Control circuit and vehicle-mounted intelligent robot

Abstract

This invention relates to the field of in-vehicle intelligent technology, and discloses a control circuit and an in-vehicle intelligent robot. The control circuit includes: a connector module that, upon receiving a total signal from an in-vehicle host, extracts a command signal and a serial signal from the total signal, and sends the command signal to a drive module and the serial signal to a display module; the drive module converts the command signal into a drive signal and sends the drive signal to a motor for motor drive; the display module converts the received serial signal into a DSI signal and sends the DSI signal to a display screen for display. Compared to existing in-vehicle intelligent assistants whose anthropomorphism is insufficient to meet user needs, the in-vehicle intelligent robot constructed based on the above control circuit can display facial expressions on a color display screen and perform actions through motors. Combined with the voice interaction function of the in-vehicle host, it fully demonstrates its anthropomorphism and improves the user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted intelligent technology, and in particular to a control circuit and a vehicle-mounted intelligent robot. Background Technology

[0002] With the rapid development of the automotive industry in recent years, competition among major automakers has become increasingly fierce, which is particularly evident in in-vehicle entertainment systems. While traditional in-vehicle systems come in a wide variety, they have always been stuck in the stereotype of being just a car computer. With the rapid development of smartphones, such electronic systems no longer attract much attention. Furthermore, with the advancement of artificial intelligence technology, anthropomorphism is gradually becoming a reality, allowing vehicles to interact with users in real time. Currently, most in-vehicle head units come with intelligent voice assistants, but their feedback to users is limited to voice, and the level of anthropomorphism in these assistants falls short of user needs.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a control circuit and an in-vehicle intelligent robot, aiming to solve the technical problem that the anthropomorphism of existing in-vehicle intelligent assistants is insufficient to meet user needs.

[0005] To achieve the above objectives, the present invention provides a control circuit applied to an in-vehicle intelligent robot, the control circuit comprising: a drive module, a display module, and a connector module;

[0006] The drive module is connected to the connector module and the motor respectively, and the display module is connected to the connector module and the display screen respectively.

[0007] The connector module is used to extract the command signal and serial signal from the total signal when it receives the total signal sent by the vehicle host, and send the command signal to the drive module and the serial signal to the display module;

[0008] The drive module is used to convert the command signal into a drive signal when it receives the command signal, and send the drive signal to the motor to drive the motor.

[0009] The display module is used to convert the serial signal into a DSI signal when it receives the serial signal, and send the DSI signal to the display screen for display.

[0010] Optionally, the driving module includes: a CAN data parsing unit, a main control unit, and a driving unit;

[0011] The CAN data parsing unit is connected to both the connector module and the main control unit, and the drive unit is connected to both the main control unit and the motor.

[0012] The CAN data parsing unit is used to convert the command signal into a differential signal according to a preset conversion format when it receives the command signal, and send the differential signal to the main control unit.

[0013] The main control unit is used to convert the differential signal into a control signal when it receives the differential signal, and send the control signal to the drive unit.

[0014] The drive unit is configured to convert the control signal into a drive signal upon receiving the control signal, and send the drive signal to the motor for motor drive.

[0015] Optionally, the display module includes: a video deserialization unit and a DSI conversion unit;

[0016] The video deserialization unit is connected to both the DSI conversion unit and the connector module.

[0017] The video deserialization unit is used to convert the serial signal into an RGB signal when it receives the serial signal, and send the RGB signal to the DSI conversion unit;

[0018] The DSI conversion unit is used to convert the RGB signal into a DSI signal when it receives the RGB signal, and send the DSI signal to the display screen for display.

[0019] Optionally, the main control unit includes: a main control chip and a crystal oscillator unit;

[0020] The main control chip is connected to both the CAN data parsing unit and the drive unit.

[0021] The main control chip is used to convert the differential signal into a control signal when it receives the differential signal, and send the control signal to the drive unit.

[0022] The crystal oscillator unit is used to provide clock signals to the main control chip.

[0023] Optionally, the main control unit further includes: a calibration subunit;

[0024] The calibration subunit is used to provide calibration signals to the main control chip;

[0025] The calibration subunit includes a first optocoupler chip, a second optocoupler chip, first to fourth pull-up resistors, first to fourth voltage divider resistors, a first pull-down resistor, a second pull-down resistor, and a trigger chip;

[0026] The two ends of the first pull-up resistor are respectively connected to the first input terminal of the first optocoupler chip and the external power supply. The two ends of the second pull-up resistor are respectively connected to the second input terminal of the first optocoupler chip and the external power supply. The first output terminal of the first optocoupler chip is grounded. One end of the first voltage divider resistor is respectively connected to the second output terminal of the first optocoupler chip and one end of the first pull-down resistor. The other end of the first pull-down resistor is grounded. The other end of the first voltage divider resistor is respectively connected to one end of the second voltage divider resistor and the first trigger terminal of the trigger chip. The other end of the second voltage divider resistor is grounded.

[0027] The two ends of the third pull-up resistor are respectively connected to the first input terminal of the second optocoupler chip and the external power supply. The two ends of the fourth pull-up resistor are respectively connected to the second input terminal of the second optocoupler chip and the external power supply. The first output terminal of the second optocoupler chip is grounded. One end of the third voltage divider resistor is respectively connected to the second output terminal of the second optocoupler chip and one end of the second pull-down resistor. The other end of the second pull-down resistor is grounded. The other end of the third voltage divider resistor is respectively connected to one end of the fourth voltage divider resistor and the second trigger terminal of the trigger chip. The other end of the fourth voltage divider resistor is grounded.

[0028] The first output terminal of the trigger chip is connected to the first calibration input terminal of the main control chip, and the second output terminal of the trigger chip is connected to the second calibration input terminal of the main control chip.

[0029] Optionally, the CAN data parsing unit includes: a first CAN subunit and a second CAN subunit;

[0030] The command signals include vehicle command signals and private command signals;

[0031] The first CAN subunit is used to convert the vehicle command signal into a vehicle differential signal according to a preset conversion format when it receives the vehicle command signal, and send the vehicle differential signal to the main control chip.

[0032] The second CAN subunit is used to convert the private instruction signal into a private differential signal according to a preset conversion format when it receives the private instruction signal, and send the private differential signal to the main control chip.

[0033] Optionally, the first CAN subunit includes: a fifth pull-up resistor, a first filter capacitor, a second filter capacitor, a transient diode, and a transceiver chip;

[0034] The first output terminal of the transceiver chip is connected to the first CAN input terminal of the main control chip. The second output terminal of the transceiver chip is connected to the second CAN input terminal of the main control chip, one end of the fifth pull-up resistor, and one end of the first filter capacitor. The other end of the fifth pull-up resistor is connected to the external power supply, and the other end of the first filter capacitor is grounded.

[0035] The power supply voltage terminal of the transceiver chip is connected to one end of the transient diode and the external power supply, respectively. The other end of the transient diode is grounded, and the two ends of the transient diode are connected to the two ends of the second filter capacitor, respectively.

[0036] Optionally, the driving unit includes: a driving chip;

[0037] The first input terminal of the driver chip is connected to the first output terminal of the main control chip, the second input terminal of the driver chip is connected to the second output terminal of the main control chip, and the first to fourth output terminals of the driver chip are connected to the motor.

[0038] The drive chip is used to convert the control signal into a drive signal when it receives the control signal, and send the drive signal to the motor to drive the motor.

[0039] Optionally, the DSI conversion unit includes: a DSI adapter chip, a crystal oscillator chip, a sixth pull-up resistor, a seventh pull-up resistor, a third pull-down resistor, and a fifth voltage divider resistor;

[0040] The video deserialization unit includes a video deserialization chip;

[0041] The input terminal of the video deserialization chip is connected to the connector module, the preset input terminal of the DSI adapter chip is connected to the preset output terminal of the video deserialization chip, and the output terminal of the DSI adapter chip is connected to the display screen.

[0042] The two ends of the sixth pull-up resistor are connected to the power supply terminal of the crystal oscillator chip and the external power supply, respectively. The two ends of the seventh pull-up resistor are connected to the enable terminal of the crystal oscillator chip and the external power supply, respectively. The ground terminal of the crystal oscillator chip is grounded. The output terminal of the crystal oscillator chip is connected to one end of the third pull-down resistor and one end of the fifth voltage divider resistor, respectively. The other end of the third pull-down resistor is grounded. The other end of the fifth voltage divider resistor is connected to the clock terminal of the DSI adapter chip.

[0043] In addition, to achieve the above objectives, the present invention also proposes an in-vehicle intelligent robot, which includes the control circuit described above.

[0044] This invention provides a control circuit and an in-vehicle intelligent robot. When the connector module receives a total signal from the in-vehicle host, it extracts the command signal and serial signal from the total signal, sending the command signal to the drive module and the serial signal to the display module. Upon receiving the command signal, the drive module converts it into a drive signal and sends it to the motor for motor drive. Upon receiving the serial signal, the display module converts it into a DSI signal and sends it to the display screen for display. Compared to existing in-vehicle intelligent assistants whose anthropomorphism is insufficient to meet user needs, the in-vehicle intelligent robot built based on the above control circuit can display facial expressions on a color display screen and perform actions via motors. Combined with the voice interaction function of the in-vehicle host, it fully demonstrates its anthropomorphic nature, improving the user experience. Attached Figure Description

[0045] Figure 1 This is a functional block diagram of the first embodiment of the control circuit of the present invention;

[0046] Figure 2 This is a circuit diagram of the main control unit in the first embodiment of the control circuit of the present invention;

[0047] Figure 3 This is a circuit schematic diagram of the second CAN subunit of the control circuit in the first embodiment of the present invention;

[0048] Figure 4 This is a circuit schematic diagram of the driver chip in the first embodiment of the control circuit of the present invention;

[0049] Figure 5 This is a circuit diagram of the display module in the second embodiment of the control circuit of the present invention.

[0050] Explanation of icon numbers:

[0051] label name label name 10 driver module 20 Display module 30 Connector module 11 CAN data parsing unit 12 Main control unit 13 drive unit 21 Video deserialization unit 22 DSI conversion unit 121 Crystal oscillator unit U1 Main control chip 122 Calibration subunit Z1 First optocoupler chip Z2 Second optocoupler chip R1a~R7a First to seventh pull-up resistors R1b~R8b First to seventh voltage divider resistors R1c~R3c First to third pull-down resistors U2 Trigger chip C1b~C6b First to sixth filter capacitors X1, Y1 Crystal oscillator chip NTC Thermistor U3 transceiver chip TVS transient diode U4 driver chip U5 DSI adapter chip U6 Video deserialization chip

[0052] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0053] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and 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 effort are within the scope of protection of the present invention.

[0055] It should be noted that all directional indications (such as up, down, near, far, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0056] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, the user should consider such a combination of technical solutions to be non-existent and not within the scope of protection claimed by this invention.

[0057] This invention provides a control circuit, referring to... Figure 1 , Figure 1 This is a functional block diagram of the first embodiment of the control circuit of the present invention.

[0058] based on Figure 1 The first embodiment of the control circuit of the present invention is presented.

[0059] In this embodiment, the control circuit is applied to an in-vehicle intelligent robot, and the control circuit includes: a drive module 10, a display module 20, and a connector module 30;

[0060] The drive module 10 is connected to the connector module 30 and the motor respectively, and the display module 20 is connected to the connector module 30 and the display screen respectively.

[0061] The connector module 30 is used to extract the instruction signal and serial signal from the total signal when it receives the total signal sent by the vehicle host, and send the instruction signal to the drive module 10 and the serial signal to the display module 20.

[0062] The drive module 10 is used to convert the command signal into a drive signal when it receives the command signal, and send the drive signal to the motor to drive the motor.

[0063] The display module 20 is used to convert the serial signal into a DSI signal when it receives the serial signal, and send the DSI signal to the display screen for display.

[0064] It should be noted that the display screen can be an AMOLED color display screen, and multiple motors can be used for driving.

[0065] It is understood that the drive module is a module capable of driving motors, and can drive two or more motors simultaneously to realize the movement of the vehicle-mounted intelligent robot. This embodiment does not impose any restrictions on this.

[0066] In practical implementation, the in-vehicle intelligent robot can be a robot built based on an AMOLED display and two stepper motors. It can control the color AMOLED to display facial expressions through the display module and control the stepper motors to perform actions through the drive module. At the same time, it can fully demonstrate its human-like nature by combining the voice interaction function of the in-vehicle host.

[0067] Furthermore, in order to improve the driving function of the driving module, in this embodiment, the driving module 10 includes: a CAN data parsing unit 11, a main control unit 12, and a driving unit 13;

[0068] The CAN data parsing unit 11 is connected to the connector module 30 and the main control unit 12 respectively, and the drive unit 13 is connected to the main control unit 12 and the motor respectively.

[0069] The CAN data parsing unit 11 is used to convert the command signal into a differential signal according to a preset conversion format when it receives the command signal, and send the differential signal to the main control unit 12.

[0070] The main control unit 12 is used to convert the differential signal into a control signal when it receives the differential signal, and send the control signal to the drive unit 13;

[0071] The drive unit 13 is used to convert the control signal into a drive signal when it receives the control signal, and send the drive signal to the motor to drive the motor.

[0072] It should be noted that the CAN data parsing module can obtain vehicle status information and user behavior information. To enhance user privacy, the CAN data parsing module can include both the body CAN and a private CAN. The body CAN can obtain vehicle status information, while the private CAN can obtain user behavior information.

[0073] Furthermore, considering the conversion between different signal formats of the display module, in this embodiment, the display module 20 includes: a video deserialization unit 21 and a DSI conversion unit 22;

[0074] The video deserialization unit 21 is connected to the DSI conversion unit 22 and the connector module 30, respectively.

[0075] The video deserialization unit 21 is used to convert the serial signal into an RGB signal when it receives the serial signal, and send the RGB signal to the DSI conversion unit 22;

[0076] The DSI conversion unit 22 is used to convert the RGB signal into a DSI signal when it receives the RGB signal, and send the DSI signal to the display screen for display.

[0077] It should be noted that the display module can deserialize the serial video stream sent by the vehicle host and send it to the AMOLED display.

[0078] In practical implementation, to ensure transmission reliability and reduce wiring harness weight, the vehicle-mounted host and the vehicle-mounted intelligent robot can use serial communication to transmit video signals. After receiving the video signal, the vehicle-mounted intelligent robot will use a video deserialization unit to deserialize it, converting the serial signal into an RGB signal. This RGB signal cannot directly drive the AMOLED display, so it can be converted into a DSI signal to adapt to the AMOLED display data interface.

[0079] Furthermore, such as Figure 2 As shown, Figure 2 This is a circuit diagram of the main control unit in the first embodiment of the control circuit of the present invention. In order to improve the stability of the signal transmission of the main control unit, in this embodiment, the main control unit 12 includes: a main control chip U1 and a crystal oscillator subunit 121.

[0080] The main control chip U1 is connected to the CAN data parsing unit 11 and the driving unit 13 respectively;

[0081] The main control chip U1 is used to convert the differential signal into a control signal when it receives the differential signal, and send the control signal to the drive unit 13.

[0082] The crystal oscillator unit 121 is used to provide clock signals to the main control chip.

[0083] It should be noted that the main control chip can be an S6J336CH microcontroller, which can control the system power supply, parse CAN messages and control motor drive, or other types of main control chips. This embodiment does not limit this.

[0084] It should be explained that the pins (CAN1__TX, CAN1__RX, CAN2__TX and CAN2__RX) of the main control chip are used to receive signals (CAN1__TX, CAN1__RX, CAN2__TX and CAN2__RX) sent by the CAN data parsing unit, and at the same time send the converted control signals (SCS and SDATA) to the drive unit through the pins (SCS and SDATA).

[0085] Furthermore, in order to improve the signal stability of the main control chip, the crystal oscillator subunit 121 includes: the sixth and seventh voltage divider resistors (R6b and R7b), the crystal oscillator chip X1, and the fifth and sixth filter capacitors (C5b and C6b).

[0086] The two ends of the sixth voltage divider resistor R6b are connected to the first oscillation terminal X0 of the main control chip U1 and the first output terminal 1 of the crystal oscillator chip X1, respectively. The two ends of the seventh voltage divider resistor R7b are connected to the second oscillation terminal X1 of the main control chip U1 and the third output terminal 3 of the crystal oscillator chip X1, respectively. The second and fourth terminals (2 and 4) of the crystal oscillator chip X1 are connected to and grounded (DGND). The two ends of the fifth filter capacitor C5b are connected to the first output terminal 1 of the crystal oscillator chip X1 and grounded (DGND), respectively. The two ends of the sixth filter capacitor C6b are connected to the third output terminal 3 of the crystal oscillator chip X1 and grounded (DGND), respectively.

[0087] It should be noted that the crystal oscillator chip X1 can be a 16M passive crystal oscillator of S6J336CH, or a crystal oscillator chip of other specifications. This embodiment does not limit this.

[0088] Furthermore, in order to improve the calibration speed of the vehicle-mounted intelligent robot, in this embodiment, the main control unit 12 further includes: a calibration subunit 122;

[0089] The calibration subunit 122 is used to provide calibration signals to the main control chip U1;

[0090] The calibration subunit includes a first optocoupler chip Z1, a second optocoupler chip Z2, first to fourth pull-up resistors (R1a to R4a), first to fourth voltage divider resistors (R1b to R4b), a first pull-down resistor R1c, a second pull-down resistor R2c, and a trigger chip U2;

[0091] The two ends of the first pull-up resistor R1a are connected to the first input terminal of the first optocoupler chip Z1 and the external power supply (5V), respectively. The two ends of the second pull-up resistor R2a are connected to the second input terminal of the first optocoupler chip Z1 and the external power supply (5V), respectively. The first output terminal of the first optocoupler chip Z1 is grounded (DGND). One end of the first voltage divider resistor R1b is connected to the second output terminal of the first optocoupler chip Z1 and one end of the first pull-down resistor R1c, respectively. The other end of the first pull-down resistor R1c is grounded (DGND). The other end of the first voltage divider resistor R1b is connected to one end of the second voltage divider resistor R2b and the first trigger terminal 1A of the trigger chip U2, respectively. The other end of the second voltage divider resistor R2b is grounded (DGND).

[0092] The two ends of the third pull-up resistor R3a are respectively connected to the first input terminal of the second optocoupler chip Z2 and the external power supply (5V). The two ends of the fourth pull-up resistor R4a are respectively connected to the second input terminal of the second optocoupler chip Z2 and the external power supply (5V). The first output terminal of the second optocoupler chip Z2 is grounded (DGND). One end of the third voltage divider resistor R3b is respectively connected to the second output terminal of the second optocoupler chip Z2 and one end of the second pull-down resistor R2c. The other end of the second pull-down resistor R2c is grounded (DGND). The other end of the third voltage divider resistor R3b is respectively connected to one end of the fourth voltage divider resistor R4b and the second trigger terminal 2A of the trigger chip U2. The other end of the fourth voltage divider resistor R4b is grounded (DGND).

[0093] The first output terminal 1Y of the trigger chip U2 is connected to the first calibration input terminal OPT_YL of the main control chip U1, and the second output terminal 2Y of the trigger chip U2 is connected to the second calibration input terminal OPT_YR of the main control chip U1.

[0094] The third filter capacitor C3b is connected to the second trigger terminal 2A of the trigger chip U2 and grounded (DGND), respectively, and the fourth filter capacitor C4b is connected to the first trigger terminal 1A of the trigger chip U2 and grounded (DGND), respectively; these are used to filter the signal of the optocoupler circuit and improve the stability of the circuit.

[0095] It should be noted that the external power supply can use a voltage of 5V or 3V, or other voltage specifications, and this embodiment does not impose any restrictions on this.

[0096] It should be understood that the ground terminal (GND) of the trigger chip U2 is grounded (DGND), and the external power supply terminal (VCC) of the trigger chip U2 is connected to the external power supply (5V).

[0097] It should be noted that by designing optocouplers on in-vehicle intelligent robots, the orientation of the robot's head can be determined, thereby improving the zero-position calibration speed.

[0098] Furthermore, considering the heat generated during circuit operation, in this embodiment, the main control module further includes: an eighth voltage divider resistor R8b and a thermistor NTC;

[0099] The temperature control terminal TEM of the main control chip U1 is connected to one end of the eighth voltage divider resistor R8b and one end of the thermistor NTC, respectively. The other end of the eighth voltage divider resistor R8b is connected to the external power supply terminal, and the other end of the thermistor NTC is grounded (DGND).

[0100] It should be noted that prolonged operation of numerous components within a confined space may cause circuit temperatures to rise. To ensure normal circuit operation and extend its lifespan, temperature protection logic is incorporated. A temperature sensor is used to detect the temperature of the onboard intelligent robot and sends the results to the main control chip. For example, if the temperature exceeds a preset threshold 'a', the main control chip can reduce the AMOLED display brightness or turn off the display, reduce or stop motor rotation to minimize heat generation. When the temperature is less than or equal to a preset threshold 'b', the AMOLED display and motor resume normal operation. Alternatively, in extremely low-temperature environments, if the temperature is below a preset threshold 'c', the motor drive current can be increased to overcome the difficulty of starting the motor at low temperatures; if the temperature is above or equal to a preset threshold 'd', the motor drive current returns to normal. The main control chip can actively control power consumption based on system temperature.

[0101] It should be noted that the resistance values ​​of the above resistors can be 10K or other values, and this embodiment does not impose any restrictions on them.

[0102] It should be understood that the thermistor (NTC) can be placed on the circuit's PCB board to detect the current ambient temperature. For example, the voltage divider between the thermistor (NTC) and a 10K resistor is used by the AD module inside the main control chip to collect the voltage of the thermistor (NTC) and calculate the current temperature of the onboard intelligent robot. Below 0 degrees Celsius, it can provide a 300mA drive current to the motor to solve the problem of low-temperature stall; above 0 degrees Celsius, it can provide a 250mA current to the motor for daily operation.

[0103] Furthermore, in order to improve user privacy and protect user privacy, in this embodiment, the CAN data parsing unit 11 includes: a first CAN subunit 111 and a second CAN subunit 112;

[0104] The command signals include vehicle command signals and private command signals;

[0105] The first CAN subunit 111 is used to convert the vehicle command signal into a vehicle differential signal according to a preset conversion format when it receives the vehicle command signal, and send the vehicle differential signal to the main control chip U1.

[0106] The second CAN subunit 112 is used to convert the private instruction signal into a private differential signal according to a preset conversion format when it receives the private instruction signal, and send the private differential signal to the main control chip U1.

[0107] It should be noted that the first and second CAN subunits enable two-way CAN communication, connecting the vehicle's body CAN bus and the proprietary CAN bus to the onboard ECU, respectively. The first CAN subunit can be used to acquire vehicle status information such as door opening / closing, while the proprietary CAN bus primarily acquires user behavior information and generates corresponding actions and expressions based on the vehicle's status and user behavior. User behavior and vehicle information are acquired through the two CAN channels connected to the vehicle's CAN bus. Two CAN transceivers filter and parse the data, transmitting the parsed data to the CAN controller inside the main control chip. The main control chip then responds accordingly based on the CAN data.

[0108] Furthermore, such as Figure 3 As shown, Figure 3 This is a circuit schematic diagram of the second CAN subunit of the control circuit of the first embodiment of the present invention; the first CAN subunit 111 includes: a fifth pull-up resistor R5a, a first filter capacitor C1b, a second filter capacitor C2b, a transient diode TVS, and a transceiver chip U3;

[0109] The first output terminal TXD of the transceiver chip U3 is connected to the first CAN input terminal CAN2_TX of the main control chip. The second output terminal RXD of the transceiver chip U3 is connected to the second CAN input terminal CAN2_TX of the main control chip, one end of the fifth pull-up resistor R5a and one end of the first filter capacitor C1b. The other end of the fifth pull-up resistor R5a is connected to the external power supply (3V). The other end of the first filter capacitor C1b is grounded (DGND).

[0110] The power supply voltage terminal VCC of the transceiver chip U3 is connected to one end of the transient diode TVS and the external power supply (5V), respectively. The other end of the transient diode TVS is grounded, and the two ends of the transient diode TVS are connected to the two ends of the second filter capacitor C2b, respectively. The ground terminal GND of the transceiver chip U3 is grounded (DGND).

[0111] It should be noted that the transceiver chip U3 can use a chip with specifications TJA1044T or TJA104T, or other specifications. This embodiment does not limit this.

[0112] It should be noted that the controller 1 inside the main control chip is connected to the second CAN subunit through pins (CAN2_TR and CAN2_TX). The function of the second CAN subunit is to receive rotation commands from the vehicle host. After receiving the command, the main control chip controls the motor to rotate to the left or right. The circuit diagram of the second CAN subunit is basically the same as that of the first CAN subunit, and will not be described in detail in this embodiment.

[0113] The controller 2 inside the main control chip is connected to the transceiver chip U3 via pins (CAN1_TR and CAN1_TX) and pins (TXD and RXD). The transceiver chip receives signals (CANH and CANL) from the vehicle host via pins (CANH and CANL). After signal conversion, the transceiver chip sends signals (CAN2_TR and CAN2_TX) to the main control chip. The first CAN subunit can be used for wake-up and diagnostics.

[0114] The first and second CAN subunits convert the format of the messages on the CAN bus and transmit the information to the CAN controller inside the main control chip, or conversely, convert the signals sent by the main control chip and send them to the CAN bus.

[0115] Furthermore, such as Figure 4 As shown, Figure 4 This is a circuit schematic diagram of the driving chip in the first embodiment of the control circuit of the present invention; the driving unit 13 includes: driving chip U4;

[0116] Wherein, the first input terminal SDATA of the driver chip U4 is connected to the first output terminal SDATA of the main control chip, the second input terminal SSTB of the driver chip is connected to the second output terminal SDATA of the main control chip, and the first to fourth output terminals (AOUT1, AOUT2, BOUT1 and BOUT2) of the driver chip are connected to the motor;

[0117] The driver chip U4 is used to convert the control signal into a drive signal when it receives the control signal, and send the drive signal to the motor to drive the motor.

[0118] It should be noted that the driver chip can be a DRV8823 chip, and the main control chip can control it through the SPI interface, or other types of chips. This embodiment does not limit this.

[0119] In practical applications, the driver chip can simultaneously drive two two-phase four-wire stepper motors. The maximum phase current that the chip can output is controlled by configuring the levels of its pins (AVREF and CVREF). The motor tail can be equipped with a Hall signal sensor. The main control chip controls the driver chip to rotate the motor by a certain angle α. At the same time, the Hall sensor detects the motor rotation angle in real time. If the motor rotation angle is not equal to α, and the angle difference is Δα, the motor is rotated another Δα as compensation to ensure that the motor moves to the correct position.

[0120] In the specific implementation, after the main control chip receives the corresponding action command from the vehicle host through the CAN data parsing unit, it controls the drive chip to drive the motor so that the vehicle-mounted intelligent robot can perform head movements. When the motor runs for a long time or is subjected to external interference, errors are inevitable. Hall sensors can be designed to detect the motor rotation angle in real time. If the motor does not rotate to the correct position, the drive motor will rotate a certain angle to compensate, so as to realize the closed-loop control of the motor. The optocoupler of the calibration subunit can determine whether the product's head position is deviated to the left or right, shortening the calibration time. If the head is deviated to the left, it will rotate to the left at the maximum angle until it reaches the structural limit. If the head is deviated to the right, it will rotate to the right at the maximum angle until it reaches the structural limit. The calibration is completed by using the structural limit.

[0121] In this embodiment, when the connector module receives the total signal sent by the vehicle host, it extracts the command signal and serial signal from the total signal, and sends the command signal to the drive module and the serial signal to the display module. Upon receiving the command signal, the drive module converts it into a drive signal and sends it to the motor for motor drive. Upon receiving the serial signal, the display module converts it into a DSI signal and sends it to the display screen for display. Compared to existing in-vehicle intelligent assistants whose anthropomorphism is insufficient to meet user needs, this invention can quickly analyze user and vehicle behavior through two high-speed CAN interfaces. Then, the in-vehicle intelligent robot can control the color display screen to show expressions and make the motor move to interact with the user. Combined with the voice interaction function of the vehicle host, it fully demonstrates its anthropomorphism and improves the user experience.

[0122] Reference Figure 5 , Figure 5 This is a circuit diagram of the display module in the second embodiment of the control circuit of the present invention.

[0123] Based on the first embodiment described above, and considering the deserialization accuracy of the video deserialization module for video information, in this embodiment, the DSI conversion unit 22 includes: a DSI adapter chip U5, a crystal oscillator chip Y1, a sixth pull-up resistor R6a, a seventh pull-up resistor R7a, a third pull-down resistor R3c, and a fifth voltage divider resistor R5b.

[0124] The video deserialization unit 21 includes a video deserialization chip U6;

[0125] The input terminals (RIN- and RIN+) of the video deserialization chip U6 are connected to the connector module 30. The preset input terminals (IN0 to IN36) of the DSI adapter chip U5 are connected to the preset output terminals (OUT0 to OUT36) of the video deserialization chip. The output terminals (CP, CN, DP, and DN) of the DSI adapter chip U5 are connected to the display screen. The input terminals (RIN- and RIN+) of the video deserialization chip U6 receive signals (LVDS_IN- and LVDS_IN+) sent from the vehicle host.

[0126] The two ends of the sixth pull-up resistor R6a are connected to the power supply terminal VCC of the crystal oscillator chip Y1 and the external power supply (3.3V) respectively. The two ends of the seventh pull-up resistor R7a are connected to the enable terminal STN of the crystal oscillator chip Y1 and the external power supply (3.3V) respectively. The ground terminal GND of the crystal oscillator chip Y1 is grounded (DGND). The output terminal OUT of the crystal oscillator chip Y1 is connected to one end of the third pull-down resistor R3c and one end of the fifth voltage divider resistor R5b respectively. The other end of the third pull-down resistor R3c is grounded (DGND). The other end of the fifth voltage divider resistor R5b is connected to the clock terminal REFCLK of the DSI adapter chip U5.

[0127] It should be noted that the video deserialization chip can be a DS90UB926 chip, the DSI adapter chip can be a TC9594 chip, or other chips; this embodiment does not impose any restrictions on this.

[0128] It should be noted that the video deserialization module can have a self-test function and can transmit fault data back to the main control module via the I2C interface.

[0129] It should be explained that the resistors mentioned above can be 10K / 1% resistors, and the capacitors can be 1uF / 50V capacitors, or other specifications of resistors and capacitors. This embodiment does not limit them in this regard.

[0130] In practical applications, the DS90UB926 can convert the serial LVDS signal transmitted from the vehicle host into an RGB signal output, and the TC9594 can convert the RGB signal into a DSI signal, which is then sent to the AMOLED display. The TC9594 outputs the signal as two sets of MIPI differential signals. The main control chip will reset and initialize these two chips after power-on or after detecting a malfunction.

[0131] In this embodiment, when the video deserialization chip receives the serial signal, it converts the serial signal into an RGB signal and sends the RGB signal to the DSI conversion unit. When the DSI conversion unit receives the RGB signal, it converts the RGB signal into a DSI signal and sends the DSI signal to the display screen for display, thereby realizing the signal conversion function and improving the efficiency of signal conversion.

[0132] In practical considerations, the PCB board in the main control module can adopt a three-dimensional layout structure. The in-vehicle intelligent machine can be divided into a head section and a bottom section. The head section can contain two PCBs, which can respectively house the power supply, key components, and control circuits. Due to the space occupied by the motor and gears, these two PCBs can be arranged at a 90-degree angle and connected via board-to-board connectors, secured by structural components. The bottom section contains one PCB responsible for AMOLED temperature detection and signal conversion, and is fixed to the back of the AMOLED with screws, moving with the head section. The head and bottom sections do not have a fixed positional relationship and can be connected by wiring harnesses. Through the multi-layer PCB board three-dimensional layout design, the limited structural space can be fully utilized. At the same time, the color AMOLED screen is delicate, the motor movement is smooth and quiet, and the response is rapid, improving the user experience.

[0133] To achieve the above objectives, the present invention also proposes an in-vehicle intelligent robot, which includes the control circuit described above. The specific structure of this control circuit is as described in the above embodiments. Since this in-vehicle intelligent robot adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated further here.

[0134] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0135] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A control circuit, characterized in that, The control circuit is applied to an in-vehicle intelligent robot, and the control circuit includes: a drive module, a display module, and a connector module; The driving module includes: a CAN data parsing unit, a main control unit, and a driving unit; the main control unit includes: a main control chip, a crystal oscillator subunit, and a calibration subunit. The drive module is connected to the connector module and the motor respectively, and the display module is connected to the connector module and the display screen respectively. The connector module is used to extract the command signal and serial signal from the total signal when it receives the total signal sent by the vehicle host, and send the command signal to the drive module and the serial signal to the display module; The drive module is used to convert the command signal into a drive signal when it receives the command signal, and send the drive signal to the motor to drive the motor. The display module is configured to convert the serial signal into a DSI signal upon receiving the serial signal, and then send the DSI signal to the display screen for display. The calibration subunit is used to provide calibration signals to the main control chip; The calibration subunit includes a first optocoupler chip, a second optocoupler chip, first to fourth pull-up resistors, first to fourth voltage divider resistors, a first pull-down resistor, a second pull-down resistor, and a trigger chip; The two ends of the first pull-up resistor are connected to the first input terminal of the first optocoupler chip and the external power supply, respectively. The two ends of the second pull-up resistor are connected to the second input terminal of the first optocoupler chip and the external power supply, respectively. The first output terminal of the first optocoupler chip is grounded. One end of the first voltage divider resistor is connected to the second output terminal of the first optocoupler chip and one end of the first pull-down resistor, respectively. The other end of the first pull-down resistor is grounded. The other end of the first voltage divider resistor is connected to one end of the second voltage divider resistor and the first trigger terminal of the trigger chip, respectively. The other end of the second voltage divider resistor is grounded. The two ends of the third pull-up resistor are respectively connected to the first input terminal of the second optocoupler chip and the external power supply. The two ends of the fourth pull-up resistor are respectively connected to the second input terminal of the second optocoupler chip and the external power supply. The first output terminal of the second optocoupler chip is grounded. One end of the third voltage divider resistor is respectively connected to the second output terminal of the second optocoupler chip and one end of the second pull-down resistor. The other end of the second pull-down resistor is grounded. The other end of the third voltage divider resistor is respectively connected to one end of the fourth voltage divider resistor and the second trigger terminal of the trigger chip. The other end of the fourth voltage divider resistor is grounded. The first output terminal of the trigger chip is connected to the first calibration input terminal of the main control chip, and the second output terminal of the trigger chip is connected to the second calibration input terminal of the main control chip.

2. The control circuit as described in claim 1, characterized in that, The CAN data parsing unit is connected to the connector module and the main control unit respectively, and the drive unit is connected to the main control unit and the motor respectively; The CAN data parsing unit is used to convert the command signal into a differential signal according to a preset conversion format when it receives the command signal, and send the differential signal to the main control unit. The main control unit is used to convert the differential signal into a control signal when it receives the differential signal, and send the control signal to the drive unit. The drive unit is configured to convert the control signal into a drive signal upon receiving the control signal, and send the drive signal to the motor for motor drive.

3. The control circuit as described in claim 2, characterized in that, The display module includes: a video deserialization unit and a DSI conversion unit; The video deserialization unit is connected to both the DSI conversion unit and the connector module. The video deserialization unit is used to convert the serial signal into an RGB signal when it receives the serial signal, and send the RGB signal to the DSI conversion unit; The DSI conversion unit is used to convert the RGB signal into a DSI signal when it receives the RGB signal, and send the DSI signal to the display screen for display.

4. The control circuit as described in claim 3, characterized in that, The main control chip is connected to the CAN data parsing unit and the driving unit, respectively. The main control chip is used to convert the differential signal into a control signal when it receives the differential signal, and send the control signal to the drive unit. The crystal oscillator unit is used to provide clock signals to the main control chip.

5. The control circuit as described in claim 4, characterized in that, The CAN data parsing unit includes: a first CAN subunit and a second CAN subunit; The command signals include vehicle command signals and private command signals; The first CAN subunit is used to convert the vehicle command signal into a vehicle differential signal according to a preset conversion format when it receives the vehicle command signal, and send the vehicle differential signal to the main control chip. The second CAN subunit is used to convert the private instruction signal into a private differential signal according to a preset conversion format when it receives the private instruction signal, and send the private differential signal to the main control chip.

6. The control circuit as described in claim 5, characterized in that, The first CAN subunit includes: a fifth pull-up resistor, a first filter capacitor, a second filter capacitor, a transient diode, and a transceiver chip; The first output terminal of the transceiver chip is connected to the first CAN input terminal of the main control chip. The second output terminal of the transceiver chip is connected to the second CAN input terminal of the main control chip, one end of the fifth pull-up resistor, and one end of the first filter capacitor. The other end of the fifth pull-up resistor is connected to the external power supply, and the other end of the first filter capacitor is grounded. The power supply voltage terminal of the transceiver chip is connected to one end of the transient diode and the external power supply, respectively. The other end of the transient diode is grounded, and the two ends of the transient diode are connected to the two ends of the second filter capacitor, respectively.

7. The control circuit as described in claim 6, characterized in that, The driving unit includes: a driving chip; The first input terminal of the driver chip is connected to the first output terminal of the main control chip, the second input terminal of the driver chip is connected to the second output terminal of the main control chip, and the first to fourth output terminals of the driver chip are connected to the motor. The drive chip is used to convert the control signal into a drive signal when it receives the control signal, and send the drive signal to the motor to drive the motor.

8. The control circuit as described in claim 7, characterized in that, The DSI conversion unit includes: a DSI adapter chip, a crystal oscillator chip, a sixth pull-up resistor, a seventh pull-up resistor, a third pull-down resistor, and a fifth voltage divider resistor; The video deserialization unit includes a video deserialization chip; The input terminal of the video deserialization chip is connected to the connector module, the preset input terminal of the DSI adapter chip is connected to the preset output terminal of the video deserialization chip, and the output terminal of the DSI adapter chip is connected to the display screen. The two ends of the sixth pull-up resistor are connected to the power supply terminal of the crystal oscillator chip and the external power supply, respectively. The two ends of the seventh pull-up resistor are connected to the enable terminal of the crystal oscillator chip and the external power supply, respectively. The ground terminal of the crystal oscillator chip is grounded. The output terminal of the crystal oscillator chip is connected to one end of the third pull-down resistor and one end of the fifth voltage divider resistor, respectively. The other end of the third pull-down resistor is grounded. The other end of the fifth voltage divider resistor is connected to the clock terminal of the DSI adapter chip.

9. A vehicle-mounted intelligent robot, characterized in that, The vehicle-mounted intelligent robot includes the control circuit described in any one of claims 1 to 8.

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