the controller 103 may be an electronic device for controlling the starting, running, speed and stopping of the motor on the electric power assisted bicycle.

Alternatively, the sensor module 1011 may include one or a combination of a torque sensor and a pedaling frequency sensor, wherein the torque sensor may output a torque signal according to the variation of the pedaling force of the rider, and the torque signal is a pulse signal for driving the rotation frequency of the motor, and the magnitude of the torque signal is in a predetermined direct proportion to the magnitude of the pedaling force of the rider. In order to control the rotation frequency of the motor more precisely, the sensor module 1011 may further include a pedal frequency sensor, the pedal frequency sensor may output two paths of pedal frequency signals according to the frequency of pedaling by the rider with both feet, the two paths of pedal frequency signals output at this time are pulse signals, and the driving motor drives the pedals of the electric power-assisted bicycle to rotate with a frequency which is in a preset proportion to the frequency of pedaling by the rider with both feet. When the rider steps on the bicycle to stop or go backwards, the pedaling frequency sensor outputs only one pedaling frequency signal or two pedaling frequency signals in reverse sequence, and the controller 103 stops driving the motor immediately. The above-mentioned process of the mcu 1012b for analog-to-digital conversion of the sensor signal can be detailed as follows: the micro control unit 1012b receives a pulse signal of the sensor signal acquired by the sensor module 1011, where the pulse signal of the sensor signal is an analog signal, and the micro control unit 1012b converts a high frequency part of the pulse signal of the sensor signal into a logic "1" of a digital signal and converts a low frequency part of the pulse signal of the sensor signal into a logic "0" of the digital signal, thereby obtaining the digital signal of the sensor signal. The specific high frequency portion and the low frequency portion are determined according to a signal bandwidth of the pulse signal of the specific sensor signal.

After completing the analog-to-digital conversion process, the mcu 1012b stores the sensor signal after analog-to-digital conversion into the storage unit 1012a according to the storage address of the predetermined storage area of the PCB.

The central axis of the sensor module 1011 will generate very fine torsion deformation when being stressed, and the current treading force can be obtained by measuring the fine deformation signal on the surface of the central axis of the sensor module 1011, so as to output the sensor signal generated corresponding to the treading force. Since the signal is an analog signal, the micro control unit 1012b of the processing module 1012 can convert it into a digital signal, store it to the storage unit 1012a, and transmit it to the controller 103.

Alternatively, as shown in fig. 3, the process of driving the motor 106 by the controller 103 may be detailed as follows: the controller 103 generates a PWM (Pulse Width Modulation) signal based on the torque signal from the torque sensor 101, the first step frequency signal, the second step frequency signal, and a position signal input to the controller 103 from a position sensor of the motor 106. The PWM signal is output from 6 pins of the controller 103, and is used to control the rotation speed of the motor 106 according to the duty ratio of the high level signal in one PWM signal period. The 6 paths of PWM signals output by the controller 103 are input to the 6 paths of pins corresponding to the driver chip 104, and the 6 paths of pins of the driver chip 104 output UH, UL, VH, VL, WH, and WL signals, respectively, so that the three-phase arm driver circuit 105 outputs U, V, W signals of the driving motor 106. The U, V, W signal is a three-phase power for driving the motor 106, and is three alternating current potential signals with the same frequency, the same amplitude, and the sequential phase difference of 120 degrees. The UH signal and the UL signal correspondingly control the three-phase bridge arm driving circuit 105 to output a U signal, the VH signal and the VL signal correspondingly control the three-phase bridge arm driving circuit 105 to output a V signal, and the WH signal and the WL signal correspondingly control the three-phase bridge arm driving circuit 105 to output a W signal. Alternatively, the U, V, W signal output by three-phase bridge arm driving circuit 105 may be connected to the winding of motor 106, and motor 106 is driven to operate according to the magnitude of signal U, V, W.

In the embodiment of the present application, the torque sensor includes: the processing module, the local save of torque sensor signal has been realized to the memory cell among this processing module, when torque sensor breaks down or damages, can in time transfer the historical sensor signal of saving, through modes such as historical information backtracking, collection and analysis, learns the fault reason. In addition, the sensor module is fixedly connected with the processing module to form the torque sensor, and the torque sensor is externally in a black box form, so that more signal cables required to be led out by the sensor module can be packaged inside the torque sensor, and the problem of complex installation caused by excessive signal cables is avoided.

As an alternative implementation, referring to fig. 4, on the basis of fig. 2, the processing module 1012 of the torque sensor 101 further includes: a preprocessing unit 1012c, the preprocessing unit 1012c being electrically connected with the micro control unit 1012 b. The preprocessing unit 1012c is configured to preprocess the sensor signal sent by the sensor module 1011 and send the preprocessed sensor signal to the micro control unit 1012 b.

Optionally, the micro control unit 1012b is specifically configured to: the preprocessed sensor signals are subjected to analog-to-digital conversion processing to obtain signals subjected to analog-to-digital conversion processing, the signals subjected to analog-to-digital conversion processing are sent to the controller 103 of the device where the moment sensor 101 is located, and the signals subjected to analog-to-digital conversion processing are sent to the storage unit 1012 a.

The preprocessing unit 1012c preprocesses the sensor signal sent by the sensor module 1011, and may perform current limiting and denoising on the sensor signal, and the micro control unit 1012b performs analog-to-digital conversion on the current-limited and denoised sensor signal to obtain a digital signal of the sensor signal, and then stores the digital signal in the storage unit 1012a and sends the digital signal to the controller 103.

Optionally, the sensor module 1011 and the preprocessing unit 1012c are connected by a signal connection line, and the signal connection line is used for transmitting a sensor signal.

Referring to fig. 4, the signal connection line may include: moment signal connecting wire, first step on signal connecting wire and the second and step on signal connecting wire frequently. The moment signal connecting line is used for transmitting moment signals, the first step frequency signal connecting line is used for transmitting first step frequency signals, and the second step frequency signal connecting line is used for transmitting second step frequency signals.

It should be noted that, with reference to fig. 4, the sensor signal generated by the sensor module 1011 includes a moment signal, a first step frequency signal and a second step frequency signal, and is transmitted to the processing module 1012 connected thereto through the moment signal connection line, the first step frequency signal connection line and the second step frequency signal connection line, respectively.

Optionally, the preprocessing unit 1012c includes a torque signal processing circuit, a first frequency-stepped signal processing circuit, and a second frequency-stepped signal processing circuit. The current limiting and filtering device is used for performing current limiting and filtering processing on the moment signal, the first step frequency signal and the second step frequency signal respectively, and the specific processing process is detailed below.

The moment signal processing circuit is connected with the sensor module 1011 through a moment signal connecting wire, the first frequency-stepping signal processing circuit is connected with the sensor module 1011 through the first frequency-stepping signal connecting wire, and the second frequency-stepping signal processing circuit is connected with the sensor module 1011 through the second frequency-stepping signal connecting wire.

Fig. 5 is a schematic structural diagram of a torque signal processing circuit, and after a torque signal is input to the torque signal processing circuit, a high-pass filter line is formed by a magnetic bead FB1 and a capacitor C1 to remove a high-frequency interference signal in the torque signal. The resistor R2 and the capacitor C2 form a low-pass filter circuit to remove low-frequency interference signals in the torque signals. In addition, R1 and R2 jointly form a current limiting line, divide the voltage of the torque signal and output the voltage, and obtain the torque signal after filtering and current limiting processing.

The torque sensor in the sensor module 1011 is a pressure-variable sensor, and when the torque sensor receives the extrusion of the pedal force, the torque sensor can generate extremely fine torque deformation, and according to the physical change of the torque deformation, the torque sensor can convert the torque deformation into an accurate electric pulse signal, namely, a torque signal. The moment signal is used for driving the rotation frequency of the motor, and the magnitude of the moment signal is in a preset direct proportion relation with the magnitude of the pedaling force of the rider.

It should be noted that, the part of the sensor module 1011 that outputs the first step frequency signal and the second step frequency signal is substantially two switch type hall devices, the two switch type hall devices differ by a certain angle, and according to the rotation frequency of the pedal force of the two pedals of the bicycle, the first step frequency signal and the second step frequency signal that differ by a certain phase and are in a preset proportional relationship with the pedal force frequency are output. The first frequency-stepped signal and the second frequency-stepped signal are transmitted to the controller 103, and the controller 103 drives the motor according to the magnitude of the first frequency-stepped signal and the second frequency-stepped signal to provide accurate auxiliary power for the rider. It can be understood that if the sensor module 1011 only outputs one of the pedaling signals, or the output two pedaling signals have opposite pulse directions, the controller 103 will stop driving the motor.

That is to say, the purpose of assisting the power of the motor of the bicycle can be achieved when the rider steps on the pedal hard or rapidly. The first frequency signal and the second frequency signal play a role in controlling whether the motor stops or not according to the treading force.

Optionally, fig. 6 is a schematic structural diagram of the first stepped-frequency signal processing circuit, and after the first stepped-frequency signal output by the sensor module is output to the first stepped-frequency signal processing circuit, a high-pass filter line is formed by the magnetic bead FB2 and the capacitor C3, so as to remove a high-frequency interference signal of the first stepped-frequency signal. The first step frequency signal is output by the open circuit of the collector of the switch type hall device of the sensor module, and therefore, the resistance value change in the first step frequency signal needs to be converted into corresponding voltage through the resistor R3 of the external power supply VCC. Wherein the voltage of the power source VCC may be 5V. In addition, the resistor R4 and the resistor C4 together form a low-pass filter circuit to remove the low-frequency interference signal in the first tread-frequency signal.

Alternatively, the second cadence signal processing circuit may be configured as shown in fig. 7. It will be appreciated that the processing principle of the second cadence signal processing circuit is the same as that of the first cadence signal processing circuit. The magnetic bead FB3 and the capacitor C5 form a high-pass filter circuit for removing the high-frequency interference signal of the second step frequency signal. And the external power supply VCC and the resistor R5 are used for converting the resistance value change in the second stepping frequency signal into corresponding voltage. The resistor R6 and the capacitor C6 form a low-pass filter circuit together to remove low-frequency interference signals in the second tread-frequency signal.

After the torque signal processing circuit, the first step frequency signal processing circuit and the second step frequency signal processing circuit perform current limiting and filtering processing on the torque signal, the first step frequency signal and the second step frequency signal, the processed signals are respectively transmitted to the micro control unit 1012b connected with the processed signals through output signal lines of the corresponding processing circuits.

In this embodiment, the torque signal, the first step frequency signal, and the second step frequency signal are filtered by the preprocessing unit, so that high-frequency interference signals and low-frequency interference signals generated by the sensor module are reduced, and digital signals of the sensor signals after subsequent analog-to-digital conversion are more accurate. In addition, the preprocessing unit also carries out current limiting processing on the moment signal, the first stepping frequency signal and the second stepping frequency signal, so that the phenomenon that the micro-control unit is damaged due to overlarge current of a sensor signal is avoided, and the safe operation of components is ensured.

Optionally, on the basis of the above embodiment, as shown in fig. 8, the processing module 1012 further includes: and an output interface 1012 d. The input end of the output interface 1012d is connected to the micro control unit 1012b, and the output end of the output interface 1012d is fixedly connected to the high-level bus and the low-level bus.

The micro control unit 1012b is further specifically configured to: the signal after the analog-to-digital conversion processing is sent to the output interface 1012d, and is sent to the controller 103 of the device where the torque sensor 101 is located via the high-level bus and the low-level bus.

The sensor module 1011 sends a torque signal, a first frequency-stepped signal and a second frequency-stepped signal to the processing module 1012, and after the sensor signal is filtered and current-limited by the preprocessing unit 1012c of the processing module 1012, the processed sensor signal is analog-to-digital converted by the micro control unit 1012 b. After analog-to-digital conversion, the micro control unit 1012b stores the analog-to-digital converted sensor signal in the storage unit 1012a and transmits it to the output interface 1012 d. The analog-to-digital converted sensor signals are sent to the controller 103 by the output interface 1012d via the high-level bus and the low-level bus.

It should be noted that, when there is no data to be sent, the high-level bus and the low-level bus are in a quiescent state, and the voltage value may be 2.5V. When data needs to be sent, the voltage of the high-level bus is increased to 3.5V, and the voltage of the low-level bus is reduced to 1.5V. It is understood that when the difference between the high level signal and the low level signal is less than 0.5V, the logic signal is represented as "logic 1", i.e. high level; if the difference between the high level signal and the low level signal is greater than 0.5V, the logic signal appears as "logic 0", i.e., low level.

Thus, the high and low buses transmit the digital signal analog-to-digital converted by the micro control unit 1012b to the controller 103.

In this embodiment, the torque sensor encapsulates the torque signal connection line, the first frequency-stepped signal connection line and the second frequency-stepped signal connection line, which are used for transmitting the sensor signal by the sensor module, inside the torque sensor, outputs the signal after analog-to-digital conversion by the output interface, and transmits the signal by the high-level bus and the low-level bus, so that even if the types of the signals required to be transmitted by the sensor module are increased, the torque sensor can be connected with the controller by only two cables. This embodiment has reduced the cable quantity of torque sensor external connection, has reduced torque sensor's the installation degree of difficulty.

Optionally, on the basis of fig. 8, as shown in fig. 9, the output interface 1012d includes: a Controller Area Network (CAN) interface 1012 e.

The micro control unit 1012b is further specifically configured to: the analog-to-digital converted signal is encapsulated based on a controller area network protocol, that is, a CAN protocol, and the encapsulated signal is transmitted to the controller area network interface 1012e and the encapsulated signal is transmitted to the storage unit 1012 a.

The sensor signal after being preprocessed is subjected to analog-to-digital conversion by the micro control unit 1012b and then converted into a digital signal of the sensor signal, the digital signal of the sensor signal is packaged by the micro control unit 1012b based on a CAN protocol, the packaged sensor signal CAN be sent to the storage unit 1012a for storage, and CAN be sent to the controller CAN interface 1031 of the controller 103 through the high-level bus and the low-level bus by the CAN interface 1012e of the processing unit 1012, and is analyzed and processed by the controller micro control unit 1032.

Specifically, the mcu 1012b packages the sensor signals according to the CAN protocol to obtain a string of digital characters consisting of "logic 0" and "logic 1". Starting from the beginning of the digital character string, when a logic 0 needs to be output, adjusting the voltage of the high-level bus and the voltage of the low-level bus to a low-level state with the voltage difference larger than 0.5V, and outputting the digital logic to the controller CAN interface 1031; when the logic 1 needs to be output, the voltage of the high-level bus and the voltage of the low-level bus are adjusted to a high-level state with the voltage difference smaller than 0.5V, and digital logic is output to the controller CAN interface 1031. The above process is performed until the end of the numeric string is encountered.

In combination with the foregoing embodiment, the micro control unit 1012b may directly transmit the sensor signal after analog-to-digital conversion to the storage unit 1012a for storage, or may send the sensor signal after encapsulation based on the CAN protocol to the storage unit 1012a for storage.

Optionally, with continued reference to fig. 9, the sensor module 1011 and the preprocessing unit 1012c are also connected via power connection lines for supplying power to the processing module 1012.

Alternatively, the power connection line may include a positive line connected to the power source VCC102 and a negative line connected to the ground GND.

The sensor module 1011 and the processing module 1012 are connected by a positive line and a negative line of a power connection line, the processing module 1012 is connected to the power VCC102 by a positive line of the power connection line, and the negative line of the processing module 1012 is grounded to the GND.

The CAN protocol is a serial communication network and CAN support multi-node communication. In the torque sensor 101 of the embodiment of the present application, a node may include the torque sensor 101 and the controller 103, and a data frame structure of the CAN protocol is shown in fig. 10.

Wherein, the start section, the CRC (Cyclic Redundancy Check) section, the ACK (Acknowledge character) section and the end section CAN be automatically generated by the micro control unit 1012b according to the CAN protocol requirement, and the micro control unit 1012b needs to configure the contents of the arbitration section, the control section and the data section according to the sensor signal.

Optionally, the type of the signal after the analog-to-digital conversion processing is carried in an arbitration segment of the encapsulated signal for transmission, and the signal after the analog-to-digital conversion processing is carried in a data segment of the encapsulated signal for transmission.

Wherein the start segment has a length of 1bit (binary digit or bit), and is composed of a low level, which identifies the start of a data frame of the CAN protocol.

The arbitration segment has a length of 29 bits, is composed of a source node ID (Identity document), a target node ID, a command code, a priority and a data type, and is used for competing the data sending qualification of the bus and avoiding the bus access conflict. The upper 28-24 bits of the arbitration segment may be defined as the source node ID, 23-19 as the destination node ID, 18-15 bits as the command code, 14-10 bits as the priority, and 0-9 bits as the data type. Wherein the source node may be the torque sensor 101 and the target node may be the controller 103. The priority includes four kinds of highest, high, middle and low, which can be defined as 1000, 0100, 0010 and 0001 of digital code respectively. The data type includes torque signal type data, first frequency-stepped signal type data and second frequency-stepped signal type data, and the specific defined digital code form is not limited in the application.

The control segment is 6 bits long, indicating the number of bytes the data segment needs to be transmitted.

The length of the data segment is 0 to 64 bits, the specific length is determined according to the length of the transmitted data, and the transmitted data comprises: the moment signal after analog-to-digital conversion processing, or the first step frequency signal after analog-to-digital conversion processing, or the second step frequency signal after analog-to-digital conversion processing. It CAN be understood that when the length of the data to be transmitted is greater than 64 bits, the data to be transmitted needs to be dispersed into a plurality of CAN protocol data frames for transmission.

And the CRC section is 16 bits in length and is used for checking whether the content of the data section is correct or not.

And an ACK segment having a length of 2 bits, an acknowledgement bit, for acknowledging whether the data frame has been normally received by the controller.

And an end segment with a length of 7 bits for indicating the end of the data frame.

In this embodiment, the torque sensor packages the analog-to-digital converted sensor signal using a highly reliable CAN protocol, and sends the sensor signal to the controller through the CAN interface. The form of encapsulating the digital signal of sensor signal based on CAN agreement for no matter how the sensor signal increases, the torque sensor all need only connect out 4 cables to the outside, and two of them are the power connecting wire, and two are the high level bus and the low level bus that are connected to the controller, have avoided the too much difficulty that brings for torque sensor's installation of cable.

In an alternative embodiment, as shown in fig. 11, the first tread signal connection line and the second tread signal connection line are also connected to the controller 103.

Alternatively, the sensor module 1011 may transmit the first and second frequency-stepped signals to the processing module 1012, and simultaneously transmit the first and second frequency-stepped signals to the controller micro-control unit 1032 of the controller 103 through the connection line. After receiving the first frequency-stepped signal and the second frequency-stepped signal, the controller micro-control unit 1032 checks and compares the first frequency-stepped signal and the second frequency-stepped signal received through the controller CAN interface 1031, and when the first frequency-stepped signal and the second frequency-stepped signal are not consistent, it is determined that the torque sensor 101 has a fault.

In this embodiment, through directly stepping on signal transmission to controller little the control unit frequently with first signal and the second of stepping on, step on signal transmission frequently with the first signal and the second of stepping on that receive through controller CAN interface and contrast the check-up, improved two ways and stepped on signal transmission's accuracy frequently, satisfied the bicycle to the demand of security performance, improved user's use and experienced.

As shown in fig. 12, this embodiment further provides a data processing method of a torque sensor, which is applied to a processing module in the torque sensor in any of the foregoing embodiments, and the method includes the following steps:

step S201, a sensor signal sent by a sensor module in the torque sensor is acquired.

Step S202, the sensor signal is processed by analog-to-digital conversion to obtain the signal after analog-to-digital conversion.

And step S203, sending the signals after the analog-to-digital conversion processing to a controller of the equipment where the moment sensor is located.

And step S204, sending the signals after the analog-to-digital conversion processing to a storage unit.

Optionally, the sensor signal comprises a torque signal, a first cadence signal, and a second cadence signal.

Wherein, the sensor signal is transmitted to the preprocessing unit through a signal connecting line.

The signal connection line includes: the moment signal connecting line, the first treading frequency signal connecting line and the second treading frequency signal connecting line;

Optionally, before performing analog-to-digital conversion on the sensor signal to obtain an analog-to-digital converted signal, the method further includes: and preprocessing the sensor signal sent by the sensor module, and sending the preprocessed sensor signal to the micro control unit.

Wherein, carry out the preliminary treatment to the sensor signal that the sensor module sent, include: the filtering and current limiting processing is performed on the sensor signal sent by the sensor module, and the specific processing method is as described in the foregoing embodiments and is not described herein again.

Optionally, after performing analog-to-digital conversion on the sensor signal to obtain an analog-to-digital converted signal, the method further includes: and sending the signals subjected to the analog-to-digital conversion to the output interface, and sending the signals to a controller of the equipment where the torque sensor is located through the high-level bus and the low-level bus.

Wherein, output interface still includes: and the CAN interface is used for packaging the signals after the analog-to-digital conversion processing based on a CAN protocol, sending the packaged signals to the CAN interface and sending the packaged signals to the storage unit. The data frame format of the CAN protocol is as shown in the foregoing embodiments, and details are not repeated herein.

Optionally, the first frequency-stepped signal and the second frequency-stepped signal are directly transmitted to the controller, and the controller checks and compares the first frequency-stepped signal and the second frequency-stepped signal in the data frame received through the controller CAN interface.

Optionally, the torque sensor is powered by a power source.

The principle and technical effect of the embodiment of the method are the same as those of the embodiment of the torque sensor, and reference may be made to the embodiment of the method, which is not described herein again.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A torque sensor, comprising:

2. The torque sensor of claim 1, wherein the processing module further comprises:

a pre-processing unit;

the preprocessing unit is electrically connected with the micro control unit;

the micro control unit is specifically configured to:

3. The torque sensor of claim 2, wherein the processing module further comprises:

an output interface;

the micro control unit is specifically further configured to:

4. The torque sensor according to claim 3, wherein the output interface comprises:

a controller area network interface;

the micro control unit is specifically further configured to:

5. The torque sensor of claim 4, wherein the type of analog-to-digital converted signal is carried in an arbitration segment of the encapsulated signal and the analog-to-digital converted signal is carried in a data segment of the encapsulated signal.

6. The torque sensor according to claim 2, wherein the sensor module is connected with the preprocessing unit through a signal connecting line;

the signal connecting line is used for transmitting the sensor signal.

7. The torque sensor according to claim 6, wherein the signal connection line comprises:

8. The torque sensor according to claim 7, wherein the first tread frequency signal connection line and the second tread frequency signal connection line are further connected to the controller.

9. The torque sensor according to claim 6, wherein the sensor module is connected with the preprocessing unit through a power connecting line;

the power connecting line is used for supplying power to the processing module.

10. A data processing method of a torque sensor, applied to a processing module in the torque sensor according to any one of claims 1 to 9, the method comprising:

acquiring a sensor signal sent by a sensor module in a torque sensor;