Road surface machine control circuit, control method, device and road surface machine

Abstract

The application discloses a road surface mechanical control circuit, a control method and device and a road surface machine. The road surface mechanical control circuit comprises a low-voltage battery system, a vehicle controller VCU, a multi-gear output device, a first switch, a second switch and a motor controller. The multi-gear output device is used for outputting a gear signal. The low-voltage battery system is connected with the multi-gear output device and one end of the second switch. The multi-gear output device is connected with the vehicle controller VCU and one end of the first switch, and is used for controlling the opening and closing of the first switch. The first switch is closed when the multi-gear output device outputs an ACC gear signal. When the multi-gear output device does not output the ACC gear signal, the vehicle controller VCU controls the second switch to be closed. When the first switch is opened, the second switch is controlled to be opened in a time-delay manner. The low-voltage battery system supplies power to the vehicle controller VCU and the rear-end motor controller, so that low-voltage control is performed after high-voltage power-off, and damage of electrical equipment is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicles, in particular to a road machinery control circuit, a control method and device, and road machinery. BACKGROUND

[0002] With the gradual popularization of electric vehicles, more and more people begin to choose electric vehicles as a means of transportation. At present, the electrified road machinery product (referred to as "road machinery") needs to consider the power-on and power-off logic and timing problem, generally uses a low-voltage electrical system for power supply, and only when the vehicle body is detected to be in a stopped state, the battery power-off process can be executed. If the vehicle body continues to travel during the power-off process, the battery will remain in the power-on state; if the key signal disappears, the power-off timing is not considered, which may cause damage to electrical components.

[0003] In addition, if the vehicle body cannot be quickly controlled to start and execute the power-off process in time, it will also increase the risk of driving and bring risks to passengers in the vehicle. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is to overcome the defect that when the key signal is lost, the power-off timing is not considered, which may cause electrical damage, and the power-off cannot be executed in time and quickly, which increases the risk of driving. In order to solve this technical problem, the present application discloses the following technical scheme:

[0005] In a first aspect, the present application discloses a road machinery control circuit, comprising: a low-voltage battery system, a vehicle controller VCU, a multi-gear output device, a first switch, a second switch and a motor controller, wherein the multi-gear output device is used to output a gear signal, and the gear signal comprises an ON gear signal and an ACC gear signal;

[0006] The low-voltage battery system is connected with the multi-gear output device and one end of the second switch, respectively, the other end of the second switch is connected with the vehicle controller VCU, and the vehicle controller VCU is connected with the motor controller; the multi-gear output device is connected with the vehicle controller VCU and one end of the first switch; the other end of the first switch is connected with the vehicle controller VCU and the motor controller;

[0007] The multi-gear output device is used to control the opening and closing of the first switch, the first switch is closed when the multi-gear output device outputs the ACC gear signal, the second switch is closed when the multi-gear output device does not output the ACC gear signal and the vehicle controller VCU controls the second switch, and the second switch is delayed to be opened when the first switch is opened.

[0008] Optionally, in a possible implementation of the first aspect, the multi-gear output device comprises an ON-gear switch and an ACC-gear switch, and the ON-gear switch, the ACC-gear switch, the first switch and the second switch are all relay switches.

[0009] When the ON-gear switch is closed, the multi-gear output device outputs an ON-gear signal; and when the ACC-gear switch is closed, the multi-gear output device outputs an ACC-gear signal.

[0010] In the second aspect, the embodiments of the present application further disclose a road machine control method, which is applied to the road machine control circuit in the first aspect and comprises the following steps:

[0011] When the multi-gear output device outputs the ACC-gear signal, the multi-gear output device controls the first switch to be closed, and the vehicle control unit VCU controls the second switch to be closed.

[0012] When the ACC-gear signal is not included in the gear signal output by the multi-gear output device, the multi-gear output device controls the first switch to be opened, the vehicle control unit VCU controls the second switch to be opened in a time-delay manner, and the low-voltage battery system supplies power to the vehicle control unit VCU and the motor controller.

[0013] Optionally, in a possible implementation of the second aspect, after the vehicle control unit VCU controls the second switch to be opened in a time-delay manner, the method further comprises the following steps: the vehicle control unit VCU detects the speed of the road machine; if the speed is greater than a preset speed, the vehicle control unit VCU sends a first control instruction to the motor controller, and the first control instruction is used to instruct the motor controller to start a power-reduction speed-limiting mode to reduce the rotating speed of a motor connected to the motor controller.

[0014] Optionally, in another possible implementation of the second aspect, the road machine control circuit further comprises a high-voltage battery system, the high-voltage battery system is connected to the vehicle control unit VCU, and after the motor controller starts the power-reduction speed-limiting mode, the road machine control method further comprises the following steps:

[0015] The vehicle control unit VCU detects whether the speed of the road machine is less than or equal to the preset speed and whether the current output by the high-voltage battery system is less than or equal to a preset current; if both are yes, the vehicle control unit VCU judges whether the road machine is on a slope; and when it is detected that the road machine is on the slope, the vehicle control unit VCU instructs the motor controller to apply a braking torque to the motor, so that the road machine is parked on the slope.

[0016] Optionally, in another possible implementation manner of the second aspect, the road surface mechanical control circuit further comprises a hydraulic system connected with the vehicle control unit VCU, and the hydraulic system comprises a hydraulic motor controller and a hydraulic motor; when the road surface mechanical stops on the slope, the road surface mechanical control method further comprises:

[0017] the vehicle control unit VCU sends a first shutdown instruction to the hydraulic system, and the hydraulic motor controller applies a brake torque to the hydraulic motor.

[0018] Optionally, in another possible implementation manner of the second aspect, the high-voltage battery system is connected with the motor controller, and the motor controller is provided with a main circuit relay; after the vehicle control unit VCU sends the first shutdown instruction to the hydraulic system, the road surface mechanical control method further comprises:

[0019] the vehicle control unit VCU sends a second shutdown instruction to a direct current control sub-circuit of the high-voltage battery system, and the second shutdown instruction is used to instruct the direct current control sub-circuit to stop charging the low-voltage battery system; and

[0020] the vehicle control unit VCU sends a third shutdown instruction to the motor controller, and the third shutdown instruction is used to instruct the motor controller to disconnect the main circuit relay and save data.

[0021] Optionally, in another possible implementation manner of the second aspect, the road surface mechanical control method further comprises: the vehicle control unit VCU detects whether the low-voltage battery system has stopped charging and whether the motor controller disconnects the main circuit relay; if both are yes, the vehicle control unit VCU disconnects the second switch and completes the power-off task.

[0022] In a third aspect, the embodiments of the present application further provide a road surface mechanical, comprising the road surface mechanical control circuit as described in the first aspect, and the road surface mechanical control circuit is arranged on the road surface mechanical.

[0023] In addition, the embodiments of the present application further provide a control device of a road surface mechanical, comprising a processor and a memory, the memory is coupled with the processor; the memory stores computer readable program instructions, when the computer readable program instructions are executed by the processor, the road surface mechanical control method as described in the second aspect or any implementation manner of the second aspect is implemented.

[0024] The control circuit, the control method, the device and the road surface machine provided by the embodiment are provided with a multi-gear output device, a first switch, a second switch and a connection relationship between a motor controller and a vehicle control unit VCU, so that the multi-gear output device is connected to the vehicle control unit VCU through the first switch and the second switch, when an ACC gear signal output by the multi-gear output device is detected, the first switch is closed, when the ACC gear signal is not detected, the second switch is closed, at this time, the vehicle control unit VCU first controls the first switch to be disconnected, and then controls the second switch to be disconnected in a delayed manner, because the second switch is disconnected in a delayed manner, before the second switch is disconnected, the low-voltage battery system still supplies power to the vehicle control unit VCU and the rear-end motor controller, so that even if the key signal is lost due to a fault or the like, low-voltage control can still be performed after high-voltage power is turned off, thereby preventing damage to electrical equipment. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0026] Figure 1 A circuit diagram of a road surface machine control circuit provided by the embodiment of the present application is provided.

[0027] Figure 2 A circuit diagram of another road surface machine control circuit provided by the embodiment of the present application is provided.

[0028] Figure 3 A circuit diagram of another road surface machine control circuit provided by the embodiment of the present application is provided.

[0029] Figure 4 A flowchart of a road surface machine control method provided by the embodiment of the present application is provided.

[0030] Figure 5 A flowchart of power-off according to design logic provided by the embodiment of the present application is provided.

[0031] Figure 6 A flowchart of fault detection provided by the embodiment of the present application is provided.

[0032] Figure 7 A structural block diagram of a control device provided by the embodiment of the present application is provided.

[0033] Figure 8 A structural schematic diagram of a vehicle control unit VCU provided by the embodiment of the present application is provided. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described clearly and completely in connection with the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0035] In the description of the present application, it should be noted that the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or the connection between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] The technical solutions provided by the embodiments of the present application are applied to the field of vehicle driving, such as the field of automatic driving.

[0037] The technical solutions provided by the embodiments of the present application improve the parking control circuit and control method of the traditional road mechanical product, the purpose is to ensure that even if the key signal disappears during driving, the vehicle body can be judged and executed according to the power-off timing, to ensure the safety and speed of power-off, and to ensure the safety of the vehicle and the driver and passengers. Among them, road mechanical refers to road construction type operation machinery, such as road roller, land leveler, milling machine, paver, etc., which is not limited in the present embodiment.

[0038] The technical solutions provided by the embodiments of the present application will be described in detail.

[0039] The present embodiment provides a road mechanical control circuit, which can be applied to any one of the above road mechanical products.

[0040] Specifically, as Figure 1 shown, the road mechanical control circuit includes a low-voltage battery system 10, a hand brake 20, a vehicle control unit 30, a multi-gear output device 40, a first switch K1, a second switch K2, a motor controller 50 and a motor 60. It should be understood that the road mechanical control circuit can also include more or less other devices, such as hydraulic system, alarm, sensor, etc., which are not limited in the present embodiment.

[0041] Among them, the multi-gear output device 40 is used to output at least one gear signal, and the at least one gear signal includes an ON gear signal and an ACC gear signal. Specifically, as Figure 1As shown, the multi-gear output device 40 includes an ON gear switch and an ACC gear switch, wherein the ON gear switch is used to generate an ON gear signal, and the ACC gear switch can generate an ACC gear signal and output to the rear-end circuit.

[0042] The ACC gear, also known as the accessory power-on gear, when the key is turned to this position, or the ACC gear is turned on through the button control, the multi-gear output device 40 outputs the ACC gear signal, and the accessory power-on circuit is turned on, and the radio and other devices can be used. The state of the ACC gear is to turn on the power supply of part of the electrical equipment of the automobile, such as CD, air conditioner, etc.

[0043] The ON gear, also known as the ON gear, when the key is turned to this position or the ON gear is turned on through the button control, the multi-gear output device 40 outputs the ACC gear signal and the ON gear signal, and the entire vehicle circuit is turned on. The key will remain in this position when the vehicle is driving normally; and when the key is in the ON gear switch, the multi-gear output device 40 outputs the ON gear signal to the vehicle controller VCU 30, and the key is in the ON state when the vehicle is driving normally. The vehicle controller VCU 30 can obtain the ON gear signal in real time, and at this time all circuits of the entire vehicle are in working state.

[0044] In addition, the multi-gear output device 40 also includes a zero gear, also known as a LOCK gear. When the zero gear is in the zero gear, the vehicle is powered off.

[0045] In addition, the low-voltage battery system 10 is connected with the hand brake 20 and the vehicle controller VCU 30, respectively, and the low-voltage battery system 10 includes a battery management system BMS and a low-voltage battery, such as Figure 2 As shown, for providing low voltage for the vehicle controller VCU 30 and the motor controller 50.

[0046] Among them, the low-voltage battery system 10 is connected with the multi-gear output device 40 and one end of the second switch K2, respectively, the other end of the second switch K2 is connected with the vehicle controller VCU 30, the vehicle controller VCU 30 is also connected with the motor controller 50, the multi-gear output device 40 is connected with the vehicle controller VCU 30 and one end of the first switch K1, the other end of the first switch K1 is connected with the vehicle controller VCU 30 and the motor controller 50.

[0047] The multi-gear output device 40 is used to control the opening and closing of the first switch K1. During driving, the first switch K1 is closed, the ACC gear switch is turned on, and the second switch K2 is also in a closed state. The vehicle controller VCU 30 is used to detect the gear signal output by the multi-gear output device 40. When the ACC gear signal output by the multi-gear output device 40 is not detected, the vehicle controller VCU 30 controls the first switch K1 to be opened, and controls the second switch K2 to remain in a closed state. In this case, the ACC gear signal output by the multi-gear output device 40 is not detected, that is, the multi-gear output device 40 does not have the ACC gear signal, and at this time, the key signal disappears.

[0048] The road machinery control circuit provided in the embodiment is additionally provided with the second switch K2 connected with the vehicle controller VCU 30 and the multi-gear output device 40. When the key signal disappears is detected, the vehicle controller VCU 30 controls the first switch K1 to be opened, controls the second switch K2 to remain in a closed state, and controls the second switch to be opened after a time delay when the first switch K1 is opened. At this time, the low-voltage battery system 10 continues to supply power to the rear-end circuit of the second switch K2, so as to ensure that the vehicle controller VCU 30 and the motor controller 50 remain in a low-voltage effective state and a communication effective state after the key is powered off, thereby enabling the key to be powered off according to the designed logic, performing the power-off control operation, preventing the electrical equipment from being damaged, and ensuring the safety and reliability of the power-off process.

[0049] Optionally, in a possible implementation, the above-mentioned ON gear switch, ACC gear switch, first switch K1 and second switch K2 are all relay switches. For example, the first switch K1 is a first relay, and the second switch K2 is a second relay. The first relay and the second relay can be the same or different, and the embodiment does not make any limitation.

[0050] When the ON gear switch of the multi-gear output device 40 is closed, the multi-gear output device 40 outputs the ON gear signal and the ACC gear signal. When the ACC gear switch is closed, the multi-gear output device 40 outputs the ACC gear signal.

[0051] In addition, the road machinery control circuit further includes a direct-current control system, as shown in Figure 2 The direct-current control system is connected with the vehicle controller VCU 30, the first motor controller and the low-voltage battery system, respectively. In the embodiment, the direct-current control system is a direct-current converter, such as a DC / DC converter.

[0052] Optionally, the first motor controller can be a microcontroller unit (MCU). It should be understood that the above-mentioned circuit can also include a second motor controller, a third motor controller, and more motor controllers, and specifically, the number of motor controllers can be customized according to functions.

[0053] The direct current control system is configured to receive control instructions sent by the vehicle controller VCU 30 and the first to third motor controllers, and control the low-voltage battery in the low-voltage battery system to output low voltage according to the control instructions.

[0054] Optionally, the low-voltage battery in the low-voltage battery system is a lithium battery, which includes but is not limited to one or more groups of batteries.

[0055] In addition, as shown in Figure 3 The above-mentioned road machinery control circuit further includes a hydraulic system 70 and a high-voltage battery system 80, etc. For example, the hydraulic system 70 includes brake valves, brakes, and other devices; the high-voltage battery system 80 includes a direct current control sub-circuit, and the structures and contained devices and apparatuses in the hydraulic system 70 and the high-voltage battery system 80 are not limited in the embodiment. The hydraulic system 70 is configured to control the shutdown of the road machinery by hydraulic pressure. The high-voltage battery system 80 is configured to provide high-voltage power to the motor controller 50 and other components.

[0056] Based on the circuit structure shown in the foregoing Figures 1 to 3 The embodiment of the present application also provides a control method of road machinery, which is configured to start the control process of automatic shutdown and power-off when the ON gear signal and the ACC gear signal cannot be detected, and specifically, as shown in Figure 4 The control method includes the following steps:

[0057] Step 101: When the ACC gear signal is output by the multi-gear output device, the multi-gear output device controls the first switch to be closed, and the vehicle controller VCU controls the second switch to be closed.

[0058] Specifically, the working principle of the vehicle body after starting includes the following:

[0059] When the key signal is turned to the ACC gear switch, the first switch K1 is closed, and a high level is obtained. The rear-end circuit connected with the first switch K1, such as the vehicle controller VCU and the motor controller, can obtain low voltage output by the low-voltage power supply system. After the vehicle controller VCU is powered on, it will send a low-level effective instruction, such as outputting a low level to the load of the second switch K2, so that the second switch K2 is turned on, such as sending a low level to connect the control cathode of the second switch K2 to the vehicle, at this time, the vehicle controller controls the second switch K2 to be closed.

[0060] When the key signal is turned to the ON gear switch, the multi-gear output device outputs the ON gear signal and the ACC gear signal, and the vehicle controller VCU starts the power-on process.

[0061] In step 101, the vehicle controller VCU detects the ON gear signal generated and output by the multi-gear output device in real time, and determines whether the road machine is currently in a normal driving state according to the ON gear signal.

[0062] Step 102: When the ACC gear signal is not included in the gear signal output by the multi-gear output device, the multi-gear output device controls the first switch K1 to be open, the vehicle controller VCU controls the second switch K2 to be open with a delay, and the low-voltage battery system supplies power to the vehicle controller VCU and the motor controller.

[0063] Specifically, before controlling the second switch K2 to be open with a delay, first, the ON gear signal cannot be detected in the gear signal output by the multi-gear output device, because the key may be turned to the ACC gear switch or other gears, at this time, step 101 is executed. When the vehicle controller VCU cannot detect the ACC gear signal, for example, when the key is turned from the ACC gear switch to the zero gear, the signal of the ACC gear disappears, at this time, the multi-gear output device controls the first switch K1 to change from the closed state to the open state, the second switch K2 is still in the closed state, after a period of time, the vehicle controller VCU controls the second switch K2 to be open, so that the low-voltage battery system can continue to supply power to the rear-end circuit on the line of the second switch K2, thereby ensuring that the vehicle controller VCU and the motor controller remain in a low-level effective state and communication effective state after the key is powered off, so that the power-off process can be performed according to the designed logic.

[0064] The method provided in the embodiment detects the ACC gear signal output by the multi-gear output device, closes the first switch K1, controls the second switch K2 to be closed when the ACC gear signal is not detected, at this time, the vehicle controller VCU controls the first switch K1 to be open first, and then controls the second switch K2 to be open with a delay. Because the second switch K2 is open with a delay, the low-voltage battery system still supplies power to the vehicle controller VCU and the rear-end motor controller before the second switch is open, so that even if the key signal is lost due to a fault or other reasons, the low-voltage control after the high-voltage power-off can still be ensured, and the electrical equipment can be prevented from being damaged.

[0065] Referring to Figure 5 A power-off process according to the designed logic provided in the embodiment of the application includes the following steps.

[0066] Step 201: The vehicle controller VCU obtains the speed of the road machine.

[0067] The speed can be measured by a sensor and reported to the vehicle controller VCU.

[0068] Step 202: Determine whether the vehicle speed is greater than a preset speed. The preset speed can be defined by the system, and generally, the preset speed is a small speed value.

[0069] Step 203: If yes, the vehicle controller VCU sends a first control instruction to the motor controller, and the first control instruction is used to instruct the motor controller to start the power consumption reduction and speed limiting mode to reduce the speed of the motor connected to the motor controller.

[0070] The motor controller is pre-set with at least one mode, and the at least one mode includes the "power consumption reduction and speed limiting mode" and the "normal driving mode", etc. When the motor controller receives the first control instruction sent by the vehicle controller VCU, the power consumption reduction and speed limiting mode is started, and in this mode, the motor controller applies a certain brake torque to the motor to control the motor to reduce the speed, so as to reduce the vehicle speed.

[0071] In this embodiment, when the vehicle speed is detected to be high, the first control instruction is used to instruct the motor controller to start the power consumption reduction and speed limiting mode, so as to control the motor speed and reduce the vehicle speed.

[0072] In addition, the control method of the road mechanical device further includes: in the "power consumption reduction and speed limiting mode", after a period of time, the vehicle controller VCU detects whether the current vehicle speed of the road mechanical device is less than or equal to the preset speed, that is, V 预设 , and detects whether the current of the high-voltage battery system is less than or equal to the preset current.

[0073] Specifically, as shown in Figure 4 Step 204: Real-time detection of whether the current vehicle speed V satisfies V≤V 预设 , and whether the current i satisfies i≤i 预设 . Wherein, i is the current output by the battery management system BMS in the high-voltage battery system, i 预设 is the preset current, and i 预设 can be freely set by the system.

[0074] If both are yes, step 205 is executed.

[0075] Step 205: The vehicle controller VCU determines whether the position of the road mechanical device is on a slope.

[0076] Specifically, one possible implementation is that the vehicle controller VCU acquires the longitudinal slope angle of the current road mechanical device, and determines whether the longitudinal slope angle is greater than θ, and θ is a preset angle. Optionally, the longitudinal slope angle can be measured by an angle sensor and reported to the vehicle controller VCU. If yes, step 206 is executed.

[0077] Step 206: If the road machine is on the slope, the vehicle controller VCU instructs the motor controller to apply brake torque to the motor to make the road machine stop on the slope.

[0078] Specifically, when detecting that the road machine is on the slope, the vehicle controller VCU generates and sends a second control instruction to the motor controller, and the second control instruction is used to instruct the motor controller to start the zero speed mode. The so-called "zero speed mode" refers to: through the motor controller to control the motor to apply brake torque, keep the motor working in a certain speed range, which is equivalent to zero speed state, so that the road machine stops on the slope.

[0079] The principle is: the vehicle on the slope will slide down the slope under the influence of gravity, so the motor controller needs to control the vehicle body to generate a certain torque to offset the downward gravity, therefore the vehicle controller VCU generates and sends a second control instruction to instruct the motor controller to start the "zero speed mode", in which mode, the motor speed relative to the slope is zero, and the vehicle body will be relatively stationary.

[0080] It should be noted that step 206 is an optional step. In the above step 205, if it is judged that the position of the road machine tends to be flat, i.e. not on the slope, step 207 is executed.

[0081] Step 207: The vehicle controller VCU instructs the hydraulic system to send a first shutdown instruction.

[0082] The connection relationship between the hydraulic system and the vehicle controller VCU is shown in Figure 3 The first shutdown instruction is used to instruct the hydraulic motor controller in the hydraulic system to apply brake torque to the hydraulic motor, so that the brake of the road machine is effective.

[0083] Specifically, the hydraulic system includes: a hydraulic motor controller and a hydraulic motor, the hydraulic motor is a power source for driving the hydraulic pump. In this step, the vehicle controller VCU sends a first shutdown instruction to the hydraulic motor controller, and after receiving the first shutdown instruction, the hydraulic motor controller controls to apply brake torque to the hydraulic motor, so that the brake of the road machine is effective.

[0084] The embodiment aims at the slope state, adds "zero speed mode" in the power-off process, ensures that the road machine stops on the slope, and further combines the mechanical brake control of the hydraulic system to ensure the safety and reliability of the power-off process.

[0085] In addition, as shown in Figure 3 The high-voltage battery system is connected with the motor controller, and further, the high-voltage battery system includes a direct current control subcircuit, and the motor controller is provided with a main circuit relay, and after the above step 207, the control method of the road machine further includes:

[0086] Step 208: the vehicle controller VCU sends a second shutdown instruction to the direct current control sub-circuit in the high-voltage battery system, and the vehicle controller VCU sends a third shutdown instruction to the motor controller.

[0087] The second shutdown instruction is used to instruct the direct current control sub-circuit to stop charging the low-voltage battery system, and the third shutdown instruction is used to instruct the motor controller to disconnect the main loop relay and save data.

[0088] Specifically, the vehicle controller VCU sends a second shutdown instruction to the direct current control sub-circuit, and after the direct current control sub-circuit receives the second shutdown instruction, the battery in the low-voltage battery system stops charging, i.e. the low-voltage battery system is disconnected. In addition, the vehicle controller VCU also sends a third shutdown instruction to instruct the disconnection of the main loop relay of the motor controller (such as MCU), and at the same time, the data is saved and the operation instruction is reset.

[0089] In addition, in the embodiment, the control method of the road machine further comprises:

[0090] Step 209: the vehicle controller VCU detects whether the low-voltage battery system has stopped charging and whether the motor controller has disconnected the main loop relay.

[0091] Step 210: if both are yes, the vehicle controller VCU disconnects the second switch, and completes the power-down task.

[0092] Specifically, the vehicle controller VCU judges whether the second and third shutdown instructions in step 208 are completed, and receives the state feedback of the direct current control sub-circuit and the motor controller. If both are executed, the power supply loop of the high-voltage battery system is disconnected, and after the vehicle controller VCU receives the state feedback of the disconnection of the power supply of the high-voltage battery system, the second switch K2 is disconnected after a delay of a first time (t1). At this time, the vehicle controller VCU and the motor controller are powered off, and thus the power-down is completed.

[0093] In addition, if it is judged in step 209 that the state of each shutdown instruction is not completed, it is returned to step 208 to continue to control and detect the state of the feedback instruction of the direct current control sub-circuit and the motor controller until the direct current control sub-circuit and the motor controller execute the power-down task according to the second and third shutdown instructions and feedback to the vehicle controller VCU.

[0094] Optionally, before step 202, when the vehicle controller VCU detects that the state of the road machine meets the following conditions, the vehicle controller VCU starts the delay power-off control mode.

[0095] The following conditions include:

[0096] Condition 1: the ON gear signal disappears;

[0097] Condition 2: the handle returns to the neutral position, i.e. the handle is in the neutral position, and an output neutral signal is outputted;

[0098] Condition 3: the communication line signal transceiver is normal within a preset time.

[0099] When the vehicle controller VCU detects that the handle is in the neutral position and the communication signal in the vehicle is normal, it can be determined that the current road machine is in a normal driving state. When the above conditions 1-3 are detected, the vehicle controller VCU executes a delay control power-off process.

[0100] It should be understood that in addition to the above conditions 1-3, other conditions can also be included in this step, and these conditions can be set by the system according to the driving conditions of the road machine, and the present embodiment does not limit this.

[0101] The power-off method provided in the present embodiment realizes that the power-off process can be automatically executed according to the power-off sequence in the case of key signal disappearance during driving, ensures the correctness and safety of the power-off sequence by starting the delay power-off control mode, and at the same time, in view of the slope state, adds a "zero speed mode" in the power-off process to ensure that the road machine can be parked on the slope, and in combination with the mechanical brake control of the hydraulic system, the safety and reliability of the power-off process are ensured.

[0102] Optionally, in another embodiment, the control method of the road machine further includes a fault detection process, i.e. before the vehicle controller VCU starts the delay power-off process, the fault is judged, and specifically, as shown in Figure 6 The method includes:

[0103] Step 301: The vehicle controller VCU detects that the communication line or signal control has a fault or abnormal power-off.

[0104] Step 302: Determine whether the fault level is level 2 or level 3.

[0105] When the vehicle controller VCU detects that the fault occurs or the power-off is abnormal, the fault level corresponding to the fault is judged; the fault level can be divided into level 1, level 2 and level 3 according to the severity, wherein the level 1 fault is the most serious, the level 2 is the second, which is a moderate fault, and the level 3 fault is the lightest, which is a slight fault. Specifically, the vehicle controller VCU judges the current fault level according to the data value range transmitted by each subcomponent to the vehicle controller VCU through the CAN circuit.

[0106] If it is a level 2 or level 3 fault, step 303 is executed; if it is judged to be a level 1 fault, immediate emergency stop control is performed, because the level 1 fault is the most serious, so emergency braking is required.

[0107] Step 303: If it is a 2nd level or 3rd level fault, it is judged whether the fault duration is greater than a preset time length. The preset time length can be defined by the system, and the embodiment does not limit this.

[0108] That is, it is detected whether the current fault disappears within a period of time. If it does not disappear, that is, the fault duration is greater than the preset time length, step 304 is performed; if the fault disappears within a period of time, that is, the duration is less than or equal to the preset time length, step 302 is returned to continue detecting the driving condition and the fault condition.

[0109] Step 304: If the fault duration exceeds the preset time length, it is judged whether the fault is a human intervention power-off detection.

[0110] That is, it is judged whether the power-off control operation of the road machinery is performed by the artificial intervention mode. If yes, the vehicle controller VCU starts the delay power-off control process, and steps 201 to 210 of the foregoing embodiment are performed. For specific processes, refer to the foregoing embodiment, and the embodiment will not be described here.

[0111] Step 305: If no, the delay power-off operation and logical judgment are performed.

[0112] Specifically, the vehicle controller VCU automatically starts the delay power-off control program, controls the motor controller through logical judgment, controls the first switch K1 and the second switch K2 to be disconnected, and step 306 is performed.

[0113] Step 306: Before the vehicle controller VCU disconnects the second switch K2, it also sends a CAN instruction to the battery in the low-voltage battery system to instruct the battery in the low-voltage battery system to power off, thereby achieving the purpose of delay power-off control.

[0114] The power-off is completed.

[0115] The method, when a fault occurs or an abnormal power-off occurs, first judges the fault level, screens out serious faults, moderate faults and slight faults, selects whether to use the artificial intervention mode for power-off control or to start the autonomous parking process when detecting moderate or slight faults, and when starting the autonomous parking process, performs delay power-off control on the road machinery, thereby disconnecting the low-voltage battery system power supply, ensuring the continuity of driving, and avoiding the vehicle from stopping urgently due to slight faults or small errors.

[0116] The embodiment of the application also provides a control device of road machinery, which can be applied to the control circuit of the road machinery in the foregoing embodiment, such as the vehicle controller VCU, as shown in the figure, the device comprises a detection unit 710 and a control unit 720. In addition, the device can also comprise other more or fewer modules, such as a storage unit, a sending unit, a receiving unit, etc. Figure 7 ​

[0117] The detection unit 710 is used to detect the ACC position signal and / or ON position signal output by the multi-position output device.

[0118] When the detection unit 710 detects that the multi-gear outputter outputs an ACC gear signal, the multi-gear outputter controls the first switch to close, and the control unit 720 controls the second switch to close.

[0119] When the gear signal output by the multi-gear output device detected by the detection unit 710 does not include the ACC gear signal, the multi-gear output device controls the first switch to open, and the control unit 720 controls the second switch to open after a delay, so that the low-voltage battery system supplies power to the vehicle controller VCU and the motor controller.

[0120] In addition, the detection unit 710 and control unit 720 are also used to realize other functions of the vehicle controller (VCU) in the road machinery control circuit. For details, please refer to the description of the foregoing embodiment. This embodiment will not elaborate on these details.

[0121] The device provided in this embodiment sets up a multi-position output device, a first switch, a second switch, and a connection relationship between the motor controller and the vehicle controller (VCU). The multi-position output device is connected to the vehicle controller (VCU) through the first and second switches. When the multi-position output device outputs an ACC position signal, the first switch is closed. When no ACC position signal is detected, the second switch is closed. At this time, the vehicle controller (VCU) first controls the first switch to open, and then controls the second switch to open after a delay. Because the second switch opens after a delay, the low-voltage battery system still supplies power to the vehicle controller (VCU) and the downstream motor controller before the second switch opens. Therefore, even if the key signal is lost due to faults or other reasons, low-voltage control can still be performed after the high-voltage power is cut off, preventing damage to electrical equipment.

[0122] In addition, this embodiment also provides a road machinery, including as described above. Figures 1 to 3 The road machinery control circuit shown is further provided on the vehicle body.

[0123] At the hardware level, embodiments of the present invention also provide a control device for road machinery, such as... Figure 8 As shown, the device may include a processor 110 and a memory 120, wherein the processor 110 and the memory 120 are coupled and connected via a bus or other means. Figure 8 For example, the connection is via a bus. Furthermore, the device includes at least one interface 130, which can be a communication interface or other interface; this embodiment does not impose any limitations on this.

[0124] The processor 110 can be a central processing unit (CPU). The processor 110 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, or a combination thereof.

[0125] The memory 120 is a non-transitory computer-readable storage medium, and can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as computer-readable program instructions corresponding to the control method of the road surface machine in the embodiments of the present application. The processor 110 executes various functions and data processing of the processor 120 by running the computer-readable program instructions stored in the memory 120, and implements the control method of the road surface machine in the above method embodiments.

[0126] The memory 120 can include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required by a function. The data storage area can store data created by the processor 110, etc. In addition, the memory 120 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 120 can optionally include a memory remotely disposed relative to the processor 110, and these remote memories can be connected to the processor 110 through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0127] In addition, the at least one interface 130 is used for communication between the electronic device and an external device, such as communication with a server, etc. Optionally, the at least one interface 130 can also be used to connect peripheral input, output devices, such as a keyboard, a display screen, a sound device, etc.

[0128] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by computer readable program instructions, which can be stored in a computer readable storage medium. When the computer readable program instructions are executed, the computer readable program instructions can include the processes of the above-mentioned embodiments of the methods. The computer readable storage medium can include, but is not limited to, a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc. The above-mentioned storage medium can also include a combination of the above-mentioned types of memories.

[0129] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A road surface machinery control circuit, characterized in that, include: The system includes a low-voltage battery system, a vehicle control unit (VCU), a multi-position output device, a first switch, a second switch, and a motor controller. The multi-position output device is used to output position signals, which include an ON position signal and an ACC position signal. The low-voltage battery system is connected to the multi-position output device and one end of the second switch, the other end of the second switch is connected to the vehicle controller (VCU), the vehicle controller (VCU) is connected to the motor controller, the multi-position output device is connected to the vehicle controller (VCU) and one end of the first switch, and the other end of the first switch is connected to the vehicle controller (VCU) and the motor controller. The multi-position output device is used to control the opening and closing of the first switch. When the multi-position output device outputs an ACC position signal, the first switch is closed. When the multi-position output device does not output an ACC position signal and the first switch is closed, the vehicle controller (VCU) controls the first switch to open. When the first switch is open, the vehicle controller (VCU) controls the second switch to open after a delay. The low-voltage battery system supplies power to the vehicle controller (VCU) and the motor controller. After the second switch is delayed and disconnected, the vehicle controller (VCU) detects the speed of the road machinery. If the speed is greater than a preset speed, the VCU sends a first control command to the motor controller. The first control command is used to instruct the motor controller to activate the power reduction and speed limiting mode to reduce the speed of the motor connected to the motor controller. The road machinery control circuit also includes a high-voltage battery system, which is connected to the vehicle controller (VCU). After the motor controller activates the power reduction and speed limiting mode, the VCU detects whether the speed of the road machinery is less than or equal to a preset speed, and whether the current output by the high-voltage battery system is less than or equal to a preset current. If both are true, the VCU determines whether the road machinery is on a slope. If the road machinery is on a slope, the VCU instructs the motor controller to apply braking torque to the motor to stop the road machinery on the slope.

2. The road machinery control circuit according to claim 1, characterized in that, The multi-position output device includes an ON position switch and an ACC position switch, wherein the ON position switch, the ACC position switch, the first switch and the second switch are all relay switches; When the ON position switch is closed, the multi-position output device outputs the ON position signal; when the ACC position switch is closed, the multi-position output device outputs the ACC position signal.

3. A control method for road machinery, characterized in that, The control method for road machinery is applied to the road machinery control circuit as described in claim 1 or 2, and the control method for road machinery includes: When the multi-position output device outputs the ACC position signal, the multi-position output device controls the first switch to close, and the vehicle controller (VCU) controls the second switch to close. When the ACC gear signal is not included in the gear signal output by the multi-gear output device, the multi-gear output device controls the first switch to open, the vehicle controller (VCU) controls the second switch to open after a delay, and the low-voltage battery system supplies power to the vehicle controller (VCU) and the motor controller.

4. The control method for road machinery according to claim 3, characterized in that, The road machinery control circuit also includes a hydraulic system connected to the vehicle controller (VCU). The hydraulic system includes a hydraulic motor controller and a hydraulic motor. When the road machinery is parked on the ramp, the control method for the road machinery further includes: The vehicle control unit (VCU) sends a first stop command to the hydraulic system, and the hydraulic motor controller applies braking torque to the hydraulic motor.

5. The control method for road machinery according to claim 4, characterized in that, The high-voltage battery system is connected to the motor controller, which is equipped with a main circuit relay. After the vehicle controller (VCU) sends the first stop command to the hydraulic system, the control method for the road machinery further includes: The vehicle control unit (VCU) sends a second shutdown command to the DC control subcircuit of the high-voltage battery system. This second shutdown command instructs the DC control subcircuit to stop charging the low-voltage battery system. The vehicle control unit (VCU) sends a third stop command to the motor controller, which instructs the motor controller to disconnect the main circuit relay and save the data.

6. The control method for road machinery according to claim 5, characterized in that, The control method for the road machinery also includes: The vehicle control unit (VCU) detects whether the low-voltage battery system has stopped charging and whether the motor controller has disconnected the main circuit relay. If both are true, the vehicle controller (VCU) disconnects the second switch, completing the power-down task.

7. A road construction machine, characterized in that, Includes the road machinery control circuit as described in claim 1 or 2.

8. A control device for road machinery, characterized in that, It includes a processor and a memory, wherein the memory is coupled to the processor; The memory stores computer-readable program instructions, which, when executed by the processor, implement the control method for road machinery as described in any one of claims 3 to 6.

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