CN110515375B - Signal acquisition module of unmanned electric vehicle control system - Google Patents
Signal acquisition module of unmanned electric vehicle control system Download PDFInfo
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- CN110515375B CN110515375B CN201910549220.2A CN201910549220A CN110515375B CN 110515375 B CN110515375 B CN 110515375B CN 201910549220 A CN201910549220 A CN 201910549220A CN 110515375 B CN110515375 B CN 110515375B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses a signal acquisition module of an unmanned electric vehicle control system, which comprises a microcontroller module, wherein the signal output end of an ultrasonic sensor is connected with the signal input end of the microcontroller module and is used for detecting an object; the signal output end of the triaxial acceleration sensor is connected with the signal input end of the microprocessor module and used for sensing the posture of the vehicle; the signal output end of the vehicle-mounted GPS module is connected with the signal input end of the microcontroller module and is used for sensing the position of a vehicle; the signal acquisition power supply module is connected with a power supply input end of a module needing power supply in the signal acquisition module through a first circuit breaker and is used for providing a working power supply for the signal acquisition module; the signal acquisition module can effectively acquire data of various electric vehicles during running, so that the running safety and stability of the electric vehicles can be improved.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a signal acquisition module of an unmanned electric automobile control system.
Background
Under the large backgrounds of energy restriction, environmental pollution and the like, the nation develops new energy automobiles as an important measure for improving the environment. Electric vehicles have shown good development in recent years. The control system in the electric automobile generally comprises a vehicle control unit and a motor controller, and the control system in the prior art has a slow processing speed, so that the safety and the reliability of the operation of the electric automobile are seriously influenced.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a signal acquisition module of an unmanned electric vehicle control system, which can effectively acquire data of various electric vehicles during running so as to improve the running safety and stability of the electric vehicles.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the utility model provides a signal acquisition module of unmanned electric automobile control system which characterized in that: the signal acquisition module comprises a microcontroller module, and the signal output end of the ultrasonic sensor is connected with the signal input end of the microcontroller module and is used for detecting an object; the signal output end of the triaxial acceleration sensor is connected with the signal input end of the microprocessor module and used for sensing the posture of the vehicle; the signal output end of the vehicle-mounted GPS module is connected with the signal input end of the microcontroller module and is used for sensing the position of a vehicle; the signal acquisition power supply module is connected with a power supply input end of a module needing power supply in the signal acquisition module through a first circuit breaker and is used for providing a working power supply for the signal acquisition module; the industrial computer main control power supply module is connected with a power supply input end of the industrial computer main control through a second circuit breaker and used for providing a working power supply for the industrial computer main control power supply module; a signal output end of the industrial computer master control is provided with a loudspeaker; the industrial computer master control is connected with the local area network concentrator through a LAN interface; the signal acquisition power supply module is output power supply all the way and industrial computer main control power supply module's output power supply all the way is connected with the signal input part of indicator board, the signal output part of indicator board is provided with power indicator for instruct respectively whether signal acquisition power supply module and industrial computer main control power supply module have power output.
The further technical scheme is as follows: the signal acquisition module further comprises a DDR3 storage module, and the DDR3 storage module comprises a DDR3 storage chip and a DDR3 terminal regulator.
The further technical scheme is as follows: the signal acquisition module further comprises a flash memory chip, an EEPROM memory chip and a USB interface module, wherein the USB interface module comprises an ISO7221ADR type dual-channel isolator U10 and a CP2104-F03-GM type USB chip U8; the 1 pin of the U10 is connected with a 3.3V power supply, the 2 pins of the U10 are divided into two paths, the first path is connected with the 3.3V power supply through a resistor R343, and the second path is connected with a USB _ UART _ RX interface of an FPGA module through a resistor R49; the 3-pin of the U10 is connected with a USB _ UART _ TX interface of the FPGA module; the 4 pins of the U10 are divided into two paths, the first path is connected with a 3.3V power supply through a capacitor C39, and the second path is grounded; the 5-pin of the U10 is divided into two paths, the first path is grounded, and the second path is connected with a 3.3V power supply through a capacitor C40; the 6 feet of the U10 are connected with the 21 feet of the U8, and the 7 feet of the U10 are connected with the 20 feet of the U8; 1 pin, 9-12 pins, 13-16 pins, 18-19 pins and 22-24 pins of the U8 are suspended; the 2 pin of the U8 is grounded; the 4 pins of the U8 are respectively connected with the 6 pins of the CDSOT23-SR208 type chip D101 and the 2 pins of the 61729 and 1011BLF type chip USB 1; the 3 pins of the U8 are respectively connected with the 1 pin of the CDSOT23-SR208 type chip D101 and the 3 pins of the 61729 and 1011BLF type USB 1; the pins 5 and 6 of the U8 are divided into three paths after being connected, the first path is grounded through a capacitor C37, the second path is grounded through a capacitor C38, and the third path is connected with a 3.3V power supply; the pin 7 and the pin 8 of the U8 are respectively connected with a pin 2 of a CDSOT23-SR208 type chip D101 and a pin 3 of a ZEN056V130A24LS type chip D1 after being connected, the pin 3 of the D1 is divided into two paths after being connected with a pin 1 of the D1 through a resistor R45, the first path is grounded through a capacitor C36, the second path is connected with a pin 1 of a 61729 and 1011BLF type chip USB1, and the pin 5 of the D101 is grounded after being connected with a pin 4 of the USB 1; the pins S1 and S2 of the USB1 are grounded; the pin 9 of the U8 is connected with a 3.3V power supply through a resistor R47; a pin 17 of the U8 is connected with a 3.3V power supply after sequentially passing through a diode USBON1 and a resistor R48; the 25 pin of the U8 is grounded.
The further technical scheme is as follows: the signal acquisition module also comprises an Ethernet module and a clock module, wherein the Ethernet module uses a DP83630SQ/NOPB type Ethernet chip; the clock module uses a DSC1123CI2 type clock.
The further technical scheme is as follows: the signal acquisition module also comprises a JTAG interface module which comprises an SN74LVT125PWR type four-way bus buffer and an XG4C-1431 type connector.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: including ultrasonic sensor, triaxial acceleration sensor, GPS sensor and web camera etc. in the signal acquisition module, environmental information around can effectual collection electric automobile controls through the environmental information who gathers electric automobile traveles, makes it travel more stably.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a functional block diagram of the system described in the embodiments of the present invention;
FIG. 2 is a schematic block diagram of a signal acquisition module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a DDR3 module in the system according to an embodiment of the invention;
FIG. 4 is a schematic diagram of Flash, EEPROM and USB modules in the system according to the embodiment of the present invention
FIG. 5 is a schematic diagram of an Ethernet and clock module in the system according to an embodiment of the invention;
FIG. 6 is a schematic diagram of a JTAG interface module in the system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a three-axis acceleration sensor in the system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an ultrasonic sensor in a system according to an embodiment of the invention;
FIG. 9 is a schematic diagram of an indicator light module in the system according to an embodiment of the invention;
fig. 10 is a schematic diagram of a signal acquisition power supply module according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a voltage regulator module in the system according to an embodiment of the invention;
fig. 12 is a schematic diagram of a power supply module in the system according to the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1, the unmanned electric vehicle control system includes a main control computer, a signal collection module and a drive control system, wherein the main control computer is connected with the drive control system and a local area network concentrator through an interface switch, the local area network concentrator is connected with the signal collection module through a LAN interface, data collected by the signal collection module is transmitted to the interface switch through the local area network concentrator and is transmitted to the main control computer through the interface switch for processing, the processed data is transmitted to the drive control system through the interface switch, and the drive control system controls corresponding components to act according to the received data.
As shown in fig. 2, the signal acquisition module includes a microcontroller module, and a signal output end of the ultrasonic sensor is connected with a signal input end of the microcontroller module, and is used for detecting an object; the signal output end of the triaxial acceleration sensor is connected with the signal input end of the microprocessor module and used for sensing the posture of the vehicle; the signal output end of the vehicle-mounted GPS module is connected with the signal input end of the microcontroller module and is used for sensing the position of a vehicle; the signal acquisition power supply module is connected with a power supply input end of a module needing power supply in the signal acquisition module through a first circuit breaker and is used for providing a working power supply for the signal acquisition module; the industrial computer main control power supply module is connected with a power supply input end of the industrial computer main control through a second circuit breaker and used for providing a working power supply for the industrial computer main control power supply module; a signal output end of the industrial computer master control is provided with a loudspeaker; the industrial computer master control is connected with the local area network concentrator through a LAN interface; output power and industrial computer main control power module's output power all the way of signal acquisition power module is connected with the signal input part of indicator board, the signal output part of indicator board is provided with power indicator, is used for instructing respectively whether signal acquisition power module and industrial computer main control power module have power output.
As shown in fig. 1, the driving control system includes a signal converter, and signal output terminals of the first encoder and the second encoder are connected to a signal input terminal of the signal converter; the signal output end of the operating rod controller is connected with the signal input end of the signal converter and is used for controlling the electric automobile to act; the control signal output end of the signal converter is connected with the signal input end of the motor controller, and the control signal output end of the motor controller is respectively connected with the control signal input ends of the first driving motor and the second driving motor; the signal converter transmits a control command transmitted by the main control computer to the encoder, the operating rod controller and the motor controller respectively, and controls the encoder, the operating rod and the driving motor to act; the driving power supply is used for providing a working power supply for a module needing power supply in the driving control system.
The signal acquisition module further comprises a DDR3 memory module (as shown in FIG. 3), and the DDR3 memory module comprises a DDR3 memory chip and a DDR3 terminal regulator.
The signal acquisition module further comprises a flash memory chip, an EEPROM memory chip and a USB interface module (shown in FIG. 4), wherein the USB interface module comprises an ISO7221ADR type dual-channel isolator U10 and a CP2104-F03-GM type USB chip U8; a pin 1 of the U10 is connected with a 3.3V power supply, a pin 2 of the U10 is divided into two paths, the first path is connected with the 3.3V power supply through a resistor R343, and the second path is connected with a USB _ UART _ RX interface of the FPGA module through a resistor R49; the 3-pin of the U10 is connected with a USB _ UART _ TX interface of the FPGA module; the 4 pins of the U10 are divided into two paths, the first path is connected with a 3.3V power supply through a capacitor C39, and the second path is grounded; the 5-pin of the U10 is divided into two paths, the first path is grounded, and the second path is connected with a 3.3V power supply through a capacitor C40; the 6 pin of the U10 is connected with the 21 pin of the U8, and the 7 pin of the U10 is connected with the 20 pin of the U8; 1 pin, 9-12 pins, 13-16 pins, 18-19 pins and 22-24 pins of the U8 are suspended; the 2 pin of the U8 is grounded; the 4 pins of the U8 are respectively connected with the 6 pins of the CDSOT23-SR208 type chip D101 and the 2 pins of the 61729 and 1011BLF type chip USB 1; the 3 pins of the U8 are respectively connected with the 1 pin of the CDSOT23-SR208 type chip D101 and the 3 pins of the 61729 and 1011BLF type USB 1; the pins 5 and 6 of the U8 are divided into three paths after being connected, the first path is grounded through a capacitor C37, the second path is grounded through a capacitor C38, and the third path is connected with a 3.3V power supply; the pin 7 and the pin 8 of the U8 are respectively connected with the pin 2 of a CDSOT23-SR208 type chip D101 and the pin 3 of a ZEN056V130A24LS type chip D1, the pin 3 of the D1 is connected with the pin 1 of the D1 through a resistor R45 and then divided into two paths, the first path is grounded through a capacitor C36, the second path is connected with the pin 1 of the 61729-1011BLF type chip USB1, and the pin 5 of the D101 is connected with the pin 4 of the USB1 and then grounded; the pins S1 and S2 of the USB1 are grounded; the pin 9 of the U8 is connected with a 3.3V power supply through a resistor R47; a pin 17 of the U8 is connected with a 3.3V power supply after sequentially passing through a diode USBON1 and a resistor R48; the 25 pin of the U8 is grounded.
The signal acquisition module further comprises an ethernet module and a clock module (as shown in fig. 5), wherein the ethernet module uses a DP83630SQ/NOPB type ethernet chip; the clock module uses a DSC1123CI2 type clock.
The signal acquisition module also includes a JTAG interface module (shown in FIG. 6) that includes an SN74LVT125PWR type four-way bus buffer and an XG4C-1431 type connector.
As shown in fig. 1, the system further includes a network camera, and the network camera is connected to a signal input terminal of the main control computer and is configured to collect environmental image information around the vehicle.
FIG. 7 is a schematic diagram of a three-axis acceleration sensor in the system according to an embodiment of the present invention; FIG. 8 is a schematic diagram of an ultrasonic sensor in a system according to an embodiment of the invention; FIG. 9 is a schematic diagram of an indicator light module in a system according to an embodiment of the invention; fig. 10 is a schematic diagram of a signal acquisition power supply module according to an embodiment of the present invention; FIG. 11 is a schematic diagram of a voltage regulator module in the system according to an embodiment of the invention; fig. 12 is a schematic diagram of a power supply module in the system according to the embodiment of the invention.
The system comprises an ultrasonic sensor, a three-axis acceleration sensor, a GPS sensor, a network camera and the like, can effectively acquire environmental information around the electric automobile, and controls the electric automobile to run through the acquired environmental information, so that the electric automobile runs more stably; in addition, the system improves the speed of data processing through the mutual matching of the main control computer, the signal acquisition module and the drive control system, so that the timeliness of control is improved, and the electric automobile runs more stably.
Claims (4)
1. The utility model provides a signal acquisition module of unmanned electric vehicle control system which characterized in that: the signal acquisition module comprises a microcontroller module, and the signal output end of the ultrasonic sensor is connected with the signal input end of the microcontroller module and is used for detecting an object; the signal output end of the triaxial acceleration sensor is connected with the signal input end of the microcontroller module and used for sensing the posture of the vehicle; the signal output end of the vehicle-mounted GPS module is connected with the signal input end of the microcontroller module and is used for sensing the position of a vehicle; the signal acquisition power supply module is connected with a power supply input end of a module needing power supply in the signal acquisition module through a first circuit breaker and is used for providing a working power supply for the signal acquisition module; the industrial computer main control power supply module is connected with a power supply input end of the industrial computer main control through a second circuit breaker and used for providing a working power supply for the industrial computer main control power supply module; a signal output end of the industrial computer master control is provided with a loudspeaker; the industrial computer master control is connected with the local area network concentrator through an LAN interface; one output power supply of the signal acquisition power supply module and one output power supply of the industrial computer main control power supply module are connected with the signal input end of the indicating plate, and the signal output end of the indicating plate is provided with a power supply indicating lamp for respectively indicating whether the signal acquisition power supply module and the industrial computer main control power supply module output power supplies or not;
the signal acquisition module further comprises a flash memory chip, an EEPROM memory chip and a USB interface module, wherein the USB interface module comprises an ISO7221ADR type dual-channel isolator U10 and a CP2104-F03-GM type USB chip U8; a pin 1 of the U10 is connected with a 3.3V power supply, a pin 2 of the U10 is divided into two paths, the first path is connected with the 3.3V power supply through a resistor R343, and the second path is connected with a USB _ UART _ RX interface of the FPGA module through a resistor R49; the 3-pin of the U10 is connected with a USB _ UART _ TX interface of the FPGA module; the 4 pins of the U10 are divided into two paths, the first path is connected with a 3.3V power supply through a capacitor C39, and the second path is grounded; the 5-pin of the U10 is divided into two paths, the first path is grounded, and the second path is connected with a 3.3V power supply through a capacitor C40; the 6 feet of the U10 are connected with the 21 feet of the U8, and the 7 feet of the U10 are connected with the 20 feet of the U8; 1 pin, 9-12 pins, 13-16 pins, 18-19 pins and 22-24 pins of the U8 are suspended; the 2 pin of the U8 is grounded; the 4 pins of the U8 are respectively connected with the 6 pins of the CDSOT23-SR208 type chip D101 and the 2 pins of the 61729 and 1011BLF type chip USB 1; the 3 pins of the U8 are respectively connected with the 1 pin of the CDSOT23-SR208 type chip D101 and the 3 pins of the 61729 and 1011BLF type USB 1; the pins 5 and 6 of the U8 are divided into three paths after being connected, the first path is grounded through a capacitor C37, the second path is grounded through a capacitor C38, and the third path is connected with a 3.3V power supply; the pin 7 and the pin 8 of the U8 are respectively connected with a pin 2 of a CDSOT23-SR208 type chip D101 and a pin 3 of a ZEN056V130A24LS type chip D1 after being connected, the pin 3 of the D1 is divided into two paths after being connected with a pin 1 of the D1 through a resistor R45, the first path is grounded through a capacitor C36, the second path is connected with a pin 1 of a 61729 and 1011BLF type chip USB1, and the pin 5 of the D101 is grounded after being connected with a pin 4 of the USB 1; the pins S1 and S2 of the USB1 are grounded; the pin 9 of the U8 is connected with a 3.3V power supply through a resistor R47; a pin 17 of the U8 is connected with a 3.3V power supply after sequentially passing through a diode USBON1 and a resistor R48; the 25 pin of the U8 is grounded.
2. The signal acquisition module of the unmanned electric vehicle control system of claim 1, wherein: the signal acquisition module further comprises a DDR3 storage module, and the DDR3 storage module comprises a DDR3 storage chip and a DDR3 terminal regulator.
3. The signal acquisition module of the unmanned electric vehicle control system of claim 2, wherein: the signal acquisition module also comprises an Ethernet module and a clock module, wherein the Ethernet module uses a DP83630SQ/NOPB type Ethernet chip; the clock module uses a DSC1123CI2 type clock.
4. The signal acquisition module of the unmanned electric vehicle control system of claim 1, wherein: the signal acquisition module also comprises a JTAG interface module which comprises an SN74LVT125PWR type four-way bus buffer and an XG4C-1431 type connector.
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