CN208636678U - Electric-control system - Google Patents
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- CN208636678U CN208636678U CN201820861377.XU CN201820861377U CN208636678U CN 208636678 U CN208636678 U CN 208636678U CN 201820861377 U CN201820861377 U CN 201820861377U CN 208636678 U CN208636678 U CN 208636678U
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Abstract
The utility model provides a kind of electric-control system, comprising: PCU carries out voltage conversion to supply voltage；Control unit for vehicle receives user operation instruction, generates and cleans path data；According to path data, obstacle information and location information is cleaned, result of decision information is generated；And thus generate torque control message and course changing control information；Electric machine controller controls the revolving speed of the motor of vehicle；EPS controller controls the steering of the EPS of vehicle；BCM sends enabling signal or cut-off signals；Cleaning brush controller, according to enabling signal, starting cleans brush motor and cleaning brush elevating control motor；Air inducing machine controller, for starting blower motor according to enabling signal.Pressing instruction is sent to electric machine controller and control unit for vehicle by emergent stop signal interface, so that electric machine controller is instructed according to pressing carries out emergency braking.Thus, it can be achieved that individually powering to EPS controller, to reduce the interference to EPS controller, while the electric-control system sensitivity is higher, and precision is higher.
Description
Technical field
The utility model relates to electronic circuit technology field more particularly to a kind of electric-control systems.
Background technique
With the rapid development of computer technology and artificial intelligence technology, intelligent robot technology has become both at home and abroad
The hot spot of numerous scholar's researchs.Wherein, service humanoid robot opens the frontier of robot application, services going out for humanoid robot
Now mainly has the tendency that following three aspects reason: in a first aspect, domestic labor cost has rising；Second aspect, population are aged
Change and improving for the social welfare system provides extensive market application prospect for service humanoid robot；The third aspect, the mankind think
Get rid of duplicate labour.For example current road sweeper needs pilot steering, has a single function, it is not convenient enough, therefore hand sweeping is by intelligence
The unmanned automatic cleaning of energyization replaces irresistible.
In order to more easily distinguish and define automatic Pilot technology, the classification of automatic Pilot is just at a major issue.At present
Two generally acknowledged classifying systems of Global Auto industry are by United States highways safety management bureau (abbreviation NHTSA) and the world respectively
What robot engineering Shi Xuehui (abbreviation SAE) was proposed.Wherein, the automatic Pilot technology of L4 and L5 rank can be known as complete
Automatic Pilot technology, has arrived this rank, and automobile can carry out institute under the case where intervening completely without driver
Some driver behaviors, driver such as work or rest in terms of attention can also be placed on to others.But the difference of the two
It is, the automatic Pilot of L4 rank is suitable under the scene of part, typically refers in city or on highway.And L5 grades
It is other, it is required that autonomous driving vehicle can be accomplished to drive vehicle driving completely under any scene.
With the aging of China's population, the appearance of recruitment famine and the continuous improvement of recruitment cost, directly result in
The problem of difficult, personal management hardly possible that user advertises for workers, cost are constantly climbed to a higher point, is manually replaced by mechanical automation irresistible.
But in the prior art, when controlling vehicle, there is problems, for example, EPS controller is done
It disturbs, electric-control system sensitivity is not high, and personification is not high.
Utility model content
The purpose of the utility model embodiment is to provide a kind of electric-control system, to solve EPS control existing in the prior art
The problems such as device processed is disturbed, electric-control system sensitivity is not high.
To solve the above problems, the utility model provides a kind of electric-control system, the electric-control system includes: battery system
System, power control unit PCU, central gateway CGW, control unit for vehicle, car body controller BCM, electric machine controller, electricity are mechanical, electrical
Dynamic servo steering system EPS controller, cleaning brush controller, cleans motor group, air inducing machine controller, blower motor and urgency at EPS
Stop signal input interface；
The battery system, the first output end are connected to the input terminal of the PCU, and second output terminal is connected to the motor
Input terminal, clean the input terminal of motor group and the input terminal of blower motor, be the PCU, motor, clean motor group and air inducing
Motor power supply；
The PCU, the first output end are connected to the input terminal of the EPS controller, and second output terminal is connected to the CGW
Input terminal, the input terminal of the control unit for vehicle and the input terminal of the BCM, electricity is carried out to the voltage of the battery system
Conversion process is pressed, generates the first output voltage and the second output voltage, and first output voltage is exported to the EPS and is controlled
Device processed exports second output voltage to the CGW, the control unit for vehicle and the BCM；
The CGW, first network interface are connected to the network interface of laser radar, and the second network interface is connected to described
The network interface of control unit for vehicle receives the environment sensing data of the laser radar, and the environment sensing data is turned
Issue the control unit for vehicle；
Interface is connected the control unit for vehicle by wireless communication with human-computer interaction device, receives human-computer interaction dress
The operational order of transmission is set, and the operational order is handled, generates and cleans command signal, is referred to then according to the cleaning
Signal is enabled to call purging zone information and environmental map configuration file, and according to the purging zone information and the environmental map
Configuration file generates and cleans path data；And it is connected with the CGW by network interface, Universal Serial Interface, is received
The environment sensing data of CGW transmission, according to the environment sensing data acquisition obstacle information；And and global positioning system
GPS electrical connection receives location information and First Speed information that GPS receiver obtains；Then, according to the cleaning number of path
According to, the obstacle information and the location information, result of decision information is generated；It is raw then according to the result of decision information
At torque control message and course changing control information；And the course changing control information and the torque control message are carried out at conversion
Reason, is sent to electric machine controller for the torque control message after the conversion process；
The BCM is connected with the control unit for vehicle by CAN bus, the first end input and output IO of the BCM
Mouth is connected to the laser radar, the second I/O port is connected to cleaning brush controller and air inducing machine controller, receives vehicle control
The cleaning command signal that unit is sent, and according to the cleaning command signal, control laser radar power on or lower electricity, and,
Cleaning motor group is closed in starting, and, starting or closing blower motor；
The cleaning brush controller, according to the cleaning command signal, starting cleans motor group, so that the cleaning motor
Cleaning brush elevating control motor control cleaning brush in group, which drops to, cleans position and by cleaning the cleaning brush electricity in motor group
Machine controls the revolving speed of cleaning brush, is cleaned；Alternatively, closing according to the cleaning command signal and cleaning brush motor and cleaning brush
Elevating control motor, so that the cleaning brush elevating control motor control cleaning brush rises to non-cleaning position and passes through cleaning brush
Motor control cleaning brush shuts down；
The air inducing machine controller starts blower motor according to the cleaning command signal；Alternatively, so that the air inducing
Machine controller closes blower motor according to the cleaning command signal；
The emergent stop signal input interface, one end are connected to electric machine controller, and the other end is connected to control unit for vehicle,
The pressing instruction generated when scram button is pressed is received, and pressing instruction is sent to the electric machine controller, with
It instructs the electric machine controller according to the pressing and carries out emergency braking, and pressing instruction is sent to the vehicle
Control unit, so that the control unit for vehicle obtains the status information of vehicle.
In one possible implementation, the electric-control system further include: wheel speed sensors；
The third I/O port of the wheel speed sensors, input terminal and the BCM are connected, and are receiving the cleaning instruction
After signal, pulse signal is generated；
The BCM also, obtains the pulse signal, and according to the frequency of the pulse signal, determines second speed information,
And the second speed information is sent to the control unit for vehicle.
In one possible implementation, the control unit for vehicle receives the second speed letter that the BCM is sent
Breath；
Fusion treatment, formation speed fuse information are carried out to the First Speed information and the second speed information；
According to the speed fuse information, the course changing control information and the torque control message are corrected.
In one possible implementation, the BCM,
First Speed information is obtained from the control unit for vehicle；
Calculate the difference of the First Speed information and second speed information；
When the difference is greater than preset difference threshold, wheel speed sensor fault is determined, generate fault message；
The fault message is sent to the control unit for vehicle, so that the control unit for vehicle is according to the failure
Information generates fault handling information；
Receive the fault handling information that control unit for vehicle is sent；
According to the fault handling information, the wheel speed sensors shutdown is controlled.
In one possible implementation, the electric-control system further include: loudspeaker；
The 4th I/O port of the loudspeaker, input terminal and BCM are connected, and receive what BCM was generated according to fault handling information
Driving signal, and according to the driving signal, generate information warning.
In one possible implementation, the control unit for vehicle,
The environment sensing data are handled, laser point cloud data is generated；
Fusion treatment is carried out to the laser point cloud data and obstacle distance information, therefrom extracts obstacle information.
In one possible implementation, the electric-control system further include: interaction liquid crystal display signal input interface；
The interactive liquid crystal display signal input interface, one end are connected to the network interface of CGW, and the other end is connected to interactive liquid
Crystalline substance screen, so that the interactive liquid crystal display and the CGW transmit human-machine interaction data.
In one possible implementation, the electric-control system further include: remote signal input interface；
The remote signal input interface, is integrated on the BCM, receives the radiofrequency signal of remote controler.
In one possible implementation, the electric-control system further include: forth generation mechanics of communication 4G interface and wireless
One or more of fidelity WIFI interface；The 4G interface and WIFI interface are used to receive the operational order of background server.
Voltage conversion process can be carried out to supply voltage by PCU, and individually powered to EPS controller, EPS is controlled with reducing
The interference of device, while the electric-control system sensitivity is higher, personification is higher.
Detailed description of the invention
Fig. 1 is electrical control system structure schematic diagram provided by the embodiment of the utility model；
Fig. 2 is the control section structural schematic diagram of electric-control system provided by the embodiment of the utility model.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for illustrating
, for ease of description, illustrating only part relevant to related utility model in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is electrical control system structure schematic diagram provided by the embodiment of the utility model, and Fig. 2 mentions for the utility model embodiment
The control section structural schematic diagram of the electric-control system of confession.
The electric-control system is applied on vehicle, especially applies can be on the slow-moving vehicle of automatic Pilot.Dotted line in Fig. 2
For controller local area network (Controller Area Network, CAN) bus, solid line is the strike line for controlling signal.
The electric-control system includes: battery system 100, power control unit (Power Control combined with Figure 1 and Figure 2,
Unit, PCU) 110, central gateway (Central Gateway, CGW) 120, control unit for vehicle can be automatic driving vehicle
130, car body controller (Body Control control unit (Automated Vehicle Control Unit, AVCU)
Module, BCM) 140, electric machine controller 150, electric boosting steering system (Electric Power Steering, EPS) control
Device 160, cleaning brush controller 170, air inducing machine controller 180, camera 190, ultrasonic radar 200 and laser radar 210 processed.
Battery system 100, the first output end are connected to the input terminal of the PCU110, and second output terminal is connected to the electricity
The input terminal of the input terminal of machine, the input terminal for cleaning motor group and blower motor, for being the PCU110, motor, cleaning electricity
Unit and blower motor power supply.
Wherein, the battery system 100 is connected with control panel, in the electrifying startup signal for receiving control panel
Afterwards, supply voltage is provided for the PCU110.
Wherein, electric machine controller 150 and motor electrical connection, cleaning brush controller 170 and cleaning motor group electrical connection, air inducing
Machine controller 180 and blower motor electrical connection.
The PCU110, the first output end are connected to the input terminal of the EPS controller 160, and second output terminal is connected to
The input terminal of the input terminal of the CGW120, the input terminal of the control unit for vehicle and the BCM140, for the electricity
The voltage of cell system 100 carries out voltage conversion process, generates the first output voltage and the second output voltage, and defeated by described first
Voltage output is to the EPS controller out, by second output voltage export to the CGW, the control unit for vehicle and
The BCM.
There is " starting " key on control panel, can be PCU110 by battery system 100 by pressing the key
It powers on, power on signal is transferred to the CAN pin of PCU110, PCU110 from the CAN pin of battery system 100 by CAN bus
Supply voltage can be allocated, when to avoid the work of EPS controller 160, the magnetic field of generation is interfered by electronic equipment.
The laser radar 210 and BCM electrical connection receive the cleaning instruction letter of control unit for vehicle for BCM
After number, power on or lower electricity.
BCM can control the starting or closing of laser radar 210.
The ultrasonic radar 200, for obtaining obstacle distance information.
The CGW120, first network interface are connected to the network interface of the laser radar, and the second network interface connects
It is connected to the network interface of the control unit for vehicle, for receiving the environment sensing data of laser radar 210, and by the environment
Perception data is transmitted to the control unit for vehicle 130.
Wherein, network interface can be Registered Jack (Registered Jack, RJ) 45 interfaces.
Wherein, CGW120 can also be sent to interaction liquid crystal display, and receive the human-computer interaction number that interaction liquid crystal display is sent
According to.CGW120 can also receive the video data of the transmission of camera 190, which can be transferred to vehicle by CGW120
Control unit 130, control unit for vehicle 130 store the video data, in order to the planning of the later use video data
Path.
Further, the electric-control system further include: forth generation mechanics of communication (the 4th Generation
Communication system, 4G) one in interface and Wireless Fidelity (Wireless Fidelity, WI-FI) interface
Or it is multiple.
Interface is connected the control unit for vehicle 130 by wireless communication with human-computer interaction device, man-machine for receiving
The operational order that interactive device is sent, and the operational order is handled, it generates and cleans command signal, then according to described
It cleans command signal and calls purging zone information and environmental map configuration file, and according to the purging zone information and the ring
Border map configuration file generates and cleans path data；And it is connected with the CGW by network interface, Universal Serial Interface,
For receiving the environment sensing data of CGW transmission, according to the environment sensing data acquisition obstacle information；And it is fixed with the whole world
Position system GPS electrical connection, for receiving the location information and First Speed information of GPS receiver acquisition；Then, according to described clear
Path data, the obstacle information and the location information are swept, result of decision information is generated；Then according to the result of decision
Information generates torque control message and course changing control information；And to the course changing control information and the torque control message into
The torque control message after the conversion process is sent to electric machine controller by row conversion process.
After control unit for vehicle 130 powers on, self-test is first carried out, after self-test success, into standby mode.
In stand-by mode, can be according to operational order, into different modes, such as " automatic path planning mode "
(carrying out automatic cleaning path planning, carry out automatic cleaning), " historical path mode " (are called historical storage path, are carried out automatic
Clean), " manual drive mode ", " clean path acquisition mode " (manual drive simultaneously records vehicle operating path, cleaning brush operation
Information etc.) and " map acquisition mode " (cartographic information in record vehicle running environment) etc..Below to enter automatic planning
It is illustrated for path mode (being referred to as unmanned mode).
Control unit for vehicle 130 can may come from long-range clothes with cleaning operation command reception operational order, operational order
Business device or human-computer interaction device.Remote server can be determined according to the application scenarios of control unit for vehicle 130, when the vehicle
When 130 application scenarios of control unit are sweeper, which can be the server of sweeper, which can be single
Only operation is in a specific region, for example closes semiclosed region, can also by more sweeper common operationals in the same area not
Same zonule, the application do not limit this.Human-computer interaction device can be vehicle-mounted app, by operating vehicle-mounted app, can produce
Raw operational order.
Control unit for vehicle 130 calls purging zone information and environmental map configuration text according to the cleaning command signal
Part；According to the purging zone information and the environmental map configuration file, generates and clean path data.
Example and it is non-limiting, 4G can be used, can also be using the transfer environments map configuration file such as 5G or WI-FI.
The purging zone information stored in control unit for vehicle 130 is used to delimit the boundary of purging zone, and environmental map is matched
Setting file is the corresponding map configuration file of the purging zone.According to the purging zone information and environmental map configuration file, rule
Cleaning path data is pulled, for example, the region cleaned is a-quadrant, in the region A, there are garden, trees etc., avoid those not
The region of automatic cleaning can be can be carried out.
Meanwhile control unit for vehicle 130 receives the environment sensing data of CGW120 transmission.
Specifically, the object around the scanning of laser radar 210 collects environment sensing after laser radar 210 turns around
Data, those environment sensing data can be transferred to control unit for vehicle 130 by CGW120.
After control unit for vehicle 130 receives environment sensing data, which is handled, generates laser
Point cloud data carries out fusion treatment to the laser point cloud data and the obstacle distance information obtained from ultrasonic radar 200, from
In extract obstacle information.
Wherein, control unit for vehicle 130 the environment sensing data being collected into are unpacked, compensation deals, generate one
The multiple laser point cloud datas scanned comprising this circle.Then it is extracted from laser point cloud data and obstacle distance information
Obstacle information.Example and it is non-limiting, the quantity of laser radar 210 can be one, be also possible to multiple, work as laser radar
When 210 quantity is multiple, fusion treatment can be carried out to the environment sensing data of multiple laser radars 210, to be swashed
Light point cloud data.The sensitivity of detection barrier is improved as a result,.
Control unit for vehicle 130 also obtains the location information and First Speed information of vehicle from GPS.
Control unit for vehicle 130 is generated according to the cleaning path data, the obstacle information and the location information
Result of decision information；According to the result of decision information, course changing control information and torque control message are generated；The steering is controlled
Information processed and the torque control message carry out conversion process.Conversion process herein, the mainly processing in data format.This
The conversion process at place can be realized by analog-to-digital conversion circuit.
The electric machine controller 150, for controlling the motor of vehicle according to the torque control message after conversion process
Revolving speed.
Electric machine controller 150 controls motor with certain torque motion, to provide for vehicle according to torque control message
The power of advance.
The EPS controller 160, for controlling the EPS's of vehicle according to the course changing control information after conversion process
It turns to.
Wherein, EPS is directly to provide the power steering system of auxiliary torque by EPS controller 160, works as steering axes
When, torque sensor is started to work, and according to steering controling signal, EPS carries out course changing control with corresponding relative rotation angular displacement.
The BCM140 is connected with the control unit for vehicle by CAN bus, the first input and output of the BCM
I/O port is connected to the laser radar, the second I/O port is connected to cleaning brush controller and air inducing machine controller, for receiving
The cleaning command signal that control unit for vehicle is sent, and according to the cleaning command signal, control laser radar power on or under
Electricity, and, starting or closing clean motor group, and, starting or closing blower motor.
Wherein, I/O port can be the end universal input/output (General Purpose Input Output, GPIO)
Mouthful.
After BCM140 is powered on, self-test is carried out, predominantly detecting power supply, whether normal and wheel speed sensors 230 are normal,
And inspection result is sent to control unit for vehicle 130.After control unit for vehicle 130 receives inspection result, to vehicle control
Unit 130, BCM140 inspection result summarized, according to summarized results, judge whether to reach the successful condition of self-test, if
Reach the successful condition of self-test, then the successful notification signal of self-test is sent to BCM140 by CAN bus, BCM140 is received
After the successful notification signal of self-test, into standby mode.At this point, BCM140 can be carried out according to the successful notification signal of self-test
Light prompt, for example, controlling lighting system 200 with preset frequency scintillation preset time, to remind self-test success.
Wherein, cleaning motor group includes: to clean brush motor (including: two side brush motors, a round brush motor) and one
Cleaning brush elevating control motor.This is started and stopped can be controlled by the low and high level of the external output of I/O pin, be shown
Example and it is non-limiting, starting can be set to high level, will stopping be set as low level.
Specifically, cleaning brush controller 170 is according to corresponding when vehicle enters " automatic driving mode " from " standby " mode
Operational order, control cleaning brush elevating control motor decline, control side brush motor and round brush motor operating, carry out sweeper
Make.Air inducing machine controller 180 controls id-motor operating, and the sundries of cleaning is recycled.Meanwhile sprinkler system can also be with
It starts to work, to further increase cleannes.Air inducing machine controller controls blower motor work, and blower motor at work, can
It is relied in the rubbish storage case of suction inspiration vehicle with the sundries that will be cleaned.
Correspondingly, the control of cleaning brush controller 170 cleans when vehicle enters " standby " mode from " automatic driving mode "
Brush elevating control motor rises, and controls side brush motor and round brush motor shuts down, thus stop cleaning works, sprinkler system
Operation can be simultaneously stopped.Meanwhile air inducing machine controller 180 controls id-motor and stops working.
Further, when control unit for vehicle 130 detects deceleration strip, signal can be will test and be sent to BCM140,
BCM140 can send detection signal to cleaning brush controller 170, so that cleaning brush lifting controller stops working, on cleaning brush
It rises, to protect cleaning brush, extends its service life.
Further, the electric-control system further include: wheel speed sensors；The wheel speed sensors, input terminal and the BCM
Third I/O port be connected, for after receiving the cleaning command signal, generate pulse signal；The BCM is also used to,
The pulse signal is obtained, and according to the frequency of the pulse signal, determines second speed information, and the second speed is believed
Breath is sent to the control unit for vehicle.
When vehicle enters automatic driving mode from standby mode, BCM140 controls wheel speed sensors 230 and starts, accordingly
, when vehicle enters standby mode from automatic driving mode, BCM140 control wheel speed sensors 230 stop working.Specifically,
It is illustrated so that wheel speed sensors 230 are photoelectric encoders as an example.
The main operational principle of photoelectric encoder is photoelectric conversion, is a kind of by photoelectric conversion that the machinery of output shaft is several
What displacement is converted to the sensor of pulse or digital quantity.Photoelectric encoder is mainly made of grating disc and photoelectric detection system,
Grating disc and motor coaxle cause the rotation of motor to drive the rotation of grating disc, then through photoelectric detection system output pulse signal,
According to the pulse signal frequency, i.e., the pulse number generated each second can calculate the revolving speed of motor.
BCM140 reads pulse signal frequency, according to pulse signal frequency, determines the revolving speed of wheel, and turn according to wheel
Speed determines second speed information (can be calculated herein according to the formula between revolving speed and speed, details are not described herein again).Afterwards
It is continuous, by CAN bus, second speed information is sent to control unit for vehicle 130, so that control unit for vehicle 130 is according to the
One, second speed information determines speed fuse information, and with the speed fuse information, corrects torque control message and revolving speed control
Information processed, to mention high control precision.
BCM140 in the process of running, can carry out the self-test of wheel speed sensors 230, and the method for use is as follows:
BCM140 obtains First Speed information from the control unit for vehicle 130；Calculate the First Speed information and institute
State the difference of second speed information；When the difference is greater than preset difference threshold, 230 failure of wheel speed sensors is determined, it is raw
At fault message；The fault message is sent to the control unit for vehicle 130, so that the control unit for vehicle 130
Fault handling information is generated according to the fault message；Receive the fault handling information that control unit for vehicle 130 is sent；According to described
Fault handling information controls the wheel speed sensors 230 and turns off.Hereby it is achieved that for the Intelligent treatment of failure.
Wherein, preset difference threshold may be set according to actual conditions, for example can be set to 2m/s.
Electric-control system further includes loudspeaker 240 and BCM electrical connection, for generating warning letter according to the fault handling information
Breath.BCM140 drives loudspeaker 240 also according to the fault handling information, so that the loudspeaker 240 generate information warning.
Further, electric-control system further include: lighting system 200.
Lighting system 200 and BCM140 electrical connection, by BCM40, can control the starting or closing of lighting system 200.
Example and it is non-limiting, lighting system 200 include driving lamp 2, front directional 2, rear directional 2, brake lamp 2
A, clearance lamps 2, back-up lamp 2.Above-mentioned 2, are respectively set on the left and right sides of vehicle.BCM can also pass through I/O port
It is connected with lighting system, in vehicle travel process, according to the steering of vehicle, for example, turning left, starts the left side in lighting system
Turn to etc..
Further, the control unit for vehicle 130 is also used to, and the second speed information of vehicle is obtained from BCM140, right
The First Speed information and the second speed information carry out fusion treatment, formation speed fuse information；According to the speed
Fuse information corrects the course changing control information and the torque control message.
The velocity information measured due to GPS and wheel speed sensors 230 all there is certain error, to this two
After kind velocity information carries out fusion treatment, formation speed fuse information, the speed fuse information is used for subsequent closed-loop control, should
Fuse information compares individual First Speed information and second speed information, more accurately.By the closed-loop control, control is believed
Breath, including course changing control information and torque control message, are adjusted, improve the degree that personalizes of vehicle entirety.
Further, the PCU110 is also used to, obtain power supply for power information, and leading to for power information by the power supply
It crosses controller local area network's CAN bus and is sent to the control unit for vehicle 130, so that 130 pairs of institutes of the control unit for vehicle
It states after being handled for power information, it is described for power information to show to be sent to interactive liquid crystal display.
Specifically, PCU110 can also monitor the electric power thus supplied of EPS and BCM140 etc., obtain for power information, and will power supply
Information is sent to control unit for vehicle 130 by CAN bus, and control unit for vehicle 130 summarizes electric power thus supplied, and is supplying
Electrical anomaly, for example when electric voltage exception, fault message is generated, which can issue alarm signal by loudspeaker 240, to mention
Vehicle of waking up exists abnormal.
Further, the electric-control system further include: fuse box；
The fuse box is used for as the EPS controller 160, CGW120, the control unit for vehicle 130 and institute
It states BCM140 and overcurrent protection is provided.
Further, the electric-control system further include: interaction liquid crystal display signal input interface；
The interactive liquid crystal display signal input interface, one end are connected to the network interface of CGW, and the other end is connected to interactive liquid
Crystalline substance screen, so that the interactive liquid crystal display and the CGW transmit human-machine interaction data.
Wherein, control unit for vehicle 130 carries out conversion process to the status data of vehicle, for example, vehicle operating mode,
The remaining capacity etc. of vehicle, and the status data after conversion process is sent to the interaction by interaction LCD Interface
Liquid crystal display, so that the interactive liquid crystal display shows the status data after conversion process.
Further, the electric-control system further include: emergent stop signal input interface；
One end of the emergent stop signal interface is connected to electric machine controller, and the other end is connected to control unit for vehicle, is used for
The pressing instruction generated when receiving scram button and being pressed, and pressing instruction is sent to the electric machine controller,
So that the electric machine controller is instructed according to the pressing carries out emergency braking, and pressing instruction is sent to the vehicle
Control unit, so that the control unit for vehicle obtains the status information of vehicle.
Further, the electric-control system further include: remote signal input interface；
The remote signal input interface, is integrated on the BCM, for receiving the radiofrequency signal of remote controler.
By applying electric-control system provided by the embodiment of the utility model, voltage can be carried out to supply voltage by PCU
Conversion process, and individually power to EPS controller, to reduce the interference to EPS controller, while the electric-control system sensitivity is more
Height, personification are higher.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It is not considered that exceeding the scope of the utility model.
Above specific embodiment has carried out further the purpose of this utility model, technical scheme and beneficial effects
It is described in detail, it should be understood that the above is only the specific embodiments of the utility model, is not used to limit originally practical
Novel protection scope, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done,
It should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of electric-control system, which is characterized in that the electric-control system includes: battery system, power control unit PCU, center
Gateway CGW, control unit for vehicle, car body controller BCM, electric machine controller, motor, electric boosting steering system EPS controller,
EPS, cleaning brush controller, motor group, air inducing machine controller, blower motor and emergent stop signal input interface are cleaned；
The battery system, the first output end are connected to the input terminal of the PCU, and second output terminal is connected to the defeated of the motor
Enter end, clean the input terminal of motor group and the input terminal of blower motor, is the PCU, motor, cleans motor group and blower motor
Power supply；
The PCU, the first output end are connected to the input terminal of the EPS controller, and second output terminal is connected to the defeated of the CGW
The input terminal for entering end, the input terminal of the control unit for vehicle and the BCM carries out voltage to the voltage of the battery system and turns
Processing is changed, generates the first output voltage and the second output voltage, and first output voltage is exported to the EPS and is controlled
Device exports second output voltage to the CGW, the control unit for vehicle and the BCM；
The CGW, first network interface are connected to the network interface of laser radar, and the second network interface is connected to the vehicle
The network interface of control unit receives the environment sensing data of the laser radar, and the environment sensing data forwarding is given
The control unit for vehicle；
Interface is connected the control unit for vehicle by wireless communication with human-computer interaction device, receives human-computer interaction device hair
The operational order sent, and the operational order is handled, it generates and cleans command signal, instruct and believe then according to the cleaning
Number purging zone information and environmental map configuration file are called, and is configured according to the purging zone information and the environmental map
File generates and cleans path data；And it is connected with the CGW by network interface, Universal Serial Interface, receives CGW and pass
Defeated environment sensing data, according to the environment sensing data acquisition obstacle information；And it is electrically connected with global position system GPS
It connects, receives the location information and First Speed information that GPS receiver obtains；Then, according to the cleaning path data, the barrier
Hinder object information and the location information, generates result of decision information；Then according to the result of decision information, moment of torsion control is generated
Information and course changing control information；And conversion process is carried out to the course changing control information and the torque control message, it will be described
The torque control message after conversion process is sent to electric machine controller；
The BCM is connected with the control unit for vehicle by CAN bus, and the first input and output I/O port of the BCM connects
It is connected to the laser radar, the second I/O port is connected to cleaning brush controller and air inducing machine controller, reception control unit for vehicle
The cleaning command signal of transmission, and according to the cleaning command signal, control laser radar power on or lower electricity, and, starting
Or close and clean motor group, and, starting or closing blower motor；
The cleaning brush controller, according to the cleaning command signal, starting cleans motor group, so that in the cleaning motor group
Cleaning brush elevating control motor control cleaning brush drop to clean position and by clean motor group in cleaning brush motor control
The revolving speed of cleaning brush processed, is cleaned；Alternatively, closing according to the cleaning command signal and cleaning brush motor and cleaning brush lifting
Motor is controlled, so that the cleaning brush elevating control motor control cleaning brush rises to non-cleaning position and by cleaning brush motor
Control cleaning brush shuts down；
The air inducing machine controller starts blower motor according to the cleaning command signal；Alternatively, so that the air-introduced machine control
Device processed closes blower motor according to the cleaning command signal；
One end of the emergent stop signal input interface is connected to electric machine controller, and the other end is connected to control unit for vehicle, is connecing
The pressing instruction generated when scram button is pressed is received, and pressing instruction is sent to the electric machine controller, so that
The electric machine controller is instructed according to the pressing carries out emergency braking, and pressing instruction is sent to the vehicle control
Unit processed, so that the control unit for vehicle obtains the status information of vehicle.
2. electric-control system according to claim 1, which is characterized in that the electric-control system further include: wheel speed sensors；
The third I/O port of the wheel speed sensors, input terminal and the BCM are connected, and are receiving the cleaning command signal
Afterwards, pulse signal is generated；
The BCM obtains the pulse signal, and according to the frequency of the pulse signal, determines second speed information, and by institute
It states second speed information and is sent to the control unit for vehicle.
3. electric-control system according to claim 2, which is characterized in that the control unit for vehicle receives the BCM and sends
Second speed information；
Fusion treatment, formation speed fuse information are carried out to the First Speed information and the second speed information；
According to the speed fuse information, the course changing control information and the torque control message are corrected.
4. electric-control system according to claim 1, which is characterized in that the BCM:
First Speed information is obtained from the control unit for vehicle；
Calculate the difference of the First Speed information and second speed information；
When the difference is greater than preset difference threshold, wheel speed sensor fault is determined, generate fault message；
The fault message is sent to the control unit for vehicle, so that the control unit for vehicle is according to the fault message
Generate fault handling information；
Receive the fault handling information that control unit for vehicle is sent；
According to the fault handling information, the wheel speed sensors shutdown is controlled.
5. electric-control system according to claim 4, which is characterized in that the electric-control system further include: loudspeaker；
The 4th I/O port of the loudspeaker, input terminal and BCM are connected, and receive the driving that BCM is generated according to fault handling information
Signal, and according to the driving signal, generate information warning.
6. electric-control system according to claim 1, which is characterized in that the control unit for vehicle,
The environment sensing data are handled, laser point cloud data is generated；
Fusion treatment is carried out to the laser point cloud data and obstacle distance information, therefrom extracts obstacle information.
7. electric-control system according to claim 1, which is characterized in that the electric-control system further include: interaction liquid crystal display letter
Number input interface；
The interactive liquid crystal display signal input interface, one end are connected to the network interface of CGW, and the other end is connected to interactive liquid crystal
Screen, so that the interactive liquid crystal display and the CGW transmit human-machine interaction data.
8. electric-control system according to claim 1, which is characterized in that the electric-control system further include: remote signal input
Interface；
The remote signal input interface, is integrated on the BCM, receives the radiofrequency signal of remote controler.
9. electric-control system according to claim 1, which is characterized in that the electric-control system further include: forth generation communicates skill
One or more of art 4G interface and Wireless Fidelity WIFI interface；The 4G interface and WIFI interface receive background server
Operational order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820861377.XU CN208636678U (en) | 2018-06-05 | 2018-06-05 | Electric-control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820861377.XU CN208636678U (en) | 2018-06-05 | 2018-06-05 | Electric-control system |
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| CN208636678U true CN208636678U (en) | 2019-03-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110085013A (en) * | 2019-04-10 | 2019-08-02 | 同济大学 | A kind of automobile wheel speed wireless sensing measuring system |
| CN113110425A (en) * | 2021-03-29 | 2021-07-13 | 重庆智行者信息科技有限公司 | Target car system based on automatic driving |
| CN113534812A (en) * | 2021-07-30 | 2021-10-22 | 上海高仙自动化科技发展有限公司 | Cleaning robot control system and cleaning robot |
-
2018
- 2018-06-05 CN CN201820861377.XU patent/CN208636678U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110085013A (en) * | 2019-04-10 | 2019-08-02 | 同济大学 | A kind of automobile wheel speed wireless sensing measuring system |
| CN113110425A (en) * | 2021-03-29 | 2021-07-13 | 重庆智行者信息科技有限公司 | Target car system based on automatic driving |
| CN113534812A (en) * | 2021-07-30 | 2021-10-22 | 上海高仙自动化科技发展有限公司 | Cleaning robot control system and cleaning robot |
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