CN111284586A - An electronic parking control module for an automatic parking system of an electric assisted vehicle - Google Patents

Abstract

The invention discloses an electronic parking control module of an automatic parking system of an electric assist vehicle, comprising a control circuit board and a load sensor. The control circuit board is provided with a single chip minimum system, a vehicle speed detection circuit, a load detection circuit and a logic control circuit. The minimum system of the single-chip microcomputer drives the parking motor through the logic control circuit to support or recover the parking support frame connected to the parking motor. The load sensor is a shaft pin type load sensor arranged on the connecting pin of the parking motor and the parking support frame. . The present invention is used to control the automatic parking of the electric assisted vehicle, thereby changing the laborious situation caused by the current two-wheeled electric vehicle relying on manual parking, and realizing automatic parking and related functions of preventing false lift and overloading.

Description

An electronic parking control module for an automatic parking system of an electric assisted vehicle

technical field

The invention relates to the technical field of parking systems, in particular to an electronic parking control module of an automatic parking system of an electric power-assisted vehicle.

Background technique

At present, two-wheeled electric bicycles are widely used, and they have become an important means of transportation for people to travel for short distances due to their environmental protection, energy saving and easy storage characteristics. However, most of the two-wheeled electric vehicles currently in use still use manual parking. Due to the need to support the heavier body including the vehicle battery, manual parking is very laborious. If the automatic parking of two-wheeled electric bicycles can be realized by automatic control, the disadvantages of manual parking such as inefficiency and labor can be greatly changed.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an electronic parking control module of an automatic parking system of an electric power-assisted vehicle, which is used for automatic parking control of the parking system, and has functions of preventing false prop up and preventing overload.

The technical scheme of the present invention is:

An electronic parking control module of an automatic parking system of an electric power-assisted vehicle includes a control circuit board and a load sensor, wherein the control circuit board is provided with a single-chip minimum system, a vehicle speed detection circuit, a load detection circuit and a logic control circuit. The minimum system of the single-chip microcomputer drives the parking motor through the logic control circuit to support or recover the parking support frame connected with the parking motor, and the load sensor is provided on the connecting pin shaft of the parking motor and the parking support frame. A shaft pin type load sensor, the load sensor is connected with the load acquisition terminal of the load detection circuit, and the output terminal of the load detection circuit is connected with the load acquisition pin of the minimum system of the single-chip microcomputer;

The vehicle speed acquisition end of the vehicle speed detection circuit is connected to the phase line of the electric motor for driving the electric bicycle, and the phase line speed measurement is adopted, and the output end of the vehicle speed detection circuit is connected with the load acquisition pin of the minimum system of the single-chip microcomputer;

The logic control circuit includes an electric door lock signal input circuit, an anti-theft signal input circuit, a power-on start circuit and a motor forward and reverse relay control circuit; the input end of the electric door lock signal input circuit is connected to the electric door lock and The DianMS pin of the start switch connector P3 is connected, the output end of the electric door lock signal input circuit is connected with the electric door lock signal acquisition pin of the minimum system of the single-chip microcomputer; the input end of the anti-theft signal input circuit is connected to the anti-theft signal input circuit. The FangDao pin of the signal and speed acquisition connector P4 is connected, the output end of the anti-theft signal input circuit is connected with the anti-theft signal acquisition pin of the minimum system of the single-chip microcomputer; the input end of the power-on start circuit is connected to the electric door lock Connect with the QiDong pin of the start switch connector P3, the output end of the power-on start circuit is connected with the start control end of the motor forward and reverse relay control circuit, and the power input of the motor forward and reverse relay control circuit The terminal is connected to the vehicle battery, the power output terminal of the motor forward and reverse relay control circuit is connected to the normally open contact of the motor forward and reverse relay, and the normally closed contact of the motor forward and reverse relay is connected to the collector of the MOS transistor Q1. The control terminals of the motor forward and reverse relay are respectively connected with the forward and reverse control terminals of the motor. The source of the MOS transistor Q1 is connected to the motor control pin of the minimum system of the single-chip microcomputer through the MOS transistor dedicated driver chip, and the gate of the MOS transistor Q1 is grounded. .

The control circuit board is provided with a system power supply circuit, and the system power supply circuit includes a PFM type step-down DC-DC voltage converter U2 and a transformer whose input end is connected to the PFM type step-down DC-DC voltage converter U2 T1, a three-terminal voltage regulator chip U1 whose input end is connected to the output end of the transformer T1, the input end of the PFM type step-down DC-DC voltage converter U2 is connected to the vehicle battery, and the output end of the transformer T1 outputs 12V The power supply, the output end of the three-terminal voltage regulator chip U1 outputs a 5V power supply VCC, and the 5V power supply VCC is connected to the VCC pin of the minimum system of the single-chip microcomputer.

The vehicle speed detection circuit includes a diode D7, a resistor R29, a transient suppression diode Z11, a capacitor C16 and a resistor R32. The motor speed and the anti-theft signal connector P4 are used for the Speed pin of the phase line signal output of the electric bicycle driving motor. The vehicle speed collection terminal of the vehicle speed detection circuit is connected to the anode of diode D7, one end of resistor R29 and the cathode of transient suppression diode Z11 are connected to the cathode of diode D7, the other end of resistor R29, one end of capacitor C16 and one end of resistor R32 are connected to each other. Connected as the output end of the vehicle speed detection circuit, the anode of the transient suppression diode Z11, the other end of the capacitor C16 and the other end of the resistor R32 are all grounded.

The load detection circuit includes a load sensor connector P7, an operational amplifier U5A, a resistor R30, a resistor R33, a resistor R28, a resistor R34, a capacitor C15, a capacitor C18, a resistor R31 and a capacitor C17. One end of the resistor R30 It is connected to the differential signal SIG- port of the load sensor connector P7, the other end of the resistor R30 is connected to the inverting input end of the operational amplifier U5A, and the other end of the resistor R30 is grounded through the capacitor C15, and one end of the resistor R33 is connected to the load sensor plug. The differential signal SIG+ port of the connector P7 is connected, the other end of the resistor R33 is connected to the non-inverting input end of the operational amplifier U5A, the other end of the resistor R33 is grounded through the capacitor C18, and the resistor R28 is connected to the inverting input end and the output end of the operational amplifier U5A One end of the resistor R34 is connected to the non-inverting input of the operational amplifier U5A, the other end of the resistor R34 is grounded, one end of the resistor R31 is connected to the output end of the operational amplifier U5A, and the other end of the resistor R31 and one end of the capacitor C17 are connected to each other as For the output end of the load detection circuit, the other end of the capacitor C17 is grounded.

The electric door lock signal input circuit includes a resistor R6, a resistor R8, a capacitor C8, and a transient suppression diode Z3. One end of the resistor R6 is used as the input end of the electric door lock signal input circuit and the electric door lock and the start switch. The DianMS pin of the connector P3 is connected, and the other end of the resistor R6, one end of the resistor R8, one end of the capacitor C8, and the negative electrode of the transient suppression diode Z3 are connected to each other as the output end of the electric door lock signal input circuit and the microcontroller The electric door lock signal acquisition pin of the minimum system is connected to DMS.

The anti-theft signal input circuit includes a diode D4, a resistor R7, a transient suppression diode Z4 and a capacitor C9. The anode of the diode D4 is used as the input terminal of the anti-theft signal input circuit and the FangDao pin of the anti-theft signal and speed acquisition connector P4. Connection, one end of the resistor R7 is connected to the negative electrode of the diode D4, the other end of the resistor R7, the negative electrode of the transient suppression diode Z4 and one end of the capacitor C9 are connected to each other as the output end of the anti-theft signal input circuit and the anti-theft signal acquisition lead of the minimum system of the microcontroller. The pin FD is connected, and the anode of the transient suppression diode Z4 and the other end of the capacitor C9 are both grounded.

The power-on start-up circuit includes a diode D6, a resistor R16 and a resistor R17. The cathode of the diode D6 is used as the input end of the power-on start-up circuit to connect with the QiDong pin of the electric door lock and the start switch connector P3, and the resistance of the resistor R16 One end and one end of the resistor R17 are connected to each other and the start control end of the motor forward and reverse relay control circuit, the anode of the diode D6 is connected to the other end of the resistor R16, and the other end of the resistor R17 is connected to the vehicle battery.

The motor forward and reverse relay control circuit includes a dedicated drive chip U3 for MOS transistors, an N-channel MOS transistor Q1, a PNP type triode Q2, a motor reversal relay J1 and a motor forward rotation relay J2. The PNP type triode Q2 The base of the motor is used as the start control terminal of the motor forward and reverse relay control circuit. The normally open contact of the motor reverse relay J1 and the normally open contact of the motor forward rotation relay J2 are both connected with the collector of the PNP transistor Q2. The power output terminal of the forward and reverse relay control circuit is connected, and the emitter of the PNP type triode Q2 is used as the power input terminal of the motor forward and reverse relay control circuit to be connected to the positive pole of the vehicle battery. The normally closed contact and the normally closed contact of the motor forward rotation relay J2 are all connected to the collector of the N-channel MOS transistor Q1, and the control end of the motor reverse relay J1 is connected to the parking motor forward and reverse rotation control signal connector P1. The reverse control terminal Motor- is connected, the control terminal of the motor reverse relay J2 is connected to the forward rotation control terminal Motor+ of the forward and reverse rotation control signal connector P1 of the parking motor, and the source of the N-channel MOS transistor Q1 is dedicated to the MOS transistor. The drive chip U3 is connected to the motor control pin DR2 of the minimum system of the single-chip microcomputer, and the gate of the MOS transistor Q1 is grounded through the resistor R10.

The logic control circuit also includes a parking motor working state acquisition circuit, the parking motor working state acquisition circuit includes a resistor R9, a resistor R12, a capacitor C10 and a transient suppression diode Z5, one end of the resistor R9, a resistor One end of R12 is connected to the gate of MOS transistor Q1, the other end of resistor R12, one end of capacitor C10, and the negative electrode of transient suppression diode Z5 are connected to each other and then connected to the motor state acquisition pin Motor_Det of the minimum system of the microcontroller. The other end, the other end of the capacitor C10 and the anode of the TVS diode Z5 are all grounded.

Advantages of the present invention:

The invention adopts the minimum system of single-chip microcomputer with high integration and high performance as the core, and realizes the supporting and retracting of the supporting feet of the parking mechanism of the electric vehicle by driving the motor in the parking mechanism for driving the supporting or retracting of the parking support frame, so that it can be Realize automatic parking of electric vehicles. The present invention collects the load signal through the load sensor, and collects and processes the load signal to obtain the real-time load of the electric assist vehicle, thereby realizing the overload protection function, thereby greatly improving the convenience and safety of the two-wheeled electric assist vehicle. By collecting the driving signal of the driving motor of the electric vehicle, the real-time speed of the electric vehicle can be identified, which can prevent the occurrence of injuries caused by the incorrect support of the support frame during driving.

Description of drawings

FIG. 1 is a schematic diagram of the installation structure of the present invention.

Fig. 2 is a control principle diagram of the present invention.

FIG. 3 is a circuit diagram of the power supply circuit of the system of the present invention.

Fig. 4 is the pin wiring diagram of the minimum system of the single-chip microcomputer of the present invention.

FIG. 5 is a circuit diagram of the vehicle speed detection circuit of the present invention.

FIG. 6 is a circuit diagram of the load detection circuit of the present invention.

FIG. 7 is a circuit diagram of the logic control circuit of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in Figure 1, an electronic parking control module of an automatic parking system of an electric assisted vehicle includes a control circuit board 1 and a load sensor 2. The control circuit board 1 is provided with a single-chip minimum system U4 (see Figure 4), a vehicle speed detection circuit , load detection circuit and logic control circuit, the minimum system U4 of the single-chip microcomputer drives the parking motor 3 through the logic control circuit to make the parking support frame 4 connected to the parking motor 3 support or recover, and the load sensor 2 is arranged in the parking motor 3. Axle-pin-type load sensor on the pin that is connected to the parking support frame 4.

As shown in Figure 2, when the electric door lock is turned off and the electric bicycle driver presses the start switch, the electronic parking control module drives the parking motor 3 to run forward, so that the parking support frame 4 starts to support, and then the load sensor 2 detects it. The actual load during support, when the load is normal, the parking support frame 4 is supported in place to realize automatic parking; when the parking support frame 4 is being propped up, the load sensor 2 detects an overload, and the parking support frame 4 It can be parked normally until the overload is lifted. At the same time, when it is necessary to start the electric assisted bicycle, the electric door lock is turned on, and after pressing the start switch, the electronic parking control module realizes the reverse drive of the parking motor 3, so that the parking support frame 4 is retracted.

As shown in Figure 3, the control circuit board 1 is provided with a system power supply circuit. The system power supply circuit includes a PFM type step-down DC-DC voltage converter U2 and a transformer T1 whose input terminal is connected to the PFM type step-down DC-DC voltage converter U2. , the input end of the three-terminal voltage regulator chip U1 is connected to the output end of the transformer T1, the input end of the PFM type step-down DC-DC voltage converter U2 is connected to the output voltage V+ of the vehicle battery, and the output end of the transformer T1 outputs 12V power supply, three The output end of the terminal voltage regulator chip U1 outputs a 5V power supply VCC, and the 5V power supply VCC is connected to the VCC pin of the minimum system U4 of the single-chip microcomputer. The on-board battery voltage v+ of the two-wheeled electric bicycle has a large range, which generally varies in the range of several tens of volts of DC, and it needs to be adjusted to the power supply required by the system. U2 is a primary-side controlled, constant-current and constant-voltage optional PFM-type step-down DC-DC voltage converter for flyback switching power supply. It integrates a power switch inside and can ignore the feedback circuit of the linear optocoupler. It can achieve low static power consumption, low noise and other performance, and high conversion efficiency. First, the transformer T1 is excited by the PFM type step-down DC-DC voltage converter U2 and rectified to obtain a 12V DC power supply, and then a relatively stable 5V power supply VCC is obtained through the three-terminal voltage regulator chip U1.

As shown in Figure 4, the minimum system U4 of the single-chip microcomputer integrates multiple 12-bit successive approximation ADCs, which can be used as the analog-to-digital conversion of the load detection signal (ZaiHe_Det), the vehicle battery voltage detection signal (BAR_V_Det), the rotational speed detection signal (ZhuanS_Det), etc. At the same time, it integrates RC high-frequency oscillation circuit with high stability, power-on reset circuit, etc., and can realize in-system programming (ISP) through its serial port controller. P6 in the figure is the ISP interface.

The logic control circuit includes an electric door lock signal input circuit, an anti-theft signal input circuit, a power-on start circuit, a motor forward and reverse relay control circuit and a parking motor working state acquisition circuit.

See Figure 4 and Figure 5, the vehicle speed detection circuit includes diode D7, resistor R29, transient suppression diode Z11, capacitor C16 and resistor R32, the motor speed and anti-theft signal connector P4 (see Figure 7) is used for electric bicycle driving motor The Speed pin output by the phase line signal is connected to the vehicle speed collection terminal of the vehicle speed detection circuit, that is, the anode of the diode D7. One end of the resistor R29 and the cathode of the transient suppression diode Z11 are connected to the cathode of the diode D7. The other end of the resistor R29, the capacitor One end of C16 and one end of resistor R32 are connected to each other as the output end of the vehicle speed detection circuit and connected to the load acquisition pin (pin 20) of the minimum system U4 of the microcontroller, the positive electrode of the transient suppression diode Z11, the other end of the capacitor C16 and the resistor R32 The other ends are grounded. In order to prevent the misoperation of parking during the driving process of the electric bicycle, it is necessary to detect the actual driving speed of the electric bicycle. PWM signal, perform first-order RC low-pass filtering on the signal and divide it properly to obtain a DC signal (ZhuanS_Det), which is sent to ADC2 (pin 20) of the minimum system U4 of the single-chip microcomputer for analog-to-digital conversion, so as to realize the speed detection of electric bicycles .

4 and 6, the load detection circuit includes a load sensor connector P7, an operational amplifier U5A, a resistor R30, a resistor R33, a resistor R28, a resistor R34, a capacitor C15, a capacitor C18, a resistor R31, and a capacitor C17. One end is connected to the differential signal SIG- port of the load sensor connector P7, the other end of the resistor R30 is connected to the inverting input end of the operational amplifier U5A, the other end of the resistor R30 is grounded through the capacitor C15, and one end of the resistor R33 is connected to the load sensor The differential signal SIG+ port of the connector P7 is connected, the other end of the resistor R33 is connected to the non-inverting input end of the operational amplifier U5A, the other end of the resistor R33 is connected to the ground through the capacitor C18, and the resistor R28 is connected to the inverting input end and output of the operational amplifier U5A Between the terminals, one end of the resistor R34 is connected to the non-inverting input terminal of the operational amplifier U5A, the other end of the resistor R34 is grounded, one end of the resistor R31 is connected to the output terminal of the operational amplifier U5A, and the other end of the resistor R31 is connected to one end of the capacitor C17. As the output end of the load detection circuit, it is connected to the load acquisition pin (pin 2) of the minimum system U4 of the single-chip microcomputer, and the other end of the capacitor C17 is grounded. The output of the load sensor connector P7 is a differential voltage signal of millivolt level, which needs to be amplified before analog-to-digital conversion by the ADC inside the minimum system U4 of the single-chip microcomputer. The rail-to-rail operational amplifier U5A, resistor R30 The differential proportional amplifier circuit composed of resistor R33, resistor R28, resistor R34, etc. realizes the amplification of the output signal of the load sensor 2, and then connects to the ADC0 channel of the minimum system U4 of the single-chip microcomputer to realize the process of supporting the parking support frame 4. load detection in .

See Figure 4 and Figure 7, the electric door lock signal input circuit includes resistor R6, resistor R8, capacitor C8, transient suppression diode Z3, one end of resistor R6 is used as the input end of the electric door lock signal input circuit and the electric door lock and start The DianMS pin of the switch connector P3 is connected, the other end of the resistor R6, one end of the resistor R8, one end of the capacitor C8, and the negative electrode of the transient suppression diode Z3 are connected to each other as the output end of the electric door lock signal input circuit and the MCU minimum system The electric door lock signal acquisition pin DMS (pin 4) of U4 is connected; the anti-theft signal input circuit includes a diode D4, a resistor R7, a transient suppression diode Z4 and a capacitor C9, and the anode of the diode D4 is used as the input terminal of the anti-theft signal input circuit Connect to FangDao pin of anti-theft signal and speed acquisition connector P4, one end of resistor R7 is connected to the negative pole of diode D4, the other end of resistor R7, the negative pole of transient suppression diode Z4 and one end of capacitor C9 are connected to each other as anti-theft signal The output end of the input circuit is connected to the anti-theft signal acquisition pin FD (pin 5) of the minimum system U4 of the single-chip microcomputer. The positive electrode of the transient suppression diode Z4 and the other end of the capacitor C9 are both grounded; the power-on startup circuit includes a diode D6, a resistor R16 and resistor R17, the negative pole of diode D6 is used as the input terminal of the power-on start circuit and is connected to the QiDong pin of the electric door lock and start switch connector P3, one end of the resistor R16 and one end of the resistor R17 are connected to each other and the positive and negative of the motor Connect the start control end of the relay control circuit, the positive pole of the diode D6 is connected to the other end of the resistor R16, and the other end of the resistor R17 is connected to the vehicle battery; the motor forward and reverse relay control circuit includes a MOS tube dedicated drive chip U3, N channel MOS tube Q1, PNP type triode Q2, motor reverse relay J1 and motor forward rotation relay J2, the base of PNP type transistor Q2 is used as the start control end of the motor forward and reverse relay control circuit, and the normally open contact of the motor reverse relay J1 The point and the normally open contact of the motor forward rotation relay J2 are connected with the collector of the PNP type triode Q2, that is, the power output terminal of the forward and reverse relay control circuit, and the emitter of the PNP type triode Q2 is used as the motor forward and reverse relay control circuit. The power input terminal is connected to the positive pole of the vehicle battery. The normally closed contact of the motor reverse relay J1 and the normally closed contact of the motor forward rotation relay J2 are all connected to the collector of the N-channel MOS transistor Q1. The control terminal is connected to the reverse control terminal Motor- of the parking motor forward and reverse rotation control signal connector P1, and the control terminal of the motor reverse relay J2 is connected to the forward rotation control terminal of the parking motor forward and reverse rotation control signal connector P1. Motor+ is connected, the source of the N-channel MOS transistor Q1 is connected to the motor control pin DR2 (pin 14) of the MCU minimum system U4 through the dedicated MOS transistor driver chip U3, and the gate of the MOS transistor Q1 is grounded through the resistor R10; The motor working state acquisition circuit includes resistor R9, resistor R12, capacitor C10 and transient suppression diode Z 5. One end of the resistor R9 and one end of the resistor R12 are connected to the gate of the MOS transistor Q1. The other end of the resistor R12, one end of the capacitor C10, and the negative electrode of the transient suppression diode Z5 are connected to each other and the motor state of the minimum system U4 of the microcontroller. The acquisition pin Motor_Det (pin 19) is connected, the other end of the resistor R9, the other end of the capacitor C10 and the positive electrode of the transient suppression diode Z5 are all grounded; the vehicle battery (BAT+, GND is the vehicle battery positive and negative electrodes) through the resettable fuse After F1, supply power to the electronic parking control module, and the real-time voltage of the power supply is collected through the pin BAT_V_Det (pin 1) of the minimum system U4 of the microcontroller.

P1-P5 in FIG. 7 are all standard connectors, which are used to connect the relevant signal lines to the control circuit board 1 . Among them, Motor+ is the forward rotation control signal of the parking motor, Motor- is the reverse control signal of the parking motor, XW_DW is the lower limit signal of the parking support frame, XW_UP is the upper limit signal of the parking support frame, and QiDong is the start Switch signal, DianMS is the electric door lock signal, FangDao is the anti-theft signal on the original electric moped, Speed is the phase line speed measurement signal of the electric moped driving motor, BAT+ and GND are the positive and negative electrodes of the vehicle battery.

Whether the electric door lock is open or not is judged by the logic level of the DMS signal in the minimum system U4 of the single-chip microcomputer. When the signal input by pin 4 of the minimum system U4 of the single-chip microcomputer is low level, it means that the electric door lock is not opened, otherwise it is opened. The original electric bicycle anti-theft signal FangDao is sent to pin 5 of the minimum system U4 of the single-chip microcomputer through the diode D4 and the resistance R7, and the minimum system of the single-chip microcomputer U4 determines whether the parking support frame 4 is retracted according to the anti-theft signal. When the start switch is pressed, the start switch signal QiDong is connected to the system power ground, and the triode Q2 is turned on, so that the power V_JDQ output by the triode Q2 is respectively connected with the normally open contact of the motor reverse relay J1 and the motor forward rotation. The normally open contact of the relay J2 is connected to provide power supply conditions for the rotation of the parking motor 3. Under the premise that the electric door lock and the start button are pressed, the minimum system U4 of the single-chip microcomputer sends the parking motor control signal to the MOS tube dedicated driver chip U3, the MOS transistor dedicated driver chip U3 drives the N-channel MOS transistor Q1 to conduct, thereby driving the parking support frame 4 to hold up; and when the electric door lock is closed and the start switch is pressed, the above circuit makes the parking motor 3 Reverse, and the parking support 4 retracts. After the parking support frame 4 is retracted and held in place, the XW_DW or XW_UP signal is input to the connector P2. At this time, the coils of the motor reverse relay J1 and the motor forward rotation relay J2 are de-energized, thereby cutting off the power supply of the parking motor 3. , the retracting or raising action of the parking support frame 4 stops. The minimum system U4 of the single-chip microcomputer can judge the working state of the parking motor 3 by acquiring the Motor_Det signal. When the input level of pin 19 of the minimum system U4 of the single-chip microcomputer is low, the parking motor 3 does not work, and the input level is high. , the parking motor 3 is in the working state.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. The utility model provides an electronic parking control module of automatic parking system of electric bicycle which characterized in that: the parking device comprises a control circuit board and a load sensor, wherein a singlechip minimum system, a vehicle speed detection circuit, a load detection circuit and a logic control circuit are arranged on the control circuit board, the singlechip minimum system drives a parking motor through the logic control circuit to enable a parking support frame connected with the parking motor to be supported or recovered, the load sensor is a pin type load sensor arranged on a connecting pin shaft of the parking motor and the parking support frame, the load sensor is connected with a load acquisition end of the load detection circuit, and an output end of the load detection circuit is connected with a load acquisition pin of the singlechip minimum system;

the speed acquisition end of the speed detection circuit is connected to the phase line of the driving motor of the electric moped and adopts a phase line to measure the speed, and the output end of the speed detection circuit is connected with a load acquisition pin of a minimum system of the single chip microcomputer;

the logic control circuit comprises an electric door lock signal input circuit, an anti-theft signal input circuit, an electrifying starting circuit and a motor forward and reverse rotation relay control circuit; the input end of the electric door lock signal input circuit is connected with a DianmS pin of an electric door lock and starting switch plug connector P3, and the output end of the electric door lock signal input circuit is connected with an electric door lock signal acquisition pin of a minimum system of the single chip microcomputer; the input end of the anti-theft signal input circuit is connected with a FangDao pin of an anti-theft signal and speed acquisition plug connector P4, and the output end of the anti-theft signal input circuit is connected with an anti-theft signal acquisition pin of a minimum system of the single chip microcomputer; the input end of the power-on starting circuit is connected with a QiDong pin of an electric door lock and a starting switch plug connector P3, the output end of the power-on starting circuit is connected with a starting control end of a motor forward and reverse relay control circuit, a power input end of the motor forward and reverse relay control circuit is connected with a vehicle-mounted storage battery, a power output end of the motor forward and reverse relay control circuit is respectively connected with a normally open contact of a motor forward and reverse relay, a normally closed contact of the motor forward and reverse relay is connected with a collector of an MOS (metal oxide semiconductor) tube Q1, a control end of the motor forward and reverse relay is respectively connected with the forward and reverse control end of the motor correspondingly, a source electrode of the MOS tube Q1 is connected with a motor control pin of a minimum system of a single chip microcomputer through a special driving chip of.

2. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the control circuit board on be provided with system power supply circuit, system power supply circuit including PFM type step-down DC-DC voltage converter U2, transformer T1 that input and PFM type step-down DC-DC voltage converter U2 are connected, three-terminal steady voltage chip U1 that the input is connected with transformer T1's output, PFM type step-down DC-DC voltage converter U2's input and on-vehicle storage battery be connected, transformer T1 output 12V power, three-terminal steady voltage chip U1's output 5V power VCC, 5V power VCC be connected with the VCC pin of singlechip minimum system.

3. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the vehicle Speed detection circuit comprises a diode D7, a resistor R29, a transient suppression diode Z11, a capacitor C16 and a resistor R32, a Speed pin of a motor Speed and anti-theft signal plug connector P4 for outputting phase line signals of a running motor of the electric moped is connected with a vehicle Speed acquisition end of the vehicle Speed detection circuit, namely the anode of the diode D7, one end of the resistor R29 and the cathode of the transient suppression diode Z11 are connected with the cathode of the diode D7, the other end of the resistor R29, one end of the capacitor C16 and one end of the resistor R32 are connected with one another to serve as an output end of the vehicle Speed detection circuit, and the anode of the transient suppression diode Z11, the other end of the capacitor C16 and the other end of the resistor R32 are all grounded.

4. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the load detection circuit comprises a load sensor plug connector P7, an operational amplifier U5A, a resistor R30, a resistor R33, a resistor R28, a resistor R34, a capacitor C15, a capacitor C18, a resistor R31 and a capacitor C17, wherein one end of the resistor R30 is connected with a differential signal SIG-port of the load sensor plug connector P7, the other end of the resistor R30 is connected with an inverting input end of the operational amplifier U5 30, the other end of the resistor R30 is grounded through the capacitor C30, one end of the resistor R30 is connected with a differential signal SIG + port of the load sensor plug connector P30, the other end of the resistor R30 is connected with a non-inverting input end of the operational amplifier U5 30, the other end of the resistor R30 is grounded through the capacitor C30, the resistor R30 is connected between the inverting input end and an output end of the operational amplifier U5 30, one end of the resistor R30 is connected with an inverting input end of the operational amplifier U30, the other end of the resistor R31 and one end of the capacitor C17 are connected to each other as an output terminal of the load detection circuit, and the other end of the capacitor C17 is grounded.

5. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the electric door lock signal input circuit comprises a resistor R6, a resistor R8, a capacitor C8 and a transient suppression diode Z3, wherein one end of the resistor R6 is used as the input end of the electric door lock signal input circuit and is connected with a DianmS pin of an electric door lock and starting switch plug connector P3, and the other end of the resistor R6, one end of the resistor R8, one end of the capacitor C8 and the negative electrode of the transient suppression diode Z3 are connected with each other to serve as the output end of the electric door lock signal input circuit and are connected with an electric door lock signal acquisition pin DMS of a minimum system of a single chip microcomputer.

6. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the anti-theft signal input circuit comprises a diode D4, a resistor R7, a transient suppression diode Z4 and a capacitor C9, wherein the anode of the diode D4 is used as the input end of the anti-theft signal input circuit and connected with a FangDao pin of an anti-theft signal and speed acquisition plug connector P4, one end of a resistor R7 is connected with the cathode of a diode D4, the other end of the resistor R7, the cathode of the transient suppression diode Z4 and one end of a capacitor C9 are mutually connected and used as the output end of the anti-theft signal input circuit and connected with an anti-theft signal acquisition pin FD of a minimum system of a single chip microcomputer, and the anode of the transient suppression diode Z4 and the other end of the capacitor C9 are.

7. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the power-on starting circuit comprises a diode D6, a resistor R16 and a resistor R17, wherein the cathode of the diode D6 is used as the input end of the power-on starting circuit and is connected with a QiDong pin of a switch door lock and a starting switch plug connector P3, one end of a resistor R16 and one end of a resistor R17 are connected with each other and are connected with the starting control end of a motor forward and reverse relay control circuit, the anode of the diode D6 is connected with the other end of the resistor R16, and the other end of the resistor R17 is connected with a vehicle-mounted battery.

8. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 1, characterized in that: the Motor forward and reverse relay control circuit comprises a special drive chip U3 of an MOS tube, an N-channel MOS tube Q1, a PNP triode Q2, a Motor reverse relay J1 and a Motor forward relay J2, wherein the base of the PNP triode Q2 is used as the starting control end of the Motor forward and reverse relay control circuit, the normally open contact of the Motor reverse relay J1 and the normally open contact of the Motor forward relay J2 are both connected with the collector of the PNP triode Q2, namely the power output end of the forward and reverse relay control circuit, the emitter of the PNP triode Q2 is used as the power input end of the Motor forward and reverse relay control circuit and is connected with the anode of a vehicle-mounted storage battery, the normally closed contact of the Motor reverse relay J1 and the normally closed contact of the Motor forward relay J2 are both connected with the collector of the N-channel MOS tube Q1, the control end of the Motor reverse relay J1 is connected with the reverse control end of the parking Motor forward and reverse control signal connector P1, the control end of the Motor reverse rotation relay J2 is connected with the forward rotation control end Motor + of the parking Motor forward and reverse rotation control signal connector P1, the source electrode of an N-channel MOS tube Q1 is connected with a Motor control pin DR2 of a minimum system of the single chip microcomputer through a special drive chip U3 of the MOS tube, and the grid electrode of the MOS tube Q1 is grounded through a resistor R10.

9. The electronic parking control module of the automatic parking system of the electric bicycle according to claim 8, wherein: the logic control circuit further comprises a parking Motor working state acquisition circuit, the parking Motor working state acquisition circuit comprises a resistor R9, a resistor R12, a capacitor C10 and a transient suppression diode Z5, one end of the resistor R9 and one end of the resistor R12 are connected with a grid electrode of an MOS tube Q1, the other end of the resistor R12, one end of the capacitor C10 and a Motor state acquisition pin Motor _ Det of a minimum system of the single chip microcomputer are connected after the negative electrodes of the transient suppression diode Z5 are connected with each other, and the other end of the resistor R9, the other end of the capacitor C10 and the positive electrode of the transient suppression diode Z5 are all grounded.

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