Winch control device and system of vehicle, vehicle and winch control interaction method

Abstract

The invention discloses a winch control device and control system of a vehicle, the vehicle, a winch control interaction method, interaction device and interaction system and a computer readable storage medium. The winch control device comprises a domain controller and a high-pressure winch. And the domain controller is used for sending a control signal to the high-voltage winch according to instruction conversion sent by the terminal equipment. The high-pressure winch comprises a controller, a motor and a twisted rope. And the controller is used for receiving the control signal and controlling the motor according to the control signal. And the working voltage of the motor is greater than or equal to 250V. The motor is used for outputting power, and the power is converted into pulling force of the twisted rope so as to pull a vehicle. In this way, the controller can interact with the whole vehicle, and the control convenience of the high-pressure winch is improved.

Description

Technical Field

[0001] The present application relates to the technical field of winch control, and in particular to a winch control device of a vehicle, a control system, a vehicle, a winch control interaction method, an interaction device, an interaction system and a computer-readable storage medium. Background Art

[0002] Winch is mostly used in off-road vehicles, agricultural vehicles, fire rescue vehicles, road tow trucks and other special vehicles. Winch is a self-protection and traction device on the vehicle, which can be used for self-rescue and rescue in harsh environments such as snow, swamps, deserts, beaches, muddy mountain roads, etc., and can be used for obstacle removal, dragging objects, installing facilities and other operations under other conditions. The current winch control system has limitations on the control of the winch and is not convenient enough. Summary of the invention

[0003] Embodiments of the present application provide a vehicle winch control device, a control system, a vehicle, a winch control interaction method, an interaction device, an interaction system and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.

[0004] A winch control device for a vehicle according to an embodiment of the present application, the winch control device comprising a domain control and a high-voltage winch;

[0005] The domain controller is used to send a control signal to the high-voltage winch according to the instruction sent by the terminal device;

[0006] The high-voltage winch includes a controller, a motor and a rope. The controller is used to receive the control signal sent by the domain control and control the motor according to the control signal. The working voltage of the motor is greater than or equal to 250V. The motor is used to output power, which is converted into the tension of the rope to tow the vehicle.

[0007] In some embodiments, the winch control device also includes a gateway, which is used to receive instructions sent by the terminal device and send the instructions to the domain controller.

[0008] In some embodiments, the winch control device further comprises a power supply circuit, and the power supply circuit is used to supply power to the controller.

[0009] In certain embodiments, the winch control device further includes a power battery assembly, and the power battery assembly is used to supply power to the motor via a high-voltage bus.

[0010] In some embodiments, the instruction includes at least one of mode indication information, speed indication information, working time information, working voltage information, and working gear information.

[0011] In some embodiments, the speed indication information is determined based on the operating pressure received by the terminal device; and / or, the working time information is determined based on the operating time received by the terminal device; and / or, the working voltage information is determined based on the operating frequency received by the terminal device; and / or, the working gear information is determined based on the number of operations received by the terminal device.

[0012] In some embodiments, the controller is further configured to adjust the rotation speed of the motor according to the force exerted by the rope on the motor after the motor has operated for a first period of time.

[0013] In some embodiments, the rotation speed of the motor is positively correlated with the force.

[0014] In some embodiments, the controller is further configured to control the motor to stop working after the motor has worked for a second period of time and when the rate of change of the force exerted by the rope on the motor meets a first set condition.

[0015] The winch control system of the embodiment of the present application includes:

[0016] A winch control device according to any one of the above embodiments; and

[0017] A terminal device is used to send instructions to the winch control device.

[0018] The vehicle according to the embodiment of the present application is characterized by comprising:

[0019] body; and

[0020] The winch control system of any of the above embodiments is arranged on the vehicle body.

[0021] The winch control interaction method of the embodiment of the present application is applied to a terminal device, the terminal device is communicatively connected with a winch control device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, the winch control interaction method includes:

[0022] Receiving a first determination instruction input by a user on an interactive interface of the terminal device;

[0023] Sending the first determination instruction to the winch control device, so that the first determination instruction is converted into a first control signal through the domain control and sent to the controller, and the controller is used to control the high-voltage winch to loosen the rope according to the first control signal;

[0024] Receiving a second confirmation instruction input by a user on an interactive interface of the terminal device;

[0025] The second determination instruction is sent to the winch control device, so that the second determination instruction is converted into a second control signal through the domain control and sent to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

[0026] In some embodiments, the winch control device further includes a gateway, and sending the first determination instruction to the winch control device includes:

[0027] sending the first determination instruction to the gateway, so as to send the first determination instruction to the domain controller through the gateway;

[0028] The sending the second determination instruction to the winch control device comprises:

[0029] The second determination instruction is sent to the gateway, so that the second determination instruction is sent to the domain controller through the gateway.

[0030] In some embodiments, before receiving a first determination instruction input by a user on an interactive interface of the terminal device, the winch control interaction method further includes:

[0031] The user is prompted with precautions for use of the high-voltage winch on the interactive interface of the terminal device.

[0032] In some embodiments, before receiving a second determination instruction input by a user on an interactive interface of the terminal device, the winch control interaction method further includes:

[0033] The user is prompted on the interactive interface of the terminal device to confirm whether the fixing point of the rope is firm.

[0034] In some embodiments, after sending the second determination instruction to the gateway, the winch control interaction method further includes:

[0035] receiving a first stop instruction sent by the gateway; wherein the first stop instruction is sent by the controller to the gateway through the domain controller when the high-voltage winch enters the automatic protection state; when the high-voltage winch meets the automatic protection condition, the controller sends a first stop signal to control the high-voltage winch to stop working and enter the automatic protection state;

[0036] According to the first stop instruction, the user is prompted on the interactive interface of the terminal device that the high-voltage winch enters the automatic protection state.

[0037] In some embodiments, after sending the second determination instruction to the gateway, the winch control interaction method further includes:

[0038] Receiving a second stop instruction input by a user on an interactive interface of the terminal device;

[0039] The second stop instruction is sent to the gateway, so as to send the second stop instruction to the domain controller through the gateway. The domain controller is used to convert the second stop instruction into a second stop signal and send it to the controller. The controller is used to control the high-voltage winch to stop working according to the second stop signal.

[0040] In some embodiments, after the high-voltage winch stops working, the winch control interaction method further includes:

[0041] Receiving a retract instruction input by a user on an interactive interface of the terminal device;

[0042] The retraction instruction is sent to the gateway, and the retraction instruction is sent to the domain control through the gateway. The domain control is used to convert the retraction instruction into a retraction signal and send it to the controller. The controller is used to control the high-voltage winch to retract the rope according to the retraction signal.

[0043] The winch control interaction method of the embodiment of the present application is applied to a winch control device, the winch control device is communicatively connected with a terminal device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, the winch control interaction method includes:

[0044] Receiving a first determination instruction sent by the terminal device, where the first determination instruction is input by a user on an interactive interface of the terminal device;

[0045] The first determination instruction is converted into a first control signal by the domain control and sent to the controller, and the controller is used to control the high-voltage winch to loosen the rope according to the first control signal;

[0046] receiving a second determination instruction sent by the terminal device, where the second determination instruction is input by a user on an interactive interface of the terminal device;

[0047] The second determination instruction is converted into a second control signal by the domain control and sent to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

[0048] In some embodiments, the winch control device further includes a gateway, and the receiving the first determination instruction sent by the terminal device includes:

[0049] receiving, through the gateway, a first determination instruction sent by the terminal device;

[0050] The winch control interaction method further comprises:

[0051] Sending the first determination instruction to the domain controller through the gateway;

[0052] The receiving a second determination instruction sent by the terminal device includes:

[0053] receiving, through the gateway, a second determination instruction sent by the terminal device;

[0054] The winch control interaction method further comprises:

[0055] The second determination instruction is sent to the domain controller through the gateway.

[0056] In some embodiments, after sending the second determination instruction to the domain controller through the gateway, the winch control interaction method further includes:

[0057] Receiving, through the gateway, a first stop instruction sent by the controller through the domain control when the high-voltage winch enters the automatic protection state; wherein, when the high-voltage winch meets the automatic protection condition, the controller sends a first stop signal to control the high-voltage winch to stop working and enter the automatic protection state;

[0058] The first stop instruction is sent to the terminal device through the gateway, and the terminal device is used to prompt the user on the interactive interface that the high-voltage winch enters the automatic protection state according to the first stop instruction.

[0059] In some embodiments, after sending the second determination instruction to the domain controller through the gateway, the winch control interaction method further includes:

[0060] receiving, through the gateway, a second stop instruction sent by the terminal device, where the second stop instruction is input by a user on an interactive interface of the terminal device;

[0061] The second stop instruction is sent to the domain controller through the gateway. The domain controller is used to convert the second stop instruction into a second stop signal and send it to the controller. The controller is used to control the high-voltage winch to stop working according to the second stop signal.

[0062] In some embodiments, after the high-voltage winch stops working, the winch control interaction method further includes:

[0063] receiving, through the gateway, a retraction instruction sent by the terminal device, the retraction instruction being input by a user on an interactive interface of the terminal device;

[0064] The retraction instruction is sent to the domain controller through the gateway, and the domain controller is used to convert the retraction instruction into a retraction signal and send it to the controller. The controller is used to control the high-voltage winch to retract the rope according to the retraction signal.

[0065] The winch control interaction device of the embodiment of the present application is applied to a terminal device, the terminal device is communicatively connected with the winch control device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, the winch control interaction device includes:

[0066] A first receiving module, used to receive a first determination instruction input by a user on an interactive interface of the terminal device;

[0067] A first sending module, configured to send the first determination instruction to the winch control device, the domain control is configured to convert the first determination instruction into a first control signal and send the first control signal to the controller, and the controller is configured to control the high-voltage winch to loosen the rope according to the first control signal;

[0068] The first receiving module is further configured to receive a second determination instruction input by a user on the interactive interface of the terminal device;

[0069] The first sending module is also used to send the second determination instruction to the winch control device, the domain control is used to convert the second determination instruction into a second control signal and send it to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

[0070] The winch control interactive device of the embodiment of the present application is applied to the winch control device, the winch control device is communicatively connected with the terminal device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, the winch control interactive device includes:

[0071] A second receiving module is used to receive a first determination instruction sent by the terminal device, where the first determination instruction is input by a user on an interactive interface of the terminal device;

[0072] A second sending module, configured to convert the first determination instruction into a first control signal through the domain control and send the first control signal to the controller, wherein the controller is configured to control the high-voltage winch to loosen the rope according to the first control signal;

[0073] The second receiving module is further used to receive a second determination instruction sent by the terminal device, where the second determination instruction is input by a user on an interactive interface of the terminal device;

[0074] The second sending module is also used to convert the second determination instruction into a second control signal through the domain control and send it to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

[0075] The winch control interaction system of the implementation mode of the present application includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the winch control interaction method of any of the above implementation modes is implemented.

[0076] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and is characterized in that when the program is executed by a processor, the winch control interaction method of any of the above-mentioned embodiments is implemented.

[0077] In the winch control device, control system, vehicle, winch control interactive method, interactive device, interactive system and computer-readable storage medium of the vehicle in the embodiment of the present application, the domain controller sends a control signal to the high-voltage winch according to the instruction sent by the terminal device, and the controller of the high-voltage winch receives the control signal and controls the motor according to the control signal. In this way, the controller can interact with the whole vehicle, which improves the convenience of high-voltage winch control.

[0078] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0080] Figure 1 is a module schematic diagram of a winch control system of certain embodiments of the present application;

[0081] Figure 2is a schematic diagram of a vehicle according to certain embodiments of the present application;

[0082] Figure 3 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0083] Figure 4 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0084] Figure 5 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0085] Figure 6 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0086] Figure 7 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0087] Figure 8 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0088] Fig. 9 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0089] Fig.10 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0090] Fig.11 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0091] Fig.12 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0092] Fig.13 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0093] Fig.14 is a flow chart of a winch control interaction method according to certain embodiments of the present application;

[0094] Fig.15 is a schematic diagram of a module of a winch control interaction device according to certain embodiments of the present application;

[0095] Fig.16 is a schematic diagram of a module of a winch control interaction device according to certain embodiments of the present application;

[0096] Fig.17 is a schematic diagram of a module of a winch control interactive system according to certain embodiments of the present application;

[0097] Fig.18 It is a schematic diagram of the connection status between a computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0098] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

[0099] See also Figure 1 and Figure 2 , an embodiment of the present application provides a winch control device 100 for a vehicle, and the winch control device 100 includes a domain control 20 and a high-voltage winch 30. The domain control 20 is used to send a control signal to the high-voltage winch 30 according to the instruction sent by the terminal device 101. The high-voltage winch 30 includes a controller 31, a motor 32 and a winch rope 33. The controller 31 is used to receive the control signal and control the motor 32 according to the control signal. The operating voltage of the motor 32 is greater than or equal to 250V. The motor 32 is used to output power, and the power is converted into the tension of the winch rope 33 to tow the vehicle 1000.

[0100] In the winch control device 100 of the embodiment of the present application, the domain control 20 sends a control signal to the high-voltage winch 30 according to the instruction sent by the terminal device 101, and the controller 31 of the high-voltage winch 30 receives the control signal and controls the motor 32 according to the control signal. In this way, the controller 31 can interact with the whole vehicle, which improves the convenience of controlling the high-voltage winch 30.

[0101] In some embodiments, the winch control device 100 also includes a gateway 10, which is used to receive instructions sent by the terminal device 101 and send the instructions to the domain controller 20.

[0102] Specifically, the winch control device 100 can be arranged at the front of the front of the vehicle 1000. The terminal device 101 can be a vehicle-mounted terminal device or a mobile terminal device. The vehicle-mounted terminal device includes electronic devices such as a vehicle-mounted display screen that can communicate and connect with the gateway 10. Mobile terminal devices include electronic devices such as mobile phones and tablets that can communicate and connect with the gateway 10. The client can be run on the terminal device 101. The client has an interactive interface, and the interactive interface is provided with selection buttons corresponding to different instructions. The user inputs instructions in the interactive interface by, for example, clicking a button, and the terminal device 101 sends the corresponding instructions to the gateway 10 by wireless transmission according to the user's operation. The gateway 10 includes a power network and an engine control (Engine Control Module, ECM) network, which can receive and send instructions. The domain control 20 connects the gateway 10 and the high-voltage winch 30, and is used to convert the instructions sent by the gateway 10 into control signals that can control the high-voltage winch 30, and send them to the high-voltage winch 30. The controller 31 of the high-voltage winch 30 can receive the control signal sent by the domain control 20, and then control the motor 32 of the high-voltage winch 30 according to the control signal. The motor 32 can be a high-voltage motor, and its working voltage is not less than 250V, so that the motor 32 provides more power for the high-voltage winch 30. The high-voltage motor replaces the low-voltage motor to avoid the low-voltage motor causing overheating protection due to excessive current, causing the high-voltage winch 30 to suspend operation.

[0103] When the vehicle 1000 is in trouble and needs to be towed, one end of the winch 33 is fixed to a fixed point in the scene, and the other end is located at the front of the vehicle 1000. The user can input a command to start the high-voltage winch 30 through the terminal device 101. The gateway 10 receives the command sent by the terminal device 101 and sends the command to the domain control 20. The domain control 20 converts the command into a control signal, and the control signal includes parameters such as the speed and torque of the control motor 32. The domain control 20 sends the control signal to the controller 31, and the controller 31 can control the motor 32 to work at the corresponding speed, torque, etc. according to the control signal, output power, and convert the power into the tension of the winch 33 to tow the vehicle 1000.

[0104] In the related art, the vehicle uses an ordinary low-voltage winch for traction, and the low-voltage winch is installed after the vehicle leaves the factory. The controller of the low-voltage winch cannot interact with the entire vehicle, which is not convenient for users to use and has a poor user experience. In the implementation of the present application, a high-voltage winch 30 is added when designing the vehicle 1000, and the interaction between the high-voltage winch 30 and the entire vehicle is designed. Therefore, the controller 31 of the high-voltage winch 30 can interact with the entire vehicle. For example, the high-voltage winch 30 is connected to the domain control 20, and then the controller 31 can interact with the domain control 20. In this way, the convenience of controlling the high-voltage winch 30 is improved, the user's scene interaction needs are met, and the user experience is enhanced. In addition, the high-voltage winch 30 can also interact with other components of the entire vehicle through the domain control 20.

[0105] See also Figure 1 In some embodiments, the winch control device 100 further includes a power supply circuit 40 , and the power supply circuit 40 is used to supply power to the controller 31 .

[0106] Specifically, the power circuit 40 can convert the input DC voltage into a DC voltage within the operating voltage range of the controller 31 to power the controller 31. For example, high voltage electricity is input into the power circuit 40, and the power circuit 40 converts the high voltage electricity into low voltage electricity for use by the controller 31.

[0107] See also Figure 1 In some embodiments, the winch control device 100 further includes a power battery assembly 50, and the power battery assembly 50 is used to supply power to the motor 32 via a high-voltage bus.

[0108] Specifically, the power battery assembly 50 is the power source of the vehicle 1000. The power battery assembly 50 supplies power to the motor 32 through the high-voltage bus. The power battery assembly 50 is also used to supply power to the power circuit 40, which can convert the high-voltage electricity output by the power battery assembly 50 into low-voltage electricity for use by the controller 31 and other low-voltage loads of the vehicle 1000.

[0109] It should be noted that if low voltage electricity is used to power the motor 32, the current is large, the heat is high, and the motor 32 is easily overloaded and damaged. Therefore, the embodiment of the present application uses the power battery assembly 50 to provide high voltage electricity to the motor 32 through the high voltage bus. The current of the high voltage electricity is small, and the motor 32 is not easily damaged by overload.

[0110] See also Figure 1 In some embodiments, the winch control device 100 further includes an on-board charger 60 , which is used to charge the power battery assembly 50 .

[0111] In some embodiments, the instruction includes at least one of mode indication information, speed indication information, working time information, working voltage information, and working gear information.

[0112] In one example, the modes of the high-voltage winch 30 may include manual mode and electric mode; the speed may be 5m / min, 10m / min or 15m / min, etc.; the working time may be a fixed setting of 3 minutes, 5 minutes, 10 minutes or any custom setting; the working voltage may be 250V, or any voltage greater than 250V; the working gears may include first gear, second gear and third gear, and each gear corresponds to a different tension of the rope 33.

[0113] Specifically, the instruction may include any one or more of mode indication information, speed indication information, working time information, working voltage information, and working gear information, so that the mode, speed, working time, working voltage, and working gear of the high-voltage winch 30 can be controlled according to the instruction sent by the terminal device 101. For example, the instruction sent by the terminal device 101 includes mode indication information, speed indication information, working time information, working voltage information, and working gear information, wherein the mode indication is electric mode, the speed indication is 5m / min, the working time is 5 minutes, the working voltage is 250V, and the working gear is the first gear. According to the instruction, the working voltage of the high-voltage winch 30 can be controlled to 250V, and the high-voltage winch 30 can be controlled to work at a speed of 5m / min for 5 minutes in the electric mode and the first gear.

[0114] See also Figure 1 In some embodiments, the speed indication information is determined based on the operating pressure received by the terminal device 101; and / or, the working time information is determined based on the operating time received by the terminal device 101; and / or, the working voltage information is determined based on the operating frequency received by the terminal device 101; and / or, the working gear information is determined based on the number of operations received by the terminal device 101.

[0115] Specifically, the speed indication information can be determined based on the operating pressure received by the terminal device 101. The terminal device 101 may include a pressure sensor. The user can apply pressure by, for example, pressing with the hand or stepping on the foot. The pressure sensor detects the pressure and converts the pressure into speed indication information.

[0116] The working time information can be determined based on the operation time received by the terminal device 101. The interactive interface of the terminal device 101 can provide a working time selection button. For example, the interactive interface can provide buttons displaying "3 minutes", "5 minutes", "10 minutes" and "custom duration". The user clicks the corresponding button or enters the custom duration. The terminal device 101 receives the corresponding operation time and can determine the working time information.

[0117] The operating voltage information can be determined based on the operating frequency received by the terminal device 101. The operating frequency refers to the frequency of clicks by the user at a predetermined position of the interactive interface. For example, the interactive interface may provide a "working voltage" button, and the user clicks the button. The higher the click frequency, the higher the operating voltage expected by the user. The terminal device 101 receives the operating frequency and generates the corresponding operating voltage information.

[0118] The working gear information can be determined according to the number of operations received by the terminal device 101, and the number of operations can be the number of clicks by the user at a certain position of the interactive interface. For example, the interactive interface may provide a "shift" button, and the user clicks it once, the corresponding working gear is the first gear, the number of operations received by the terminal device 101 is 1, and the corresponding working gear information is generated; the user clicks it twice, the corresponding working gear is the second gear, the number of operations received by the terminal device 101 is 2, and the corresponding working gear information is generated, and so on.

[0119] See also Figure 1 In some embodiments, the controller 31 is also used to adjust the rotation speed of the motor 32 according to the force of the rope 33 on the motor 32 after the motor 32 has worked for a first period of time.

[0120] Specifically, the first duration can be set according to the duration from the start of the motor 32 to the stable operation, that is, after the motor 32 is stable, the speed of the motor 32 can be adjusted according to the force of the winch 33 on the motor 32. In this way, the vehicle 1000 can be towed more smoothly and efficiently, and the service life and working efficiency of the high-voltage winch 30 can be improved.

[0121] See also Figure 1 In some embodiments, the rotation speed of the motor 32 is positively correlated with the force. That is, when the force of the rope 33 on the motor 32 increases, the rotation speed of the motor 32 is adjusted to increase; when the force of the rope 33 on the motor 32 decreases, the rotation speed of the motor 32 is adjusted to decrease. It can be understood that when the force of the rope 33 on the motor 32 increases, it means that the pulling force required by the rope 33 to tow the vehicle 1000 increases. At this time, the rotation speed of the motor 32 is adjusted to increase the pulling force of the rope 33 to facilitate towing the vehicle 1000. When the force of the rope 33 on the motor 32 decreases, it means that the pulling force required by the rope 33 to tow the vehicle 1000 decreases. At this time, the rotation speed of the motor 32 is adjusted to decrease to reduce the pulling force of the rope 33 and reduce unnecessary wear.

[0122] See also Figure 1 In some embodiments, the controller 31 is also used to control the motor 32 to stop working when the rate of change of the force exerted by the rope 33 on the motor 32 meets the first set condition after the motor 32 has worked for a second period of time.

[0123] Specifically, the second duration can be set according to the average duration of the high-voltage winch 30 towing the vehicle 1000. The first setting condition can be that the rate of change of the force of the rope 33 on the motor 32 is less than a predetermined rate of change. The predetermined rate of change represents the maximum rate of change when the force of the rope 33 on the motor 32 is stable. After the motor 32 works for the second duration, when the rate of change of the force of the rope 33 on the motor 32 meets the first setting condition, it means that the force of the rope 33 on the motor 32 is stable, so that it can be considered that the vehicle 1000 has been successfully escaped, or the rope 33 has been retracted to the preset position, at which time the motor 32 should be controlled to stop working.

[0124] See also Figure 1 The embodiment of the present application further provides a winch control system 200 , which includes the winch control device 100 of any of the above embodiments and a terminal device 101 . The terminal device 101 is used to send instructions to the winch control device 100 .

[0125] See also Figure 1 and Figure 2 The embodiment of the present application further provides a vehicle 1000 , which includes a vehicle body 300 and a winch control system 200 according to any of the above embodiments. The winch control system 200 is disposed on the vehicle body 300 .

[0126] The winch control system 200 includes a winch control device 100 and a terminal device 101. The winch control device 100 can be arranged at the front of the vehicle body 300, and the terminal device 101 can be arranged inside the vehicle body 300. For example, the terminal device 101 can be a vehicle-mounted display screen. Alternatively, the terminal device 101 may not be arranged at the vehicle 1000, such as Figure 2 As shown, the terminal device 101 is a mobile phone.

[0127] See also Figures 1 to 3 , the embodiment of the present application also provides a winch control interaction method, which is applied to the terminal device 101. The terminal device 101 is communicatively connected to the winch control device 100. The winch control device 100 includes a domain controller 20 and a high-voltage winch 30, and the high-voltage winch 30 includes a controller 31, a motor 32 and a winch rope 33. The controller 31 is used to control the motor 32. The working voltage of the motor 32 is greater than or equal to 250V. The motor 32 is used to output power, which is converted into the tension of the winch rope 33 to tow the vehicle 1000. The winch control interaction method includes:

[0128] 010: receiving a first confirmation instruction input by a user on an interactive interface of the terminal device 101;

[0129] 020: Sending a first determination instruction to the winch control device 100, so that the first determination instruction is converted into a first control signal through the domain control 20 and sent to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal;

[0130] 030: receiving a second confirmation instruction input by the user on the interactive interface of the terminal device 101;

[0131] 040: Send the second determination instruction to the winch control device 100, so that the second determination instruction is converted into a second control signal through the domain control 20 and sent to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0132] See also Figure 1 and Figure 4 In some embodiments, the winch control device 100 further includes a gateway 10. Sending a first determination instruction to the winch control device 100 (ie, 010) includes:

[0133] 011: Send the first determination instruction to the gateway 10, so that the first determination instruction is sent to the domain controller 20 through the gateway 10;

[0134] At this time, the second determination instruction is sent to the winch control device 100 (ie 030), including:

[0135] 031: Send the second determination instruction to the gateway 10, so as to send the second determination instruction to the domain controller 20 through the gateway 10.

[0136] See also Figure 1 , Figure 2 and Figure 5 The embodiment of the present application also provides a winch control interaction method, which is applied to the winch control device 100. The winch control device 100 is communicatively connected to the terminal device 101. The winch control device 100 includes a gateway 10, a domain control 20 and a high-voltage winch 30, and the high-voltage winch 30 includes a controller 31, a motor 32 and a winch rope 33. The controller 31 is used to control the motor 32. The working voltage of the motor 32 is greater than or equal to 250V. The motor 32 is used to output power, which is converted into the tension of the winch rope 33 to tow the vehicle 1000. The winch control interaction method includes:

[0137] 110: receiving a first confirmation instruction sent by the terminal device 101, where the first confirmation instruction is input by a user on an interactive interface of the terminal device 101;

[0138] 120: The domain controller 20 converts the first determination instruction into a first control signal and sends the first control signal to the controller 31. The controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal.

[0139] 130: receiving a second confirmation instruction sent by the terminal device 101, where the second confirmation instruction is input by a user on an interactive interface of the terminal device 101;

[0140] 140: The second determination instruction is converted into a second control signal through the domain control 20 and sent to the controller 31. The controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0141] See also Figure 1 and Figure 6 In some embodiments, the winch control device 100 further includes a gateway 10. Receiving a first determination instruction (i.e., 110) sent by the terminal device 101 includes:

[0142] 111: receiving, through the gateway 10, a first determination instruction sent by the terminal device 101;

[0143] At this time, the winch control interaction method also includes:

[0144] 150: Sending the first determination instruction to the domain controller 20 through the gateway 10;

[0145] Receiving the second determination instruction (i.e. 130) sent by the terminal device 101 includes:

[0146] 131: receiving, through the gateway 10, a second determination instruction sent by the terminal device 101;

[0147] At this time, the winch control interaction method also includes:

[0148] 160 : Send the second determination instruction to the domain controller 20 through the gateway 10 .

[0149] In the winch control interactive method of the embodiment of the present application, the winch control device 100 is connected to the terminal device 101 for communication, so as to interact with the terminal device 101 in the scene, and the user sends instructions to the winch control device 100 through the terminal device 101. In this way, the convenience of controlling the high-voltage winch 30 and the user's participation experience are improved.

[0150] Specifically, when the vehicle 1000 is in trouble and needs to be towed, the user can enter the interactive interface of the winch control through the terminal device 101, and enter the first confirmation instruction in the interactive interface. For example, the interactive interface displays "Confirm to turn on the high-voltage winch" and is provided with an "OK" button. The user can enter the first confirmation instruction by clicking the "OK" button. The user's input of the first confirmation instruction indicates that the user confirms to turn on the high-voltage winch 30. The first confirmation instruction can be sent to the gateway 10 by wireless transmission, and the gateway 10 receives the first confirmation instruction and sends it to the domain control 20. The domain control 20 converts the first confirmation instruction into a first control signal and sends it to the controller 31. The controller 31 controls the high-voltage winch 30 to loosen the rope 33 according to the first control signal. At this time, the user can pull the rope 33 out of the high-voltage winch 30 to fix the end of the rope 33 away from the vehicle 1000 to a fixed point in the scene, for example, it can be fixed to a tree trunk or to other vehicles.

[0151] After the rope 33 is fixed, the user can enter a second confirmation instruction in the interactive interface. For example, the interactive interface displays "Confirm that the high-voltage winch can start working" and is provided with an "OK" button. The user can enter the second confirmation instruction by clicking the "OK" button. The user inputting the second confirmation instruction indicates that the user confirms that the high-voltage winch 30 can start working. The second confirmation instruction is sent to the gateway 10 by wireless transmission. The gateway 10 receives the second confirmation instruction and sends it to the domain control 20. The domain control 20 converts the second confirmation instruction into a second control signal and sends it to the controller 31. The controller 31 controls the high-voltage winch 30 to start working according to the second control signal.

[0152] When the high-voltage winch 30 starts working, the motor 32 outputs power, which is converted into the tension of the rope 33 to tow the vehicle 1000, so that the vehicle 1000 can get out of trouble. In addition, when towing the vehicle 1000, the interactive interface of the terminal device 101 can display the working gear of the high-voltage winch 30. For example, the interactive interface can display "first gear", "second gear", and "third gear". Each gear corresponds to a different tension of the rope 33. The user can choose a suitable gear to tow the vehicle 1000 according to the actual situation. The user can select one of the gears in the interactive interface, and the terminal device 101 sends the corresponding gear control instruction according to the user's selection. The gateway 10 receives the gear control instruction sent by the terminal device 101 and sends it to the domain control 20. The domain control 20 converts the gear control instruction into a gear control signal and sends it to the controller 31. Different gear control signals correspond to different motor 32 speed, torque and other parameters. The controller 31 can control the motor 32 to work with corresponding parameters such as speed and torque according to the gear control signal. The motor 32 has different speeds and torques when working, and the output power is different, and thus the tension of the rope 33 is different. In this way, the control of the tension of the rope 33 is achieved.

[0153] See also Figure 1 and Figure 7 In some embodiments, before receiving the first determination instruction (ie, 010) input by the user on the interactive interface of the terminal device 101, the winch control interaction method further includes:

[0154] 050: Prompt the user on the interactive interface of the terminal device 101 about the precautions for using the high-voltage winch 30.

[0155] Specifically, before receiving the first confirmation instruction input by the user in the interactive interface of the terminal device 101, that is, before the user confirms to start the high-voltage winch 30, the interactive interface of the terminal device 101 will prompt the user with the precautions for using the high-voltage winch 30 to reduce the possibility of improper operation by the user and causing serious consequences. Precautions for use, for example: when fixing the winch 33, ensure that the traction path is reasonable, and the traction path should avoid sharp rocks and obstacles; when starting towing, ensure that there are no other people within the ejection radius of the winch 33; and other precautions, which are not given examples one by one here.

[0156] See also Figure 1 and Figure 8 In some embodiments, before receiving the second determination instruction (ie, 030) input by the user on the interactive interface of the terminal device 101, the winch control interaction method further includes:

[0157] 060: The interactive interface of the terminal device 101 prompts the user to confirm whether the fixing point of the rope 33 is firm.

[0158] Specifically, before receiving the second confirmation instruction input by the user in the interactive interface of the terminal device 101, that is, before the user confirms that the high-voltage winch 30 can start working, the interactive interface of the terminal device 101 will prompt the user to confirm whether the fixing point of the rope 33 is firm, further reducing the possibility of improper user operation and causing serious consequences. It should be noted that the user needs to confirm whether the fixing point is firm. For example, the user can pull the rope 33 by hand to ensure that the rope 33 is not loose or slipping; if the rope 33 is loose or slipping, the rope 33 needs to be readjusted and fixed.

[0159] In addition, after the user determines that the fixed point of the rope 33 is firm, a pre-contraction test can be performed. The interactive interface of the terminal device 101 can be set with a "test" button. The user enters a test instruction by clicking the "test" button on the terminal device 101. The terminal device 101 sends the test instruction, and the gateway 10 receives the test instruction sent by the terminal device 101 and sends it to the domain control 20. The domain control 20 converts the test instruction into a test signal and sends it to the controller 31. The controller 31 can control the motor 32 to work according to the test signal, output power, and retract part of the rope 33 into the high-voltage winch 30, so that the rope 33 between the fixed point and the vehicle 1000 is almost a straight line. At this time, the rope 33 has a certain tension. If the rope 33 is not loose or slipping, it means that the fixed point is firm.

[0160] See also Figure 1 and Fig. 9 In some embodiments, after sending the second determination instruction to the gateway 10 (ie, 040), the winch control interaction method further includes:

[0161] 070: receiving a first stop instruction sent by the gateway 10; wherein the first stop instruction is sent by the controller 31 to the gateway 10 through the domain control 20 when the high-voltage winch 30 enters the automatic protection state; when the high-voltage winch 30 meets the automatic protection condition, the controller 31 sends a first stop signal to control the high-voltage winch 30 to stop working and enter the automatic protection state;

[0162] 080: According to the first stop instruction, the user is prompted on the interactive interface of the terminal device 101 that the high-voltage winch 30 enters the automatic protection state.

[0163] See also Figure 1 and Fig.10 In some embodiments, after the second determination instruction is sent to the domain controller 20 (i.e., 140) through the gateway 10, the winch control interaction method further includes:

[0164] 170: receiving, through the gateway 10, a first stop instruction sent by the controller 31 through the domain control 20 when the high-voltage winch 30 enters the automatic protection state; wherein, when the high-voltage winch 30 meets the automatic protection condition, the controller 31 sends a first stop signal to control the high-voltage winch 30 to stop working and enter the automatic protection state;

[0165] 180: Sending a first stop instruction to the terminal device 101 through the gateway 10, and the terminal device 101 is used to prompt the user on the interactive interface that the high-voltage winch 30 enters the automatic protection state according to the first stop instruction.

[0166] Specifically, the automatic protection condition may be that the current of the high-voltage winch 30 is greater than or equal to the current threshold, and the current threshold is characterized by the maximum current value of the normal operation of the high-voltage winch 30, and may be set to the rated current or other values ​​of the high-voltage winch 30. When the current of the high-voltage winch 30 is greater than or equal to the current threshold, it indicates that the high-voltage winch 30 may be damaged.

[0167] After the second determination instruction is sent to the gateway 10, and the gateway 10 sends the second determination instruction to the domain control 20, that is, after the controller 31 controls the high-voltage winch 30 to start working, the high-voltage winch 30 tows the vehicle 1000. When the high-voltage winch 30 works for a period of time and the vehicle 1000 is still unable to escape, or when the high-voltage winch 30 fails, the current of the high-voltage winch 30 will be too large or overloaded. When the current of the high-voltage winch 30 is greater than or equal to the current threshold, the high-voltage winch 30 enters an automatic protection state to prevent damage to the high-voltage winch 30. The controller 31 sends a first stop signal to control the high-voltage winch 30 to stop working, the motor 32 stops outputting power, and the winch rope 33 loses the pulling force on the vehicle 1000. The first stop signal is converted into a first stop instruction by the domain control 20 and then sent to the gateway 10, and the first stop instruction is sent to the terminal device 101 through the gateway 10. According to the first stop instruction, the interactive interface of the terminal device 101 will prompt the user that the high-voltage winch 30 enters the automatic protection state, so that the user can check whether the high-voltage winch 30 is faulty in time.

[0168] See also Figure 1 and Fig.11 In some embodiments, after sending the second determination instruction to the gateway 10 (040), the winch control interaction method further includes:

[0169] 090: receiving a second stop instruction input by the user on the interactive interface of the terminal device 101;

[0170] 0100: Send the second stop command to the gateway 10, so as to send the second stop command to the domain controller 20 through the gateway 10. The domain controller 20 is used to convert the second stop command into a second stop signal and send it to the controller 31. The controller 31 is used to control the high-voltage winch 30 to stop working according to the second stop signal.

[0171] See also Figure 1 and Fig.12 In some embodiments, after the second determination instruction is sent to the domain controller 20 (i.e., 140) through the gateway 10, the winch control interaction method further includes:

[0172] 190: receiving, through the gateway 10, a second stop instruction sent by the terminal device 101, where the second stop instruction is input by a user on an interactive interface of the terminal device 101;

[0173] 1100: Send the second stop instruction to the domain controller 20 through the gateway 10. The domain controller 20 is used to convert the second stop instruction into a second stop signal and send it to the controller 31. The controller 31 is used to control the high-voltage winch 30 to stop working according to the second stop signal.

[0174] Specifically, after the second determination instruction is sent to the gateway 10, and the gateway 10 sends the second determination instruction to the domain control 20, that is, after the controller 31 controls the high-voltage winch 30 to start working, the high-voltage winch 30 tows the vehicle 1000. After the vehicle 1000 is successfully freed, the high-voltage winch 30 can stop working. At this time, the user can enter the second stop instruction in the interactive interface of the terminal device 101. For example, the interactive interface is provided with a "stop" button, and the user can enter the second stop instruction by clicking the "stop" button. The terminal device 101 sends the second stop instruction to the gateway 10, and the gateway 10 receives the second stop instruction and sends it to the domain control 20. The domain control 20 converts the second stop instruction into a second stop signal for controlling the high-voltage winch 30, and sends it to the controller 31. The controller 31 controls the high-voltage winch 30 to stop working according to the second stop signal, the motor 32 stops outputting power, and the winch rope 33 loses the pulling force on the vehicle 1000.

[0175] See also Figure 1 and Fig.13 In some embodiments, after the high-voltage winch 30 stops working (ie, 070 or 0100), the winch control interaction method further includes:

[0176] 0110: receiving a retract instruction input by the user on the interactive interface of the terminal device 101;

[0177] 0120: Send the retraction instruction to the gateway 10, and then send the retraction instruction to the domain control 20 through the gateway 10. The domain control 20 is used to convert the retraction instruction into a retraction signal and send it to the controller 31. The controller 31 is used to control the high-voltage winch 30 to retract the winch rope 33 according to the retraction signal.

[0178] See also Figure 1 and Fig.14 In some embodiments, after the high-voltage winch 30 stops working (i.e., 170 or 1100), the winch control interaction method further includes:

[0179] 1110: receiving a retract instruction sent by the terminal device 101 through the gateway 10, where the retract instruction is input by the user on the interactive interface of the terminal device 101;

[0180] 1120: Sending a retraction instruction to the domain controller 20 via the gateway 10, the domain controller 20 is used to convert the retraction instruction into a retraction signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to retract the winch rope 33 according to the retraction signal.

[0181] Specifically, after the high-voltage winch 30 stops working, the user can cancel the fixation of the rope 33 at the fixed point. At this time, at least a part of the rope 33 is located outside the high-voltage winch 30, and the rope 33 needs to be retracted into the high-voltage winch 30. The user can input a retraction command in the interactive interface of the terminal device 101. For example, the interactive interface is provided with a "retract" button, and the user can input a retraction command by clicking the "retract" button. The terminal device 101 sends the retraction command to the gateway 10, and the gateway 10 receives the retraction command and sends it to the domain control 20. The domain control 20 converts the retraction command into a retraction signal for controlling the high-voltage winch 30, and sends it to the controller 31. The controller 31 controls the motor 32 to work according to the retraction signal, and retracts the rope 33 to the initial state.

[0182] See also Figure 1 , Figure 2 and Fig.15 , the embodiment of the present application also provides a winch control interaction device 400, which is applied to the terminal device 101. The terminal device 101 is communicatively connected to the winch control device 100. The winch control device 100 includes a domain control 20 and a high-voltage winch 30, and the high-voltage winch 30 includes a controller 31, a motor 32 and a rope 33. The controller 31 is used to control the motor 32. The operating voltage of the motor 32 is greater than or equal to 250V. The motor 32 is used to output power, which is converted into the tension of the rope 33. The rope 33 is connected to the vehicle 1000 to provide tension to tow the vehicle 1000. The winch control interaction device 400 includes a first receiving module 410 and a first sending module 420. The first receiving module 410 is used to receive a first determination instruction input by a user in the interactive interface of the terminal device 101. The first sending module 420 is used to send a first determination instruction to the winch control device 100, so as to send the first determination instruction to the domain control 20 through the gateway 10, and the domain control 20 is used to convert the first determination instruction into a first control signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal. The first receiving module 410 is also used to receive a second determination instruction input by the user in the interactive interface of the terminal device 101. The first sending module 420 is also used to send a second determination instruction to the winch control device 100, so as to send the second determination instruction to the domain control 20 through the gateway 10, and the domain control 20 is used to convert the second determination instruction into a second control signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0183] In some embodiments, the winch control device 100 further includes a gateway 10. The first sending module 420 is specifically configured to send a first determination instruction to the gateway 10, so as to send the first determination instruction to the domain controller 20 through the gateway 10; and send a second determination instruction to the gateway 10, so as to send the second determination instruction to the domain controller 20 through the gateway 10.

[0184] In some embodiments, the winch control interactive device 400 further includes a prompt module 430. Before receiving a first confirmation instruction input by a user on the interactive interface of the terminal device 101, the prompt module 430 is used to prompt the user on the interactive interface of the terminal device 101 about precautions for using the high-voltage winch 30.

[0185] In some embodiments, before receiving the second confirmation instruction input by the user on the interactive interface of the terminal device 101, the prompt module 430 is also used to prompt the user on the interactive interface of the terminal device 101 to confirm whether the fixing point of the rope 33 is firm.

[0186] In some embodiments, after sending the second determination instruction to the gateway 10, the first receiving module 410 is further used to receive the first stop instruction sent by the gateway 10; wherein the first stop instruction is sent to the gateway 10 by the controller 31 through the domain control 20 when the high-voltage winch 30 enters the automatic protection state; when the high-voltage winch 30 meets the automatic protection condition, the controller 31 sends a first stop signal to control the high-voltage winch 30 to stop working and enter the automatic protection state. The prompt module 430 is also used to prompt the user on the interactive interface of the terminal device 101 that the high-voltage winch 30 enters the automatic protection state according to the first stop instruction.

[0187] In certain embodiments, after sending the second confirmation instruction to the gateway 10, the first receiving module 410 is also used to receive a second stop instruction input by the user in the interactive interface of the terminal device 101; the first sending module 420 is also used to send the second stop instruction to the gateway 10, so as to send the second stop instruction to the domain control 20 through the gateway 10, and the domain control 20 is used to convert the second stop instruction into a second stop signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to stop working according to the second stop signal.

[0188] In some embodiments, after the high-voltage winch 30 stops working, the first receiving module 410 is further used to receive a retraction instruction input by the user in the interactive interface of the terminal device 101. The first sending module 420 is further used to send the retraction instruction to the gateway 10, so as to send the retraction instruction to the domain control 20 through the gateway 10, and the domain control 20 is used to convert the retraction instruction into a retraction signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to retract the winch rope 33 according to the retraction signal.

[0189] It should be pointed out that the explanation of the winch control interaction method in the aforementioned embodiment is also applicable to the winch control interaction device 400 in the embodiment of the present application, and will not be elaborated here.

[0190] See also Figure 1 , Figure 2 and Fig.16 , the embodiment of the present application also provides a winch control interaction device 500, which is applied to the winch control device 100. The winch control device 100 is communicatively connected to the terminal device 101. The winch control device 100 includes a domain control 20 and a high-voltage winch 30, and the high-voltage winch 30 includes a controller 31, a motor 32 and a rope 33. The controller 31 is used to control the motor 32. The working voltage of the motor 32 is greater than or equal to 250V. The motor 32 is used to output power, which is converted into the tension of the rope 33. The rope 33 is connected to the vehicle 1000 to provide tension to tow the vehicle 1000. The winch control interaction device 500 includes a second receiving module 510 and a second sending module 520. The second receiving module 510 is used to receive a first determination instruction sent by the terminal device 101, and the first determination instruction is input by the user in the interactive interface of the terminal device 101. The second sending module 520 is used to convert the first determination instruction into a first control signal through the domain control 20 and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal. The second receiving module 510 is also used to receive a second determination instruction sent by the terminal device 101, and the second determination instruction is input by the user in the interactive interface of the terminal device 101. The second sending module 520 is also used to convert the second determination instruction into a second control signal through the domain control 20 and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0191] In some embodiments, the second receiving module 510 is specifically used to receive the first determination instruction sent by the terminal device 101 through the gateway 10. At this time, the second sending module 520 is also used to send the first determination instruction to the domain controller 20 through the gateway 10. The second receiving module 510 is specifically used to receive the second determination instruction sent by the terminal device 101 through the gateway 10. At this time, the second sending module 520 is also used to send the second determination instruction to the domain controller 20 through the gateway 10.

[0192] In some embodiments, after sending the second determination instruction to the domain control 20 through the gateway 10, the second receiving module 510 is also used to receive, through the gateway 10, the first stop instruction sent by the controller 31 through the domain control 20 when the high-voltage winch 30 enters the automatic protection state; wherein, when the high-voltage winch 30 meets the automatic protection condition, the controller 31 sends a first stop signal to control the high-voltage winch 30 to stop working and enter the automatic protection state. The second sending module 520 is also used to send the first stop instruction to the terminal device 101 through the gateway 10, and the terminal device 101 is used to prompt the user on the interactive interface that the high-voltage winch 30 enters the automatic protection state according to the first stop instruction.

[0193] In some embodiments, after sending the second determination instruction to the domain controller 20 through the gateway 10, the second receiving module 510 is further used to receive the second stop instruction sent by the terminal device 101 through the gateway 10, and the second stop instruction is input by the user in the interactive interface of the terminal device 101. The second sending module 520 is also used to send the second stop instruction to the domain controller 20 through the gateway 10, and the domain controller 20 is used to convert the second stop instruction into a second stop signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to stop working according to the second stop signal.

[0194] In some embodiments, after the high-voltage winch 30 stops working, the second receiving module 510 is further used to receive a retraction instruction sent by the terminal device 101 through the gateway 10, and the retraction instruction is input by the user in the interactive interface of the terminal device 101. The second sending module 520 is also used to send the retraction instruction to the domain control 20 through the gateway 10, and the domain control 20 is used to convert the retraction instruction into a retraction signal and send it to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to retract the winch rope 33 according to the retraction signal.

[0195] It should be pointed out that the explanation of the winch control interaction method in the aforementioned embodiment is also applicable to the winch control interaction device 500 of the embodiment of the present application, and will not be elaborated here.

[0196] See also Fig.17 The embodiment of the present application further provides a winch control interactive system 600. The winch control interactive system 600 includes one or more processors 610 and a memory 620. The memory 620 stores a computer program. When the computer program is executed by the processor 610, the winch control interactive method of any of the above embodiments is implemented.

[0197] For example, when the computer program is executed by the processor 610, the following winch control interaction method is implemented:

[0198] 010: receiving a first confirmation instruction input by a user on an interactive interface of the terminal device 101;

[0199] 020: Sending a first determination instruction to the winch control device 100, so that the first determination instruction is converted into a first control signal through the domain control 20 and sent to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal;

[0200] 030: receiving a second confirmation instruction input by the user on the interactive interface of the terminal device 101;

[0201] 040: Send the second determination instruction to the winch control device 100, so that the second determination instruction is converted into a second control signal through the domain control 20 and sent to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0202] For another example, when the computer program is executed by the processor 610, the following winch control interaction method is implemented:

[0203] 110: receiving a first confirmation instruction sent by the terminal device 101, where the first confirmation instruction is input by a user on an interactive interface of the terminal device 101;

[0204] 120: The domain controller 20 converts the first determination instruction into a first control signal and sends the first control signal to the controller 31. The controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal.

[0205] 130: receiving a second confirmation instruction sent by the terminal device 101, where the second confirmation instruction is input by a user on an interactive interface of the terminal device 101;

[0206] 140: The second determination instruction is converted into a second control signal through the domain control 20 and sent to the controller 31. The controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0207] It should be noted that the explanation of the winch control interaction method in the aforementioned embodiment is also applicable to the winch control interaction system 600 of the embodiment of the present application, and will not be elaborated here.

[0208] See also Fig.18 The embodiment of the present application also provides a computer-readable storage medium 700 on which a computer program 710 is stored, characterized in that when the program is executed by a processor 720, the winch control interaction method of any of the above-mentioned embodiments is implemented.

[0209] For example, when the program is executed by the processor 720, the following winch control interaction method is implemented:

[0210] 010: receiving a first confirmation instruction input by a user on an interactive interface of the terminal device 101;

[0211] 020: Sending a first determination instruction to the winch control device 100, so that the first determination instruction is converted into a first control signal through the domain control 20 and sent to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal;

[0212] 030: receiving a second confirmation instruction input by the user on the interactive interface of the terminal device 101;

[0213] 040: Send the second determination instruction to the winch control device 100, so that the second determination instruction is converted into a second control signal through the domain control 20 and sent to the controller 31, and the controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0214] For another example, when the program is executed by the processor 720, the following winch control interaction method is implemented:

[0215] 110: receiving a first confirmation instruction sent by the terminal device 101, where the first confirmation instruction is input by a user on an interactive interface of the terminal device 101;

[0216] 120: The domain controller 20 converts the first determination instruction into a first control signal and sends the first control signal to the controller 31. The controller 31 is used to control the high-voltage winch 30 to loosen the rope 33 according to the first control signal.

[0217] 130: receiving a second confirmation instruction sent by the terminal device 101, where the second confirmation instruction is input by a user on an interactive interface of the terminal device 101;

[0218] 140: The second determination instruction is converted into a second control signal through the domain control 20 and sent to the controller 31. The controller 31 is used to control the high-voltage winch 30 to start working according to the second control signal.

[0219] It should be noted that the explanation of the winch control interaction method in the aforementioned embodiment is also applicable to the computer-readable storage medium 700 in the embodiment of the present application, and will not be elaborated here.

[0220] In summary, in the winch control device 100, control system 200, vehicle 1000, winch control interactive method 300, interactive device 500, interactive system 600 and computer-readable storage medium 700 of the vehicle in the embodiment of the present application, the domain control 20 sends a control signal to the high-voltage winch 30 according to the instruction sent by the terminal device 101, and the controller 31 of the high-voltage winch 30 receives the control signal and controls the motor 32 according to the control signal. In this way, the controller 31 can interact with the whole vehicle, which improves the convenience of controlling the high-voltage winch 30.

[0221] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0222] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0223] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0224] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0225] A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0226] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A winch control device for a vehicle, characterized in that: The winch control device includes a domain control and a high-voltage winch; The domain controller is used to send a control signal to the high-voltage winch according to the instruction sent by the terminal device; The high-voltage winch includes a controller, a motor and a rope. The controller is used to receive the control signal and control the motor according to the control signal. The working voltage of the motor is greater than or equal to 250V. The motor is used to output power, which is converted into the tension of the rope to tow the vehicle.

2. The winch control device according to claim 1, characterized in that: The winch control device also includes a gateway, which is used to receive instructions sent by the terminal device and send the instructions to the domain controller.

3. The winch control device according to claim 1, characterized in that: The winch control device also includes a power supply circuit, and the power supply circuit is used to supply power to the controller.

4. The winch control device according to claim 1, characterized in that: The winch control device also includes a power battery assembly, which is used to supply power to the motor through a high-voltage bus.

5. The winch control device according to any one of claims 1 to 4, characterized in that: The instruction includes at least one of mode indication information, speed indication information, working time information, working voltage information, and working gear information.

6. The winch control device according to claim 5, characterized in that: The speed indication information is determined based on the operating pressure received by the terminal device; and / or, the working time information is determined based on the operating time received by the terminal device; and / or, the working voltage information is determined based on the operating frequency received by the terminal device; and / or, the working gear information is determined based on the number of operations received by the terminal device.

7. The winch control device according to any one of claims 1 to 4, characterized in that: The controller is also used to adjust the rotation speed of the motor according to the force of the rope on the motor after the motor has worked for a first period of time.

8. The winch control device according to claim 7, characterized in that: The rotation speed of the motor is positively correlated with the force.

9. The winch control device according to any one of claims 1 to 4, characterized in that: The controller is also used to control the motor to stop working when the rate of change of the force applied by the rope to the motor meets a first set condition after the motor has worked for a second period of time.

10. A winch control system, characterized in that: include: The winch control device according to any one of claims 1 to 9; and A terminal device is used to send instructions to the winch control device.

11. A vehicle, characterized in that: include: Car body; and The winch control system according to claim 10 is arranged on the vehicle body.

12. A winch control interactive method, characterized in that: Applied to a terminal device, the terminal device is communicatively connected with a winch control device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, and the winch control interaction method includes: Receiving a first determination instruction input by a user on an interactive interface of the terminal device; Sending the first determination instruction to the winch control device, so that the first determination instruction is converted into a first control signal through the domain control and sent to the controller, and the controller is used to control the high-voltage winch to loosen the rope according to the first control signal; Receiving a second confirmation instruction input by a user on an interactive interface of the terminal device; The second determination instruction is sent to the winch control device, so that the second determination instruction is converted into a second control signal through the domain control and sent to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

13. The winch control interactive method according to claim 12, characterized in that: The winch control device further includes a gateway, and sending the first determination instruction to the winch control device includes: sending the first determination instruction to the gateway, so as to send the first determination instruction to the domain controller through the gateway; The sending the second determination instruction to the winch control device comprises: The second determination instruction is sent to the gateway, so that the second determination instruction is sent to the domain controller through the gateway.

14. The winch control interactive method according to claim 12, characterized in that: Before receiving the first determination instruction input by the user on the interactive interface of the terminal device, the winch control interaction method further includes: The user is prompted with precautions for use of the high-voltage winch on the interactive interface of the terminal device.

15. The winch control interactive method according to claim 12, characterized in that: Before receiving a second determination instruction input by a user on an interactive interface of the terminal device, the winch control interaction method further includes: The user is prompted on the interactive interface of the terminal device to confirm whether the fixing point of the rope is firm.

16. The winch control interactive method according to claim 13, characterized in that: After sending the second determination instruction to the gateway, the winch control interaction method further includes: receiving a first stop instruction sent by the gateway; wherein the first stop instruction is sent by the controller to the gateway through the domain controller when the high-voltage winch enters the automatic protection state; when the high-voltage winch meets the automatic protection condition, the controller sends a first stop signal to control the high-voltage winch to stop working and enter the automatic protection state; According to the first stop instruction, the user is prompted on the interactive interface of the terminal device that the high-voltage winch enters the automatic protection state.

17. The winch control interactive method according to claim 13, characterized in that: After sending the second determination instruction to the gateway, the winch control interaction method further includes: Receiving a second stop instruction input by a user on an interactive interface of the terminal device; The second stop instruction is sent to the gateway, so as to send the second stop instruction to the domain controller through the gateway. The domain controller is used to convert the second stop instruction into a second stop signal and send it to the controller. The controller is used to control the high-voltage winch to stop working according to the second stop signal.

18. The winch control interactive method according to claim 16 or 17, characterized in that: After the high-voltage winch stops working, the winch control interaction method further includes: Receiving a retract instruction input by a user on an interactive interface of the terminal device; The retraction instruction is sent to the gateway, and the retraction instruction is sent to the domain control through the gateway. The domain control is used to convert the retraction instruction into a retraction signal and send it to the controller. The controller is used to control the high-voltage winch to retract the rope according to the retraction signal.

19. A winch control interactive method, characterized in that: Applied to a winch control device, the winch control device is communicatively connected with a terminal device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, and the winch control interaction method includes: Receiving a first determination instruction sent by the terminal device, where the first determination instruction is input by a user on an interactive interface of the terminal device; The first determination instruction is converted into a first control signal by the domain control and sent to the controller, and the controller is used to control the high-voltage winch to loosen the rope according to the first control signal; receiving a second determination instruction sent by the terminal device, where the second determination instruction is input by a user on an interactive interface of the terminal device; The second determination instruction is converted into a second control signal by the domain control and sent to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

20. The winch control interactive method according to claim 19, characterized in that: The winch control device further includes a gateway, and the receiving the first determination instruction sent by the terminal device includes: receiving, through the gateway, a first determination instruction sent by the terminal device; The winch control interaction method further comprises: Sending the first determination instruction to the domain controller through the gateway; The receiving a second determination instruction sent by the terminal device includes: receiving, through the gateway, a second determination instruction sent by the terminal device; The winch control interaction method further comprises: The second determination instruction is sent to the domain controller through the gateway.

21. The winch control interactive method according to claim 20, characterized in that: After sending the second determination instruction to the domain controller through the gateway, the winch control interaction method further includes: Receiving, through the gateway, a first stop instruction sent by the controller through the domain control when the high-voltage winch enters the automatic protection state; wherein, when the high-voltage winch meets the automatic protection condition, the controller sends a first stop signal to control the high-voltage winch to stop working and enter the automatic protection state; The first stop instruction is sent to the terminal device through the gateway, and the terminal device is used to prompt the user on the interactive interface that the high-voltage winch enters the automatic protection state according to the first stop instruction.

22. The winch control interactive method according to claim 20, characterized in that: After sending the second determination instruction to the domain controller through the gateway, the winch control interaction method further includes: receiving, through the gateway, a second stop instruction sent by the terminal device, where the second stop instruction is input by a user on an interactive interface of the terminal device; The second stop instruction is sent to the domain controller through the gateway. The domain controller is used to convert the second stop instruction into a second stop signal and send it to the controller. The controller is used to control the high-voltage winch to stop working according to the second stop signal.

23. The winch control interactive method according to claim 21 or 22, characterized in that: After the high-voltage winch stops working, the winch control interaction method further includes: receiving, through the gateway, a retraction instruction sent by the terminal device, the retraction instruction being input by a user on an interactive interface of the terminal device; The retraction instruction is sent to the domain controller through the gateway, and the domain controller is used to convert the retraction instruction into a retraction signal and send it to the controller. The controller is used to control the high-voltage winch to retract the rope according to the retraction signal.

24. A winch control interactive device, characterized in that: Applied to a terminal device, the terminal device is communicatively connected with a winch control device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, the winch control interaction device includes: A first receiving module, used to receive a first determination instruction input by a user on an interactive interface of the terminal device; A first sending module, configured to send the first determination instruction to the winch control device, the domain control is configured to convert the first determination instruction into a first control signal and send the first control signal to the controller, and the controller is configured to control the high-voltage winch to loosen the rope according to the first control signal; The first receiving module is further configured to receive a second determination instruction input by a user on the interactive interface of the terminal device; The first sending module is also used to send the second determination instruction to the winch control device, the domain control is used to convert the second determination instruction into a second control signal and send it to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

25. A winch control interactive device, characterized in that: Applied to a winch control device, the winch control device is communicatively connected with a terminal device, the winch control device includes a domain control and a high-voltage winch, the high-voltage winch includes a controller, a motor and a winch rope, the controller is used to control the motor, the working voltage of the motor is greater than or equal to 250V, the motor is used to output power, and the power is converted into the tension of the winch rope to tow the vehicle, the winch control interaction device includes: A second receiving module is used to receive a first determination instruction sent by the terminal device, where the first determination instruction is input by a user on an interactive interface of the terminal device; A second sending module, configured to convert the first determination instruction into a first control signal through the domain control and send the first control signal to the controller, wherein the controller is configured to control the high-voltage winch to loosen the rope according to the first control signal; The second receiving module is further used to receive a second determination instruction sent by the terminal device, where the second determination instruction is input by a user on an interactive interface of the terminal device; The second sending module is also used to convert the second determination instruction into a second control signal through the domain control and send it to the controller, and the controller is used to control the high-voltage winch to start working according to the second control signal.

26. A winch control interactive system, characterized in that: The winch control interaction system includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the winch control interaction method according to any one of claims 12 to 23 is implemented.

27. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the winch control interaction method described in any one of claims 12-23 is implemented.

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