CN106828366A - Unmanned vehicle vehicle equipment voltage stabilizing power distribution control system - Google Patents

Unmanned vehicle vehicle equipment voltage stabilizing power distribution control system Download PDF

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Publication number
CN106828366A
CN106828366A CN201611239054.9A CN201611239054A CN106828366A CN 106828366 A CN106828366 A CN 106828366A CN 201611239054 A CN201611239054 A CN 201611239054A CN 106828366 A CN106828366 A CN 106828366A
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voltage stabilizing
power
interface
electricity
controller
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CN106828366B (en
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熊光明
王博洋
陈桂干
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B60R16/033Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0238Electrical distribution centers

Abstract

The present invention relates to a kind of unmanned vehicle vehicle equipment voltage stabilizing power distribution control system, circuit control system input interface is connected with battery 1, and battery 1 is connected with the generator of electric power system again;Circuit control system output interface is connected by inline fuse F1 with former automobile-used electric loading;The positive pole of battery 2 is connected by inline fuse F2 with diode D1 with the positive pole in original power supply control loop, and negative pole is connected with power supply control loop GND;The output interface of battery 2 is connected with unmanned systems load voltage stabilizing with electric control module;Unmanned systems load voltage stabilizing is supplied respectively to 24V voltage stabilizings electric loading, 12V voltage stabilizings electric loading and controller voltage stabilizing Power entry module after carrying out voltage stabilizing treatment to the 24V electricity being input into electric control module;After the treatment of via controller voltage stabilizing Power entry module, export and match somebody with somebody electric control module to drive mechanism;Various equipment offer power supply that the present invention is carried for unmanned vehicle, realizes that conventional truck is built to electric power system in unmanned vehicle transformation process.

Description

Unmanned vehicle vehicle equipment voltage stabilizing power distribution control system
Technical field
Match somebody with somebody electric control system the present invention relates to electric technical field, more particularly to a kind of voltage stabilizing of unmanned vehicle vehicle equipment System.
Background technology
Traditional vehicle powering system generally uses battery and parallel operation of generator for vehicle electric equipment is powered, from electric power storage Pond positive pole draws three lines, is connected with starter, generator respectively, and as the supply lines of vehicle electrical equipment.The use of vehicle Electric equipment supply lines is divided into normal open, ACC and ON electric wires again, and its break-make controls corresponding relay to realize by key gear.
The control function to be realized of unmanned vehicle is complicated many more than orthodox car, directly results in vehicle mounted electrical apparatus equipment urgency Increase severely many, stability and security to vehicle power propose requirement higher.Because unmanned vehicle not yet realizes industrialization, because The vehicle powers that all have no basis such as environment sensing sensor device, hybrid navigation equipment, industry control machine equipment that this vehicle is carried Characteristic do the transformation of adaptability, existing Vehicular power system cannot meet the use requirement of unmanned vehicle.Additionally, unmanned vehicle exists Need to be switched to pilot steering pattern often during use, now towards it is unmanned when driving and steering system need it is automatic Realize power down process, otherwise unexpected drive signal triggering can directly result in security incident, existing Vehicular power system also without Method supports this function.
The content of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of unmanned vehicle vehicle equipment voltage stabilizing power distribution control system, is used to Solve the problems, such as that existing Vehicular power system cannot meet the use requirement of unmanned vehicle.
The purpose of the present invention is mainly achieved through the following technical solutions:
The invention provides a kind of unmanned vehicle vehicle equipment voltage stabilizing power distribution control system, including:Circuit control system, electric power storage Pond 1, the load voltage stabilizing of battery 2, unmanned systems match somebody with somebody electric control with electric control module, controller voltage stabilizing Power entry module and drive mechanism Module;Wherein,
The input interface of circuit control system is connected with battery 1, and battery 1 is connected with the generator of electric power system again; The output interface of circuit control system is connected by inline fuse F1 with former automobile-used electric loading;The positive pole of battery 2 is by string Connection fuse F2 is connected with diode D1 with the positive pole in original power supply control loop, its negative pole and original power supply control loop GND is connected;The output interface of battery 2 is connected with unmanned systems load voltage stabilizing with electric control module;Unmanned systems load voltage stabilizing It is supplied respectively to 24V voltage stabilizings electric loading, 12V voltage stabilizing electricity consumptions after carrying out voltage stabilizing treatment to the 24V electricity being input into electric control module Load and controller voltage stabilizing Power entry module;After the treatment of via controller voltage stabilizing Power entry module, export and match somebody with somebody electric control mould to drive mechanism Block;Drive mechanism is connected with someone/unmanned rs 232 serial interface signal with the input interface of electric control module by serial communication interface, and is had People/unmanned switch controlling signal is connected by switching signal interface, and is connected with the output interface of controller voltage stabilizing Power entry module.
Further, the unmanned systems load voltage stabilizing is specifically included with electric control module:Input interface, current sense Device, ammeter, voltmeter, temperature sensor, thermometer, 24V-24V Voltage stabilizing modules, 24V-12V Voltage stabilizing modules, 24V-24V are steady Die block output interface, 24V-12V Voltage stabilizing modules output interface, inverter, controller power supply module, controller power supply module are defeated Outgoing interface;Wherein,
Input interface accepts the electric current I of the output of battery 2DAnd earth terminal GND, by overload protection air switch of connecting S1 is connected with current sensor;Ammeter, voltmeter and thermometer are realized matches somebody with somebody electric control module to unmanned systems load voltage stabilizing Comprehensive monitoring, 24V-24V Voltage stabilizing modules series connection overload protection air switch S2 is connected with current sensor, 24V voltage stabilizings electricity Exported by 24V-24V Voltage stabilizing modules output interface;24V-12V Voltage stabilizing modules series connection overload protection air switch S3 and electric current are passed Sensor is connected, and 12V voltage stabilizings electricity is exported by 24V-12V Voltage stabilizing modules output interface;Controller power supply module is not to input interface The 24V of input carries out treatment and is directly output to controller power supply module output interface;Inverter is by SRE R1, insurance Silk F4 is connected with current sensor, and the switch of inverter is directly controlled by overload protection air switch S1.
Further, the controller voltage stabilizing Power entry module is specifically included:Input interface, magnetic bead D2 and D3, electrochemical capacitor C1, voltage-regulator diode DZ1, power isolation module, filter circuit, 24V-12V Voltage stabilizing modules, 24V-5V Voltage stabilizing modules, 24V- bear 12V Voltage stabilizing modules, 24V-12V numeral electricity outputs interface, 24V-5V numeral electricity outputs interface, 24V power electricity outputs interface, 24V- Negative 12V numerals electricity output interface, wherein,
Input interface accept unmanned systems load voltage stabilizing with electric control module output electric current, in plant-grid connection to system after The suppression for high-frequency noise and spike noise on power line is realized by two the magnetic bead D2 and D3 of parallel connection;Electrochemical capacitor The output and ground GND that C1, voltage-regulator diode DZ1 are connected in D2, D3 in parallel is connected;
The output end of foregoing circuit is connected with power isolation module FLN100V2A-F, 24V-12V Voltage stabilizing modules, 24V-5V The output that the negative 12V Voltage stabilizing modules of Voltage stabilizing module, 24V power electricity outputs interface, 24V- pass through filter circuit and power isolation module End connects;The 24V-12V Voltage stabilizing modules numeral electricity output filtered circuit of interface is connected with 24V-12V Voltage stabilizing modules;24V-5V is steady The die block numeral electricity output filtered circuit of interface is connected with 24V-5V Voltage stabilizing modules;The negative 12V Voltage stabilizing modules numeral electricity of 24V- is defeated The filtered circuit of outgoing interface is connected with the negative 12V Voltage stabilizing modules of 24V-.
Further, the drive mechanism is specifically included with electric control module:Entire car controller microprocessing unit, steering control Device microprocessing unit processed, CAN, CAN communication interface, vehicle body CAN, serial communication modular, serial communication interface, Serial bus, switching signal interface, switching signal processing circuit, steering servo valve actuator power control module, steering hydraulic Pump unloading electromagnetic valve control module and 5V numeral electricity input interfaces;Wherein,
5V numeral electricity input interfaces accept the 5V digital currents of controller voltage stabilizing Power entry module output, the micro- place of entire car controller Reason unit is connected with 5V numeral electricity input interfaces and obtains 5V numeral electricity;Switching signal interface is through switching signal processing circuit and vehicle Controller microprocessing unit is connected;The first CAN belonging to entire car controller is connected with 5V numeral electricity input interfaces 5V numeral electricity is obtained, the first CAN is connected with the first CAN interface, and by vehicle body CAN and course changing control Device microprocessing unit communicates, and issues steering to steering controller based on acquired serial ports command signal and switching instruction signals and watches Take the control instruction of valve actuator power control module and steering hydraulic pump unloading electromagnetic valve control module;Serial communication modular and 5V numeral electricity input interfaces are connected and obtain 5V numeral electricity, earth terminal and GNDCAIt is connected, vehicle serial communication modular and serial ports are total Line interface is connected, and someone/nobody serial ports control instruction is obtained from upper system;The second CAN communication belonging to steering controller Module is connected with the second CAN interface, and is communicated by vehicle body CAN and entire car controller microprocessing unit, receives whole Steering servo valve actuator power control module and steering hydraulic pump unloading electromagnetic valve the control mould of vehicle controller microprocessing unit The control instruction of block;Second CAN is connected with the second CAN interface, and by vehicle body CAN and full-vehicle control Device microprocessing unit communicates, and receives steering servo valve actuator power control module and the steering of entire car controller microprocessing unit The control instruction of hydraulic pump unloading electromagnetic valve control module.
Further, described switching signal processing circuit is specifically included:24V power electricity input interface, 5V numeral electricity are defeated Incoming interface, resistance R1, resistance R2, diode D4, TLP181 opto-coupler chip, someone/unmanned switching signal input interface, vehicle control I/O mouthfuls of device microprocessor processed;Wherein,
Someone/unmanned switching signal input interface is connected through diode D4 with the pin 1 of TLP181 opto-coupler chips;24V work( Rate electricity input interface accepts the 24V power currents I of controller voltage stabilizing Power entry module outputDCB, 24V power electricity ground GNDCB;Resistance R1 One end is connected with 24V power electricity input interface, and the other end is connected with the pin 1 of TLP181 opto-coupler chips;TLP181 optocouplers The pin 2 of chip and 24V power electricity ground GNDCBIt is connected;5V numeral electricity input interfaces accept the output of controller voltage stabilizing Power entry module 5V digital currents IDCA5, 5V numeral electricity ground GNDCA;Resistance R2 one end and 5V numeral electricity input currents IDCA5It is connected, the other end It is connected with TLP181 opto-coupler chips pin 4;I/O mouthfuls of entire car controller microprocessor and TLP181 opto-coupler chip opto-coupler chip light Coupling microarray biochip pin 4 is connected;TLP181 opto-coupler chips pin 3 and digitally GNDCAIt is connected.
Further, the steering servo valve actuator power control module is specifically included:Steering controller microprocessor I/O mouthfuls, resistance R3, TLP181 opto-coupler chip, resistance R4, resistance R5, resistance R6,24V power electricity input interface, power drive core Piece, load;Wherein,
I/O mouthfuls of steering controller microprocessor is connected by resistance R3 with the pin 1 of TLP181 opto-coupler chips, TLP181 The pin 2 of opto-coupler chip and digitally GNDCAIt is connected;24V power electricity input interface accepts the output of controller voltage stabilizing Power entry module 24V power currents IDCB, 24V power electricity ground GNDCB;One end of resistance R4 is from 24V power currents IDCBObtain electric current, the other end It is connected with the pin 4 of TLP181 opto-coupler chips;One end of resistance 6 is connected with the pin 3 of TLP181 opto-coupler chips, the other end With power electricity ground GNDCBIt is connected;One end of resistance 5 is connected with the pin 3 of TLP181 opto-coupler chips, and the other end and power drive Dynamic chip is connected;Power drive chip and corresponding load connection.
The present invention has the beneficial effect that:
The different electric equipment of voltage stabilizing distribution demand that compatibility unmanned vehicle of the invention is newly increased, and realize powering for two sets and be The isolation of system so that instantaneous pressure drop is influenceed when the electrical equipment needed for unmanned systems is not started by original electric power system;Simultaneously Unmanned vehicle vehicle equipment voltage stabilizing power distribution control system can be realized to unmanned drive device electric power system in the form of bus communication Break-make control, realize someone and the pattern switching between nobody;The system design of high integration also cause equipment use and It is more convenient to safeguard.
Other features and advantages of the present invention will be illustrated in the following description, also, the partial change from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write Specifically noted structure is realized and obtained in book, claims and accompanying drawing.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as limitation of the present invention, in whole accompanying drawing In, identical reference symbol represents identical part.
Fig. 1 is the structural representation of system described in the embodiment of the present invention;
Fig. 2 is the structural representation that unmanned systems load voltage stabilizing power distribution control system;
Fig. 3 is the structural representation of controller voltage stabilizing Power entry module;
Fig. 4 is the structural representation of filter circuit in controller voltage stabilizing Power entry module;
Fig. 5 is structural representation of the drive mechanism with electric control module;
Fig. 6 is structural representation of the drive mechanism with electric control module breaker in middle signal processing circuit;
Fig. 7 is that drive mechanism matches somebody with somebody structural representation of the electric control module transfer to drive mechanism power control module.
Specific embodiment
The preferred embodiments of the present invention are specifically described below in conjunction with the accompanying drawings, wherein, accompanying drawing constitutes the application part, and It is used to explain principle of the invention together with embodiments of the present invention.
As shown in figure 1, Fig. 1 is the structural representation of unmanned vehicle vehicle equipment voltage stabilizing power distribution control system of the present invention, Mainly include:Electric control mould is matched somebody with somebody in original circuit control system, 24V batteries 1, the load voltage stabilizing of 24V batteries 2, unmanned systems Block, controller voltage stabilizing Power entry module and drive mechanism match somebody with somebody electric control module.Wherein, the input interface of original circuit control system with 24V batteries 1 are connected, and 24V batteries 1 are connected with the generator of former car electric power system again, IBGenerator end output current is represented, IAThe earth terminal of the output current of expression 24V batteries 1, battery 1 and generator is all for GND is car body casing;Original circuit Control system is the complete electric power supply control system of design of conventional truck itself, then this is not detailed.Original circuit control system Output interface be connected with former automobile-used electric loading by inline fuse F1, export to former loaded electric current be IC, Yuan Youyong The earth terminal of electric loading is GND, and former automobile-used electric loading described here mainly includes starting motor, illumination and signal system, instrument Power supply unit needed for the original car such as table and all kinds of display devices.The positive pole of 24V batteries 2 passes through inline fuse F2 and diode D1 is connected with the positive pole in original power supply control loop, and its negative pole is connected with the GND in original power supply control loop.24V batteries 2 Output interface is connected with unmanned systems load voltage stabilizing with electric control module, and output current is ID, earth terminal is GND.Unmanned load Voltage stabilizing module is supplied respectively to 24V voltage stabilizings electric loading, 12V voltage stabilizing electric loadings after carrying out respective handling to the 24V electricity being input into With controller voltage stabilizing Power entry module.The voltage stabilizing output current for supplying 24V voltage stabilizing electric loadings is IDA, earth terminal is that 24V voltage stabilizings are defeated Go out the earth terminal GND of electricityA, by voltage stabilizing Power entry module realize with former car power ground isolate;Supply 12V voltage stabilizing electric loadings Voltage stabilizing, output current is IDB, earth terminal is the earth terminal GND of 12V voltage stabilizings output electricityB, realized by voltage stabilizing Power entry module With former car power ground isolate.Wherein unmanned systems 24V voltage stabilizings electric loading includes planning industrial computer, perceives industrial computer 1, inertia Navigation equipment, bottom data collecting device;12V voltage stabilizings with electric loading include perceive industrial computer 2, single line laser radar, display, Torque sensor, switch, video camera, 32 line laser radars, GPS, radio station receiver;Supply controller is steady The output current for pressing Power entry module is IDC, earth terminal is GND, does not do isolation processing.The treatment of via controller voltage stabilizing Power entry module Afterwards, numeral electricity electric current I is exportedDCA, digital electrical ground end GNDCA, power output electricity electric current IDCB, power electrical ground end GNDCB.Drive Input interface of the motivation structure with electric control module is connected with someone/unmanned rs 232 serial interface signal by serial communication interface, with someone/nothing People's switch controlling signal is connected by switching signal interface, and is connected with the output interface of controller voltage stabilizing Power entry module.
Company of the above-mentioned unmanned vehicle vehicle equipment voltage stabilizing power distribution control system in 24V batteries 2 and original circuit control system Take back and introduce diode D1 in road, realize the one-way conduction of electric current, complete original circuit control system and unmanned systems load Voltage stabilizing is with the isolation between electric control module.Purpose using this kind of measure is that heavy-duty vehicle is in start-up course in order to full Foot starts the instantaneous power of motor, and 24V batteries 1 can produce significantly pressure drop moment is started, and now unmanned vehicle system is born Load equipment industrial computer, laser radar, inertial navigation etc. all can match somebody with somebody electric control because of brownout beyond unmanned systems load voltage stabilizing The limit condition of operation of module and there is the electricity shortage of moment, directly resulting in above-mentioned setting restarts, and unmanned vehicle control loses Go ability to work, the very big normal operation that must have interfered with unmanned vehicle.The introducing of shielding system so that the power supply for starting motor is needed Ask and completed by 24V batteries 1 completely, start-up course has no effect to 24V batteries 2;And generator can be simultaneously Charged to 24V batteries 1 and 24V batteries 2.
As shown in Fig. 2 Fig. 2 is the structural representation that unmanned systems load voltage stabilizing power distribution control system, mainly include:Input Interface, current sensor, ammeter, voltmeter, temperature sensor, thermometer, 24V-24V Voltage stabilizing modules, 24V-12V voltage stabilizing moulds Block, 24V-24V Voltage stabilizing modules output interface, 24V-12V Voltage stabilizing modules output interface, inverter, controller power supply module, control Device power supply module output interface.Wherein, input interface accepts the electric current I of the output of 24V batteries 2DAnd earth terminal GND, pass through Series connection overload protection air switch S1 is connected with current sensor;Ammeter, voltmeter and thermometer are realized to unmanned systems With the comprehensive monitoring of electric control module, wherein in the four of ammeter terminal, two binding posts and electric current are passed for load voltage stabilizing Sensor is connected, and another two terminal is connected with overload protection air switch S1 and GND respectively, monitors whole unmanned systems electric loading Electric current service condition;Two terminals of voltmeter are connected with overload protection air switch S1 and GND respectively, monitoring it is whole nobody The voltage change situation of system electricity system;In four terminals of thermometer, two binding posts are connected with temperature sensor, temperature Degree sensor is positioned over voltage stabilizing with electric control module surface, the actual work temperature of electric control module is matched somebody with somebody for monitoring voltage stabilizing, separately Two terminals are connected with overload protection air switch S1 and GND respectively;24V-24V Voltage stabilizing modules series connection overload protection air switch S2 is connected with current sensor, and 24V voltage stabilizings electricity is exported by 24V-24V Voltage stabilizing modules output interface, and output current is IDA, ground connection It is the earth terminal GND of 24V voltage stabilizings output electricity to holdA, by Voltage stabilizing module realize with former car power ground isolate;24V-12V is steady Die block series connection overload protection air switch S3 is connected with current sensor, and 12V voltage stabilizings electricity is exported by 24V-12V Voltage stabilizing modules Interface is exported, and output current is IDB, earth terminal is the earth terminal GND of 12V voltage stabilizings output electricityB, by Voltage stabilizing module realize with Former car power ground isolation;Controller power supply module does not carry out treatment and is directly output to controller to the 24V that input interface is input into Power supply module output interface, output current is IDC, earth terminal is GND;Inverter is by SRE R1, fuse F4 and electricity Flow sensor is connected, and the switch of inverter is directly controlled by overload protection air switch S1.
As shown in figure 3, Fig. 3 is the structural representation of controller voltage stabilizing Power entry module, mainly include:Input interface, magnetic bead D2 and D3, electrochemical capacitor C1, voltage-regulator diode DZ1, power isolation module, filter circuit, 24V-12V Voltage stabilizing modules, 24V-5V The negative 12V Voltage stabilizing modules of Voltage stabilizing module, 24V-, 24V-12V numeral electricity outputs interface, 24V-5V numeral electricity outputs interface, 24V power The negative 12V numerals electricity output interface of electricity output interface, 24V-.Wherein, input interface accepts unmanned systems load voltage stabilizing with electric control The electric current I of module outputDC, it is rear in plant-grid connection to system to be realized on power line by two the magnetic bead D2 and D3 of parallel connection The suppression of high-frequency noise and spike noise;Electrochemical capacitor C1, voltage-regulator diode DZ1 are connected in the output end of D2, D3 in parallel and connect Ground terminal GND is connected, and the effect of electric capacity is that preliminary filtering process is carried out to the power supply signal being input into, and voltage-regulator diode DZ1 is used In the reverse connecting protection to power supply is realized, if input reverse power connection, voltage-regulator diode DZ1 is by voltage clamp in 5V, and it is right to realize The protection of subsequent conditioning circuit.The output end of foregoing circuit is connected with power isolation module FLN100V2A-F, after power isolation module The voltage of output end is 24V, and earth terminal is changed into GNDCB, realize the isolation of circuit.24V-12V Voltage stabilizing modules, 24V-5V voltage stabilizings The negative 12V Voltage stabilizing modules of module, 24V power electricity outputs interface, 24V- pass through the output end phase of filter circuit and power isolation module Connect;The 24V-12V Voltage stabilizing modules numeral electricity output filtered circuit of interface is connected with 24V-12V Voltage stabilizing modules, and output current is IDCA12, earth terminal is digital electricity ground earth terminal GNDCA;The 24V-5V Voltage stabilizing modules numeral filtered circuit of electricity output interface and 24V- 5V Voltage stabilizing modules are connected, and output current is IDCA5, earth terminal is digital electricity ground earth terminal GNDCA;The negative 12V Voltage stabilizing module numbers of 24V- The filtered circuit of word electricity output interface is connected with the negative 12V Voltage stabilizing modules of 24V-, and output current is IDCA-12, earth terminal is numeral electricity Ground earth terminal GNDCA;The output current of 24V power electricity output interfaces is IDCB, earth terminal is the earth terminal GND of power electricityCB
As shown in figure 4, Fig. 4 is the structural representation of filter circuit in controller voltage stabilizing Power entry module, mainly include:Electric capacity C2 and electric capacity C3, electric capacity C3 are connected in parallel on the two ends of electric capacity C2.
As shown in figure 5, Fig. 5 is structural representation of the drive mechanism with electric control module, mainly include:Entire car controller is micro- Processing unit, steering controller microprocessing unit, CAN, CAN interface, vehicle body CAN, serial communication mould Block, serial communication interface, serial bus, switching signal interface, switching signal processing circuit, turn to servo valve actuator and power control Molding block, steering hydraulic pump unloading electromagnetic valve control module and 5V numeral electricity input interface.Wherein, 5V numerals electricity input interface holds Meet the 5V digital currents I of controller voltage stabilizing Power entry module outputDCA5, 5V numeral electricity ground GNDCA.Entire car controller microprocessing unit Be connected acquisition 5V numeral electricity, earth terminal and GND with 5V numeral electricity input interfacesCAIt is connected;Switching signal interface is through switching signal Process circuit is connected with entire car controller microprocessing unit, and switching signal herein refers to someone/unmanned switch for switching Control signal;The first CAN belonging to entire car controller is connected with 5V numeral electricity input interfaces and obtains 5V numeral electricity, connects Ground terminal and GNDCAIt is connected, the first CAN is connected with the first CAN interface, and by vehicle body CAN and steering Controller microprocessing unit communicates, based on acquired serial ports command signal and switching instruction signals to steering controller microprocessor Unit issues the control instruction for turning to servo valve actuator power control module and steering hydraulic pump unloading electromagnetic valve control module; Serial communication modular belonging to entire car controller is connected with 5V numeral electricity input interfaces and obtains 5V numeral electricity, earth terminal and GNDCAPhase Connection, vehicle serial communication modular is connected with serial bus interface, and obtaining someone/nobody serial ports control from upper system refers to Order.Steering controller microprocessing unit is connected with 5V numeral electricity input interfaces and obtains 5V numeral electricity, earth terminal and GNDCAIt is connected; The second CAN belonging to steering controller is connected acquisition 5V numeral electricity with 5V numeral electricity input interfaces, earth terminal with GNDCAIt is connected;Turn to servo valve actuator power control module and steering hydraulic pump unloading electromagnetic valve control module and turn to control Device microprocessing unit processed is connected;Second CAN is connected with the second CAN interface, and by vehicle body CAN and whole Vehicle controller microprocessing unit communicates, and receives the steering servo valve actuator power control module of entire car controller microprocessing unit With the control instruction of steering hydraulic pump unloading electromagnetic valve control module.
As shown in fig. 6, Fig. 6 is structural representation of the drive mechanism with electric control module breaker in middle signal processing circuit, it is main Including:24V power electricity input interface, 5V numeral electricity input interface, resistance R1, resistance R2, diode D4, TLP181 optocoupler core Piece, someone/unmanned switching signal input interface, I/O mouthfuls of entire car controller microprocessor.Someone/unmanned switching signal input connects Mouth is connected through diode D4 with the pin 1 of TLP181 opto-coupler chips;24V power electricity input interface accepts controller voltage stabilizing distribution mould The 24V power currents I of block outputDCB, 24V power electricity ground GNDCB;Resistance R1 one end is connected with 24V power electricity input interface, separately One end is connected with the pin 1 of TLP181 opto-coupler chips;The pin 2 of TLP181 opto-coupler chips and 24V power electricity ground GNDCBIt is connected Connect.5V numeral electricity input interfaces accept the 5V digital currents I of controller voltage stabilizing Power entry module outputDCA5, 5V numeral electricity ground GNDCA。 Resistance R2 one end and 5V numeral electricity input currents IDCA5It is connected, the other end is connected with TLP181 opto-coupler chips pin 4;Vehicle Controller microprocessor I/O mouthfuls is connected with TLP181 opto-coupler chip opto-coupler chip opto-coupler chips chip pin 4;TLP181 optocouplers Chip pin 3 and digitally GNDCAIt is connected.The introducing of TLP181 opto-coupler chips is realized in external input signal and microprocessor The isolation of portion's digital electric signal.
In above-mentioned unmanned vehicle vehicle equipment voltage stabilizing power distribution control system, described someone/unmanned switching signal input interface There are two states, one kind is that suspended state represents someone's state, and one kind is and power electricity ground GNDCBThe conducting state generation being connected Table unmanned state;When someone/unmanned switching signal input interface is in suspended state, in TLP181 opto-coupler chips luminous two Pole pipe is in luminance, then controls 3,4 pins of TLP181 opto-coupler chips in the conduction state, entire car controller microprocessor Device I/O mouthfuls is low level;When someone/unmanned switching signal input interface is in and power electricity ground GNDCBThe conducting state being connected When, the light emitting diode in TLP181 opto-coupler chips does not light, and 3,4 pins of TLP181 opto-coupler chips are off state, whole I/O mouthfuls of vehicle controller microprocessor is high level.Entire car controller is realized to someone/unmanned shape according to I/O mouthfuls of low and high level The judgement of state then issues the control instruction of someone/unmanned state by CAN to steering controller.
In above-mentioned unmanned vehicle vehicle equipment voltage stabilizing power distribution control system, turn to servo valve actuator power control module and turn There is identical circuit structure to hydraulic pump unloading electromagnetic valve control module, here turning to servo valve actuator power supply control mould Overall introduction is done as a example by block, as shown in fig. 7, Fig. 7 is drive mechanism being powered control to servo valve actuator with electric control module transfer The structural representation of molding block, mainly includes:I/O mouthfuls of steering controller microprocessor, resistance R3, TLP181 opto-coupler chip, electricity (control steering servo valve actuator is supplied for resistance R4, resistance R5, resistance R6,24V power electricity input interface, power drive chip, load The relay that the relay or control hydraulic pump unloading electromagnetic valve of electricity are powered).I/O mouthfuls of steering controller microprocessor is by resistance The pin 1 of R3 with TLP181 opto-coupler chips is connected, the pin 2 of TLP181 opto-coupler chips and digitally GNDCAIt is connected;24V work( Rate electricity input interface accepts the 24V power currents I of controller voltage stabilizing Power entry module outputDCB, 24V power electricity ground GNDCB;Resistance R4 One end from 24V power currents IDCBElectric current is obtained, the other end is connected with the pin 4 of TLP181 opto-coupler chips;The one of resistance 6 End be connected with the pin 3 of TLP181 opto-coupler chips, the other end and power electricity ground GNDCBIt is connected;One end of resistance 5 and The pin 3 of TLP181 opto-coupler chips is connected, and the other end is connected with power drive chip;Power drive chip is negative with corresponding Carry connection.
When foregoing circuit is used as the circuit for turning to servo valve actuator power control module, when steering controller from CAN When someone/unmanned the switching command transmitted by full-vehicle control is received in bus, steering controller microprocessor is watched to steering The corresponding I/O pins assignment of valve actuator power control module is taken, low level is assigned to I/O pins when in someone's state, Light emitting diode in TLP181 opto-coupler chips does not light, 3, the 4 pins shut-off of TLP181 opto-coupler chips, power drive chip Input is low level, and the relay that control steering servo valve actuator is powered is in off state, and system does not work;When being in To I/O pins tax high level during unmanned state, the lumination of light emitting diode in TLP181 opto-coupler chips, TLP181 opto-coupler chips 3rd, 4 pins connection, the input of power drive chip is high level, and the relay that control steering servo valve actuator is powered is in Closure state, turns to servo valve actuator and powers normally, and system can work.
When circuit of the foregoing circuit as steering hydraulic pump unloading electromagnetic valve control module, when steering controller from CAN When someone/unmanned the switching command transmitted by full-vehicle control is received in bus, steering controller microprocessor to turn to liquid The corresponding I/O pins assignment of press pump unloading electromagnetic valve control module, high level is assigned when in someone's state to I/O pins, Lumination of light emitting diode in TLP181 opto-coupler chips, TLP181 opto-coupler chips 3,4 pins connection, power drive chip it is defeated It is high level to enter end, and the relay that control hydraulic pump unloading electromagnetic valve is powered is in closure state, hydraulic pump unloading electromagnetic valve system System work, lays down oil supply pressure;Low level is assigned to I/O pins when in unmanned state, it is luminous in TLP181 opto-coupler chips Diode does not light, 3, the 4 pins shut-off of TLP181 opto-coupler chips, and the input of power drive chip is low level, controls liquid The relay that press pump unloading electromagnetic valve is powered is in off state, and hydraulic pump unloading electromagnetic valve system does not work, and maintains oil sources pressure Power.
In sum, a kind of unmanned vehicle vehicle equipment voltage stabilizing power distribution control system is the embodiment of the invention provides, with such as Lower technique effect:
The present invention can be carried in the case where maintaining conventional truck electric power system that larger change does not occur by unmanned vehicle Various equipment the power supply of high stability and reliability is provided, realize that conventional truck is to power supply during unmanned vehicle vehicle remoulding That unites builds.
The present invention realizes isolating for unmanned vehicle corresponding device electric power system and conventional truck existing equipment electric power system, both Ensure that the affiliated electric power system of unmanned vehicle is not influenceed in vehicle launch by original electric power system instantaneous pressure drop, can guarantee that again When vehicle normally runs electric power is obtained from the electricity generation system of former car.
The invention provides a kind of unmanned vehicle corresponding device power control system of high integration, unmanned vehicle institute is ensure that The power supply safety of category equipment, using more convenient reasonable.
The present invention can realize communication work(according to someone/unmanned state's switching signal using serial port protocol and CAN protocol Can, complete the unmanned drive device control of power supply system based on state switching signal, it is ensured that the traffic safety under someone's state.
Although the present invention and its advantage has been described in detail it should be appreciated that without departing from by appended claim Various changes can be carried out in the case of the spirit and scope of the present invention for being limited, is substituted and is converted.And, the model of the application Enclose process, equipment, means, the specific embodiment of method and steps for being not limited only to described by specification.In the art is common Technical staff will readily appreciate that from the disclosure, can be used according to the present invention and performed and corresponding reality described herein Apply the essentially identical function of example or obtain process essentially identical with it result, existing and that future is to be developed, equipment, Means, method or step.Therefore, appended claim is intended to include such process, equipment, hand in the range of them Section, method or step.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto, Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, Should all be included within the scope of the present invention.

Claims (6)

1. a kind of unmanned vehicle vehicle equipment voltage stabilizing power distribution control system, it is characterised in that including:Circuit control system, battery 1st, battery 2, unmanned systems load voltage stabilizing matches somebody with somebody electric control mould with electric control module, controller voltage stabilizing Power entry module and drive mechanism Block;Wherein,
The input interface of circuit control system is connected with battery 1, and battery 1 is connected with the generator of electric power system again;Circuit The output interface of control system is connected by inline fuse F1 with former automobile-used electric loading;The positive pole of battery 2 is protected by connecting Dangerous silk F2 is connected with diode D1 with the positive pole in original power supply control loop, the GND phases in its negative pole and original power supply control loop Even;The output interface of battery 2 is connected with unmanned systems load voltage stabilizing with electric control module;Unmanned systems load voltage stabilizing is with automatically controlled Molding block the 24V electricity being input into be supplied respectively to after voltage stabilizing treatment to 24V voltage stabilizings electric loading, 12V voltage stabilizings electric loading and Controller voltage stabilizing Power entry module;After the treatment of via controller voltage stabilizing Power entry module, export and match somebody with somebody electric control module to drive mechanism;Drive Mechanism is connected with someone/unmanned rs 232 serial interface signal with the input interface of electric control module by serial communication interface, with someone/nobody Switch controlling signal is connected by switching signal interface, and is connected with the output interface of controller voltage stabilizing Power entry module.
2. system according to claim 1, it is characterised in that the unmanned systems load voltage stabilizing is specific with electric control module Including:Input interface, current sensor, ammeter, voltmeter, temperature sensor, thermometer, 24V-24V Voltage stabilizing modules, 24V- 12V Voltage stabilizing modules, 24V-24V Voltage stabilizing modules output interface, 24V-12V Voltage stabilizing modules output interface, inverter, controller are powered Module, controller power supply module output interface;Wherein,
Input interface accepts the electric current I of the output of battery 2DAnd earth terminal GND, by connect overload protection air switch S1 and Current sensor is connected;Ammeter, voltmeter and thermometer realize entirely square with electric control module to unmanned systems load voltage stabilizing The monitoring of position, 24V-24V Voltage stabilizing modules series connection overload protection air switch S2 is connected with current sensor, and 24V voltage stabilizing electricity passes through 24V-24V Voltage stabilizing modules output interface is exported;24V-12V Voltage stabilizing modules series connection overload protection air switch S3 and current sensor It is connected, 12V voltage stabilizings electricity is exported by 24V-12V Voltage stabilizing modules output interface;Controller power supply module is not input into input interface 24V carry out treatment and be directly output to controller power supply module output interface;Inverter passes through SRE R1, fuse F4 It is connected with current sensor, the switch of inverter is directly controlled by overload protection air switch S1.
3. system according to claim 1, it is characterised in that the controller voltage stabilizing Power entry module is specifically included:Input Interface, magnetic bead D2 and D3, electrochemical capacitor C1, voltage-regulator diode DZ1, power isolation module, filter circuit, 24V-12V voltage stabilizing moulds The negative 12V Voltage stabilizing modules of block, 24V-5V Voltage stabilizing modules, 24V-, 24V-12V numeral electricity outputs interface, 24V-5V numeral electricity outputs connect Mouth, the negative 12V numerals electricity output interface of 24V power electricity outputs interface, 24V-, wherein,
Input interface accept unmanned systems load voltage stabilizing with electric control module output electric current, in plant-grid connection to system after pass through Two suppression of magnetic bead D2 and the D3 realization for high-frequency noise and spike noise on power line of parallel connection;It is electrochemical capacitor C1, steady The output and ground GND that pressure diode DZ1 is connected in D2, D3 in parallel is connected;
The output end of foregoing circuit is connected with power isolation module FLN100V2A-F, 24V-12V Voltage stabilizing modules, 24V-5V voltage stabilizings The negative 12V Voltage stabilizing modules of module, 24V power electricity outputs interface, 24V- pass through the output end phase of filter circuit and power isolation module Connect;The 24V-12V Voltage stabilizing modules numeral electricity output filtered circuit of interface is connected with 24V-12V Voltage stabilizing modules;24V-5V voltage stabilizing moulds The block number word filtered circuit of electricity output interface is connected with 24V-5V Voltage stabilizing modules;The negative 12V Voltage stabilizing modules numeral electricity outputs of 24V- connect The filtered circuit of mouth is connected with the negative 12V Voltage stabilizing modules of 24V-.
4. method according to claim 1, it is characterised in that the drive mechanism is specifically included with electric control module:It is whole Vehicle controller microprocessing unit, steering controller microprocessing unit, CAN, CAN communication interface, vehicle body CAN, Serial communication modular, serial communication interface, serial bus, switching signal interface, switching signal processing circuit, steering servo valve drive Dynamic device power control module, steering hydraulic pump unloading electromagnetic valve control module and 5V numeral electricity input interfaces;Wherein,
5V numeral electricity input interfaces accept the 5V digital currents of controller voltage stabilizing Power entry module output, entire car controller microprocessor list Unit is connected with 5V numeral electricity input interfaces and obtains 5V numeral electricity;Switching signal interface is through switching signal processing circuit and full-vehicle control Device microprocessing unit is connected;The first CAN belonging to entire car controller is connected acquisition with 5V numeral electricity input interfaces 5V numeral electricity, the first CAN is connected with the first CAN interface, and micro- by vehicle body CAN and steering controller Processing unit is communicated, and steering servo valve is issued to steering controller based on acquired serial ports command signal and switching instruction signals The control instruction of driver power control module and steering hydraulic pump unloading electromagnetic valve control module;Serial communication modular and 5V numbers Word electricity input interface is connected and obtains 5V numeral electricity, earth terminal and GNDCAIt is connected, vehicle serial communication modular and serial bus connect Mouth is connected, and someone/nobody serial ports control instruction is obtained from upper system;The second CAN belonging to steering controller It is connected with the second CAN interface, and is communicated by vehicle body CAN and entire car controller microprocessing unit, receives vehicle control The steering servo valve actuator power control module of device microprocessing unit processed and steering hydraulic pump unloading electromagnetic valve control module Control instruction;Second CAN is connected with the second CAN interface, and micro- by vehicle body CAN and entire car controller Processing unit communicates, and receives the steering servo valve actuator power control module and steering hydraulic of entire car controller microprocessing unit The control instruction of pump unloading electromagnetic valve control module.
5. system according to claim 4, it is characterised in that described switching signal processing circuit is specifically included:24V work( Rate electricity input interface, 5V numeral electricity input interface, resistance R1, resistance R2, diode D4, TLP181 opto-coupler chip, someone/nobody I/O mouthfuls of switching signal input interface, entire car controller microprocessor;Wherein,
Someone/unmanned switching signal input interface is connected through diode D4 with the pin 1 of TLP181 opto-coupler chips;24V power electricity Input interface accepts the 24V power currents I of controller voltage stabilizing Power entry module outputDCB, 24V power electricity ground GNDCB;Resistance R1 one end It is connected with 24V power electricity input interface, the other end is connected with the pin 1 of TLP181 opto-coupler chips;TLP181 opto-coupler chips Pin 2 and 24V power electricity ground GNDCBIt is connected;5V numeral electricity input interfaces accept the 5V of controller voltage stabilizing Power entry module output Digital current IDCA5, 5V numeral electricity ground GNDCA;Resistance R2 one end and 5V numeral electricity input currents IDCA5Be connected, the other end with TLP181 opto-coupler chips pin 4 is connected;I/O mouthfuls of entire car controller microprocessor and TLP181 opto-coupler chip opto-coupler chip optocouplers Microarray biochip pin 4 is connected;TLP181 opto-coupler chips pin 3 and digitally GNDCAIt is connected.
6. system according to claim 4, it is characterised in that the steering servo valve actuator power control module is specific Including:I/O mouthfuls of steering controller microprocessor, resistance R3, TLP181 opto-coupler chip, resistance R4, resistance R5, resistance R6,24V work( Rate electricity input interface, power drive chip, load;Wherein,
I/O mouthfuls of steering controller microprocessor is connected by resistance R3 with the pin 1 of TLP181 opto-coupler chips, TLP181 optocouplers The pin 2 of chip and digitally GNDCAIt is connected;24V power electricity input interface accepts the output of controller voltage stabilizing Power entry module 24V power currents IDCB, 24V power electricity ground GNDCB;One end of resistance R4 is from 24V power currents IDCBObtain electric current, the other end with The pin 4 of TLP181 opto-coupler chips is connected;One end of resistance 6 is connected with the pin 3 of TLP181 opto-coupler chips, the other end and Power electricity ground GNDCBIt is connected;One end of resistance 5 is connected with the pin 3 of TLP181 opto-coupler chips, the other end and power drive Chip is connected;Power drive chip and corresponding load connection.
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