Thermal management control method and system of unmanned sweeper

Abstract

The invention discloses a thermal management control method and system for an unmanned sweeper. The method comprises the steps that a battery management module responds to vehicle power-on operation of the unmanned sweeper, and a refrigeration mode request and the current charging and discharging state are sent to a vehicle control unit according to the charging and discharging conditions of a high-voltage battery; the vehicle control unit sends an awakening request to a heat management control module according to the refrigeration mode request and the current charging and discharging state; the thermal management control module obtains the monitored current temperature value of the battery management module, receives a wake-up request of the vehicle control unit, and determines whether to start the working state of the refrigeration mode according to the wake-up request and the current temperature value; according to the technical scheme, the problem that the temperature of the high-voltage air-cooled battery is too high when the high-voltage air-cooled battery is charged and discharged or a vehicle runs normally can be solved, the problems that electric devices are damaged or the output power of the electric devices is reduced and the service life of the electric devices is shortened due to the too high temperature are prevented, and the use efficiency of the electric devices and the performance of the whole vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of thermal management of unmanned vehicles, and in particular to a thermal management control method and system for an unmanned sweeper. Background Art

[0002] At present, there is no mature thermal management control method on the market for unmanned road sweepers. When performing thermal management on the vehicle, high-voltage electrical components generally use natural cooling to reduce temperature and heat. As the voltage of the high-voltage platform continues to rise, the battery charging and discharging current continues to increase, and the heat dissipation demand of the high-voltage platform increases day by day. A mature thermal management control solution is the current technical barrier for unmanned road sweepers and is also the top priority for improving the performance of the entire vehicle. Summary of the invention

[0003] In view of this, the present invention provides a thermal management control method and system for an unmanned sweeper, which can solve the problem of excessive temperature of the high-voltage air-cooled battery during charging and discharging or normal driving of the vehicle, prevent damage to electrical components due to excessive temperature, or reduce the output power of electrical components, shorten the service life of electrical components, and improve the use efficiency of electrical components and the performance of the entire vehicle.

[0004] According to one aspect of the present invention, an embodiment of the present invention provides a thermal management control method for an unmanned sweeper, which is applied to a thermal management control system of the unmanned sweeper, the thermal management control system comprising: a battery management module, a thermal management control module and a vehicle controller;

[0005] The thermal management control method comprises:

[0006] The battery management module obtains the charging and discharging status of the high-voltage battery in response to the vehicle power-on operation of the unmanned sweeper, and sends a cooling mode request and a current charging and discharging status to the vehicle controller according to the charging and discharging status;

[0007] The vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging state;

[0008] The thermal management control module obtains the current temperature value of the monitored battery management module, receives a wake-up request from the vehicle controller, and determines whether to turn on the cooling mode working state according to the wake-up request and the current temperature value.

[0009] According to another aspect of the present invention, an embodiment of the present invention further provides a thermal management control system for an unmanned sweeper, the thermal management control system comprising: a battery management module, a thermal management control module and a vehicle controller;

[0010] The battery management module is connected to the vehicle controller and is used to obtain the charge and discharge status of the high-voltage battery in response to the vehicle power-on operation of the unmanned sweeper, and send a cooling mode request and the current charge and discharge status to the vehicle controller according to the charge and discharge status;

[0011] The vehicle controller is connected to the battery management module and the thermal management control module respectively, and sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging state;

[0012] The thermal management control module is connected to the vehicle controller, and is used to obtain the current temperature value of the monitored battery management module and receive a wake-up request from the vehicle controller, and determine whether to turn on the cooling mode working state according to the wake-up request and the current temperature value.

[0013] According to another aspect of the present invention, an embodiment of the present invention further provides an unmanned sweeper, which includes a thermal management control system as described in any embodiment of the present invention; the thermal management control system executes a thermal management control method as described in any embodiment of the present invention.

[0014] The technical effect of the present invention is that the charging and discharging conditions of the high-voltage battery are obtained through the battery management module, and a cooling mode request and the current charging and discharging status are sent to the vehicle controller according to the charging and discharging conditions. The vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging status. Based on this, the current temperature value of the monitored battery management module is obtained through the thermal management control module, and the wake-up request of the vehicle controller is received. According to the wake-up request and the current temperature value, it is determined whether to turn on the cooling mode working state. This can solve the problem of high temperature of the high-voltage air-cooled battery during charging and discharging or normal driving of the vehicle, prevent damage to electrical components due to excessive temperature, or reduce the output power of electrical components, reduce the service life of electrical components, and improve the use efficiency of electrical components and the performance of the whole vehicle.

[0015] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A flow chart of a thermal management control method for an unmanned road sweeper provided by one embodiment of the present invention;

[0018] Figure 2 A flow chart of another thermal management control method for an unmanned road sweeper provided by an embodiment of the present invention;

[0019] Figure 3 A working principle diagram of a refrigeration mode provided by an embodiment of the present invention;

[0020] Figure 4 A flow chart of a thermal management control method for an unmanned road sweeper provided in accordance with an embodiment of the present invention;

[0021] Figure 5 A block diagram of a thermal management control system for an unmanned road sweeper provided by one embodiment of the present invention;

[0022] Figure 6 A structural block diagram of a thermal management control system for another unmanned road sweeper provided by an embodiment of the present invention;

[0023] Figure 7 A structural block diagram of an unmanned sweeper provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] In one embodiment, Figure 1A flow chart of a thermal management control method for an unmanned sweeper provided in one embodiment of the present invention. This embodiment can be applied to situations when the thermal management of an unmanned sweeper is controlled. The method can be executed by a thermal management control system of the unmanned sweeper.

[0027] like Figure 1 As shown, the thermal management control method of the unmanned sweeper in this embodiment is applied to the thermal management control system of the unmanned sweeper, and the thermal management control system includes: a battery management module, a thermal management control module and a vehicle controller;

[0028] In this embodiment, the thermal management control method of the unmanned sweeper specifically includes the following steps:

[0029] S110, the battery management module obtains the charge and discharge status of the high-voltage battery in response to the vehicle power-on operation of the unmanned sweeper, and sends a cooling mode request and the current charge and discharge status to the vehicle controller according to the charge and discharge status.

[0030] The current charge and discharge state includes whether the high-voltage battery is in a charging mode or not in a charging mode. The cooling mode request refers to the cooling demand signal sent by the battery management module to the vehicle controller. This signal triggers the thermal management control module to start the cooling function to reduce the temperature inside the vehicle.

[0031] In one embodiment, the battery management module includes: a high-voltage battery, a high-voltage power distribution unit and an on-board charger; wherein the high-voltage battery, the high-voltage power distribution unit and the on-board charger are all deployed in an electrical compartment; a first temperature sensor and a second temperature sensor are respectively installed inside and outside the electrical compartment of the battery management module; wherein the first temperature sensor is used to monitor a first temperature value inside the electrical compartment, and transmit the first temperature value to the thermal management control module; the second temperature sensor is used to monitor a second temperature value outside the electrical compartment, and transmit the second temperature value to the thermal management control module.

[0032] The first temperature sensor may also be referred to as an external temperature sensor, and the second temperature sensor may be referred to as an internal temperature sensor. The external temperature sensor is used to collect the real-time temperature outside the warehouse, and the internal temperature sensor is used to collect the real-time temperature inside the warehouse, so as to upload the collected temperature to the thermal management control module, so that the thermal management control module can determine whether to start thermal management based on the collected temperature and cool down the unmanned sweeper.

[0033] In this embodiment, the high-voltage battery, high-voltage power distribution unit and on-board charger are responsible for the power management and charging functions of the unmanned sweeper. In response to the vehicle power-on operation of the unmanned sweeper, the battery management module obtains the charge and discharge status of the high-voltage battery. When in the charge and discharge state, the battery management module will send a cooling mode request and the current charge and discharge status to the vehicle controller, so that the vehicle controller wakes up the battery management control module according to the cooling mode request and the current charge and discharge status; of course, if the battery is not charged and discharged, there is no need to send a cooling request to the vehicle controller. It should be noted that the request mode of the battery management control module can include a shutdown mode and a self-circulation mode in addition to the cooling mode. The shutdown mode is to send a shutdown request to the vehicle controller, and the self-circulation mode is to send a self-circulation request to the vehicle controller.

[0034] S120. The vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging status.

[0035] In this embodiment, after the vehicle controller receives the cooling request and the current charge and discharge state of the battery management module, it sends a wake-up request to the thermal management control module according to the received cooling mode request and the current charge and discharge state to wake up the thermal management control module. It can be understood that when the battery management module is in the charge and discharge state, in order to prevent the temperature of the unmanned sweeper from being too high and causing damage to the electrical components, at this time, the battery management module sends its own heat dissipation requirements and whether the current battery management module is in the charge and discharge state to the vehicle controller, so that the vehicle controller wakes up the thermal management control module according to the received request and state.

[0036] S130, the thermal management control module obtains the current temperature value of the monitored battery management module, receives a wake-up request from the vehicle controller, and determines whether to turn on the cooling mode working state according to the wake-up request and the current temperature value.

[0037] Among them, the current temperature value can be understood as the temperature value at the current moment monitored in real time by the thermal management control module. Since the high-voltage battery, high-voltage distribution unit and on-board charger are all deployed in the electrical compartment, temperature sensors are deployed inside and outside the electrical compartment. Therefore, the current temperature value can include the detected temperature value outside the compartment and the temperature value inside the compartment.

[0038] In this embodiment, the thermal management control module receives a wake-up request from the vehicle controller, wakes up the thermal management system (TMS) controller, and determines whether the TMS controller turns on the cooling mode based on the wake-up request, the current temperature value of the monitored battery management module and the pre-configured temperature threshold. In some embodiments, if the wake-up request is a cooling mode request and the current temperature value exceeds the preset temperature threshold, it is determined that the TMS controller turns on the cooling mode. At this time, the thermal management control module needs to first send a cooling mode start state request and a high-voltage request to the vehicle controller, and turn on the TMS controller in a high-pressure state, the solenoid valve state of the chiller in an open state, the solenoid valve state of the HVAC in an open state, the air conditioning pressure switch in an open state, and the required power of the given TMS controller. When the request recovery from the vehicle controller is received, the cooling mode is turned on, and the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature under the cooling mode are monitored.

[0039] In some embodiments, the thermal management control module includes a compressor, a condenser, an evaporator, an expansion valve, a TMS controller and corresponding pipelines; wherein the compressor is connected to the condenser; the condenser is connected to the expansion valve; the expansion valve is connected to the evaporator; the TMS controller is used to control the passage composed of the compressor, the condenser, the evaporator and the expansion valve; the working state of the TMS controller includes an off mode, a cooling mode and a self-circulation mode. In this embodiment, the TMS controller is used to control the operation of the compressor, the evaporator and the condenser according to the set temperature and other parameters to achieve the required temperature and humidity. In one embodiment, the compressor, the condenser, the evaporator and the expansion valve are the core components of the refrigeration cycle, and the temperature inside the vehicle is adjusted by the phase change of the refrigerant (the conversion between the liquid and the gas). In some embodiments, the compressor is used to compress the refrigerant and convert it into a high-temperature and high-pressure gas; the evaporator is used to receive the high-temperature and high-pressure gas refrigerant, reduce the temperature by evaporation, and absorb heat to cool the air; the condenser is used to release the heat absorbed in the evaporator to the external environment, and at the same time convert the refrigerant into a high-pressure liquid configuration.

[0040] In some embodiments, after the thermal management control module performs temperature adjustment in the cooling mode, it maintains the current temperature value below the preset temperature threshold range, and turns on the self-circulation mode, monitors the charging and discharging conditions of the electrical compartment in the battery management module in real time, and keeps the cooling mode of the thermal management control module turned on when the charging and discharging conditions are in the charging and discharging state; when it is monitored that the charging and discharging conditions are not in the charging and discharging state, the thermal management control module sends a shutdown mode request to the vehicle controller, and when receiving the reply to the shutdown mode request from the vehicle controller, the TMS controller controls the thermal management control module to be in the off state.

[0041] Among them, the preset temperature threshold is a battery temperature threshold configured by the user based on experience. For example, the preset temperature threshold is set to 30°C. When the temperature of the electrical compartment exceeds 30°C, the cooling mode of the thermal management control module can be triggered.

[0042] In this embodiment, after the thermal management control module performs temperature adjustment in the cooling mode, in order to maintain the temperature of the electrical compartment within the preset temperature threshold, the thermal management control module can turn on the self-circulation mode, monitor the charging and discharging conditions of the electrical compartment in the battery management module in real time, and keep the cooling mode of the thermal management control module turned on when the charging and discharging conditions are in the charging and discharging state; when it is monitored that the charging and discharging conditions are not in the charging and discharging state, the thermal management control module sends a shutdown mode request to the vehicle controller, and when receiving the reply to the shutdown mode request from the vehicle controller, the TMS controller controls the thermal management control module to be in the off state.

[0043] The technical solution of the embodiment of the present invention obtains the charging and discharging status of the high-voltage battery through the battery management module, and sends a cooling mode request and the current charging and discharging status to the vehicle controller according to the charging and discharging status. The vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging status. Based on this, the thermal management control module obtains the current temperature value of the monitored battery management module, and receives the wake-up request of the vehicle controller. According to the wake-up request and the current temperature value, it is determined whether to turn on the cooling mode working state. This can solve the problem of high temperature of the high-voltage air-cooled battery during charging and discharging or normal driving of the vehicle, prevent damage to electrical components caused by excessive temperature, or reduce the output power of electrical components, reduce the service life of electrical components, and improve the use efficiency of electrical components and the performance of the whole vehicle.

[0044] In one embodiment, Figure 2 A flow chart of another thermal management control method for an unmanned sweeper provided for an embodiment of the present invention. Based on the above embodiments, this embodiment further refines the working state in which the battery management module responds to the vehicle power-on operation of the unmanned sweeper, obtains the charge and discharge status of the high-voltage battery, and sends a cooling mode request and the current charge and discharge status to the vehicle controller according to the charge and discharge status, and the thermal management control module obtains the current temperature value of the monitored battery management module, receives a wake-up request from the vehicle controller, and determines whether to turn on the cooling mode according to the wake-up request and the current temperature value.

[0045] like Figure 2 As shown, the thermal management control method of the unmanned sweeper in this embodiment may specifically include the following steps:

[0046] S210, the battery management module responds to the vehicle power-on operation of the unmanned sweeper, obtains the charging and discharging status of the high-voltage battery, and determines whether the high-voltage battery in the electrical compartment is in a charging and discharging state; if not, execute S220; if so, execute S230.

[0047] In this embodiment, after the unmanned vehicle is powered on, the battery management module responds to the vehicle power-on operation of the unmanned sweeper to determine whether the high-voltage battery in the electrical compartment is in a charging and discharging state. If the battery is in a charging and discharging state, the battery management module will enter a request mode and send a cooling request mode and its current charging status (including charging mode and non-charging mode) to the vehicle controller. After that, the vehicle controller wakes up the TMS controller.

[0048] S220: There is no need to send a cooling mode request and the corresponding current charging and discharging status to the vehicle controller.

[0049] In this embodiment, if the battery management module determines that the high-voltage battery in the electrical compartment is not in a charging or discharging state, there is no need to send a cooling mode request and the corresponding current charging or discharging state to the vehicle controller.

[0050] S230: Determine that the high-voltage battery has a cooling demand, send a cooling mode request to the vehicle controller, and the current charging state is a charging mode.

[0051] In this embodiment, if the battery management module determines that the high-voltage battery in the electrical compartment is in a charging and discharging state, it determines that the high-voltage battery has a cooling requirement, sends a cooling mode request to the vehicle controller, and the current charging state is a charging mode, so that the vehicle controller wakes up the thermal management control module.

[0052] S240. The vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging status.

[0053] S250: The thermal management control module receives a wake-up request from the vehicle controller and wakes up the TMS controller.

[0054] In this embodiment, the vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging status. The thermal management control module receives the wake-up request from the vehicle controller and wakes up the TMS controller.

[0055] S260: Acquire a first temperature value and a second temperature value transmitted by the first temperature sensor and the second temperature sensor respectively, and use the first temperature value and the second temperature value as current temperature values.

[0056] In this embodiment, the first temperature sensor collects the real-time temperature outside the warehouse in real time, and the second temperature sensor collects the real-time temperature inside the warehouse in real time. The first temperature value and the second temperature value are used as the current temperature value, and the collected current temperature value is uploaded to the thermal management control module.

[0057] S270, determine whether the current temperature value is greater than a preset temperature threshold range; if not, execute S280; if so, execute S290.

[0058] In this embodiment, the thermal management control module determines whether the current temperature value is greater than a preset temperature threshold range. If it is greater than the preset temperature threshold range, it determines the working state of the TMS controller to turn on the cooling mode, sends a cooling mode start state request and a high pressure request of the TMS controller to the vehicle controller, and recovers after receiving the request from the vehicle controller, turns on the TMS controller in a high pressure state, the solenoid valve state of the chiller in an open state, the solenoid valve state of the HVAC in an open state, the air conditioning pressure switch in an open state, and the required power of the given TMS controller, turns on the cooling mode, and monitors the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode; accordingly, if it is not within the preset temperature threshold, there is no need to turn on the cooling mode.

[0059] S280, no need to turn on the cooling mode.

[0060] In this embodiment, when the current temperature value is less than or equal to the preset temperature threshold range, the thermal management control module does not need to turn on the cooling mode.

[0061] S290, determine the working status of the TMS controller for turning on the cooling mode, send the TMS controller's cooling mode start state request and high pressure request to the vehicle controller, and recover after receiving the request from the vehicle controller, turn on the TMS controller in a high pressure state, the solenoid valve state of the chiller in an open state, the solenoid valve state of the HVAC in an open state, the air conditioning pressure switch in an open state, and the required power of the given TMS controller, turn on the cooling mode, and monitor the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode.

[0062] In this embodiment, when the current temperature value is greater than the preset temperature threshold range, the thermal management control module needs to turn on the cooling mode, that is, to determine the working state of the TMS controller to turn on the cooling mode, send the TMS controller's cooling mode start state request and high pressure request to the vehicle controller, and restore after receiving the request from the vehicle controller, turn on the TMS controller in a high pressure state, the solenoid valve state of the chiller in an open state, the solenoid valve state of the HVAC in an open state, the air conditioning pressure switch in an open state, and the required power of the given TMS controller, turn on the cooling mode, and monitor the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode.

[0063] In one embodiment, when the cooling mode is turned on, the TMS controller will self-check whether the components included in the thermal management control module have any fault phenomenon. If a fault is detected, the faulty component, the fault code corresponding to the faulty component, and the fault level will be automatically uploaded;

[0064] Among them, the fault levels include the first level, the second level and the third level; the first level is greater than the second level; the second level is greater than the third level.

[0065] In this embodiment, the TMS controller will determine whether the temperature of the electrical compartment is greater than 35 at this time. If it is greater than 35, and then receive the cooling request sent by the battery, the working state of the TMS controller (from shutdown mode to cooling mode), and send out its own working state. At this time, the high-pressure state of the TMS controller must be in the on state, that is, the compressor must be in the on state, the TMS high-pressure state is in the on state, the solenoid valve state of the chiller is in the open state, the solenoid valve state of the HVAC is in the open state, and the pressure switch of the air conditioner is in the open state. The required power of the TMS controller (for example, 3000w) is determined to make the compressor run. In addition, the TMS controller will self-check whether each component (such as the compressor) in the thermal management control module is faulty during the whole process. If a fault occurs, the faulty component in question and the fault code corresponding to the faulty component will be automatically uploaded. For example, fault code 1 indicates a compressor high-pressure fault, and the fault level corresponding to the fault code 1 is level one, then the fault code 1 and the corresponding fault level are automatically uploaded.

[0066] In one embodiment, the working principle of the cooling mode includes:

[0067] The compressor compresses the low-temperature, low-pressure gaseous refrigerant into a high-temperature, high-pressure gas;

[0068] The condenser allows high-temperature and high-pressure gaseous refrigerant to enter the condenser, cool and condense into liquid, release heat, and obtain high-pressure liquid refrigerant;

[0069] The high-pressure liquid refrigerant enters the expansion valve and is reduced in pressure to become low-temperature and low-pressure liquid refrigerant;

[0070] The low-temperature and low-pressure liquid refrigerant enters the evaporator, absorbs heat from the surrounding environment and evaporates into gas;

[0071] The gaseous refrigerant enters the compressor again and returns to the step where the compressor compresses the low-temperature and low-pressure gaseous refrigerant into a high-temperature and high-pressure gas, starting a new cycle.

[0072] In this embodiment, the refrigerant is discharged from the compressor and enters the condenser through the four-way reversing valve. In the condenser, the refrigerant releases heat and condenses. Subsequently, the refrigerant enters the expansion valve for throttling and pressure reduction. Finally, the refrigerant enters the evaporator, absorbs heat and evaporates. It can be understood that the refrigerant first passes through the compressor, is compressed into a high-temperature and high-pressure gas, then enters the condenser to release heat, and condenses into a medium-temperature and high-pressure liquid. Next, the refrigerant is depressurized through the expansion valve, enters the evaporator to absorb heat, and finally returns to the compressor to form a cycle. More specifically, the compressor is one of the most important components in the refrigeration system. Its main function is to compress the refrigerant from a low-pressure state to a high-pressure state. By compressing the refrigerant, its temperature and pressure are increased, providing energy for the subsequent refrigeration process. The evaporator is another important component in the refrigeration system. Its main function is to convert the high-temperature and high-pressure refrigerant into a low-temperature and low-pressure state. When the refrigerant passes through the evaporator, it contacts the outside air and absorbs heat from the air, thereby reducing the temperature in the evaporator and achieving a refrigeration effect. The condenser is a heat exchanger in the refrigeration system. Its main function is to cool the high-temperature and high-pressure refrigerant to a high-temperature and low-pressure state. The condenser exchanges heat between the refrigerant and the outside air, causing the refrigerant to release heat, thereby reducing its temperature. The condenser usually takes the form of a radiator, which accelerates the dissipation of heat through the action of heat sinks and fans. The expansion valve is a regulating valve in the refrigeration system. Its main function is to adjust the flow and pressure of the refrigerant. The expansion valve controls the refrigeration effect of the refrigeration system by controlling the flow rate of the refrigerant. When the refrigerant passes through the expansion valve, its pressure and temperature will drop, thereby achieving a refrigeration effect.

[0073] In one embodiment, in order to better understand the working principle of the cooling mode, Figure 3 A working principle diagram of a cooling mode provided by an embodiment of the present invention is shown as follows: Figure 3As shown, the compressor is connected to the condenser; the condenser is connected to the expansion valve; the expansion valve is connected to the evaporator, thereby forming a circulation mode. In this embodiment, the refrigeration mode uses air cooling to cool down. When the compressor is working, it inhales the low-temperature and low-pressure gaseous refrigerant coming out of the evaporator. After compression, the temperature and pressure of the refrigerant increase and are sent to the condenser. In the condenser, the high-temperature and high-pressure gaseous refrigerant transfers heat to the air outside the vehicle passing through the condenser, thereby liquefying into liquid. The liquid refrigerant then flows through the throttling device, the pressure and temperature are reduced, and it enters the evaporator. In the evaporator, the refrigerant evaporates and absorbs the surrounding heat, thereby reducing the temperature of the electrical compartment in the vehicle.

[0074] The technical solution of the embodiment of the present invention determines whether the high-voltage battery in the electrical compartment is in a charging and discharging state through the battery management module. When in the charging and discharging state, it is determined that the high-voltage battery has a cooling demand, and a cooling mode request is sent to the vehicle controller. The current charging state is the charging mode. The thermal management control module receives the wake-up request of the vehicle controller and wakes up the TMS controller; obtains the first temperature value and the second temperature value transmitted by the first temperature sensor and the second temperature sensor respectively, and uses the first temperature value and the second temperature value as the current temperature value; when the current temperature value is greater than the preset temperature threshold range, it is determined that the TMS controller is in a working state of turning on the cooling mode, and sends the cooling mode turning-on state of the TMS controller to the vehicle controller. Request and high-voltage request, and recover after receiving the request from the vehicle controller, turn on the TMS controller in a high-pressure state, the solenoid valve state of the chiller is in an open state, the solenoid valve state of the HVAC is in an open state, the air-conditioning pressure switch is in an open state, and the required power of the given TMS controller, turn on the cooling mode, and monitor the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode, which can further solve the problem of high temperature of the high-voltage air-cooled battery during charging and discharging or normal driving of the vehicle, prevent damage to electrical components due to excessive temperature, or reduce the output power of electrical components, reduce the service life of electrical components, and improve the use efficiency of electrical components and the performance of the whole vehicle.

[0075] In order to better understand the thermal management control method of unmanned sweeper, Figure 4 A flowchart of a thermal management control method for an unmanned road sweeper provided in accordance with an embodiment of the present invention.

[0076] like Figure 4 As shown, the thermal management control method of the unmanned sweeper specifically includes the following steps:

[0077] a1. Determine whether the key on in the driverless sweeper is valid. If it is valid, execute a3; if it is invalid, execute a2.

[0078] a2. End.

[0079] a3. The battery management module determines whether the high-voltage battery in the electrical compartment is in a charging or discharging state. If so, continue to execute a5; if not, execute a4.

[0080] a4. End.

[0081] a5. The battery management module determines that the high-voltage battery has a cooling requirement, and sends a cooling mode request to the vehicle controller, and the current charging state is the charging mode.

[0082] a6. The thermal management control module receives the wake-up request from the vehicle controller and wakes up the TMS controller.

[0083] a7. Acquire the first temperature value and the second temperature value transmitted by the first temperature sensor and the second temperature sensor respectively, and use the first temperature value and the second temperature value as the current temperature value.

[0084] a8. Determine whether the current temperature value is greater than the preset temperature threshold range; if so, execute a10; if not, execute a9.

[0085] a9. No need to turn on the cooling mode.

[0086] a10. Determine the working status of the TMS controller when starting the cooling mode, send the TMS controller's cooling mode start status request and high-pressure request to the vehicle controller, and recover after receiving the request from the vehicle controller, turn on the TMS controller in the high-pressure state, the solenoid valve state of the chiller in the open state, the solenoid valve state of the HVAC in the open state, the air conditioning pressure switch in the open state, and the required power of the given TMS controller, turn on the cooling mode, and monitor the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode.

[0087] a11. After the thermal management control module performs temperature adjustment in the cooling mode, the current temperature value is kept below the preset temperature threshold range.

[0088] a12. Monitor the charging and discharging conditions of the electrical compartment in the battery management module, and determine whether the high-voltage battery in the electrical compartment is in a charging and discharging state. If it is in a charging and discharging state, continue to execute a13; if it is not in a charging and discharging state, execute a14.

[0089] a13. The thermal management control module remains in the on state, that is, the cooling mode of the thermal management control module is kept in the on state.

[0090] a14. The thermal management control module sends a shutdown mode request to the vehicle controller. When receiving a reply to the shutdown mode request from the vehicle controller, the TMS controller controls the thermal management control module to be in a shutdown state.

[0091] In one embodiment, Figure 5 A structural block diagram of a thermal management control system for an unmanned road sweeper provided in one embodiment of the present invention.

[0092] like Figure 5 As shown, the thermal management control system includes: a battery management module 510, a vehicle controller 520 and a thermal management control module 530;

[0093] The battery management module 510 is connected to the vehicle controller 520, and is used to obtain the charge and discharge status of the high-voltage battery in response to the vehicle power-on operation of the unmanned sweeper, and send a cooling mode request and a current charge and discharge status to the vehicle controller 520 according to the charge and discharge status;

[0094] The vehicle controller 520 is connected to the battery management module 510 and the thermal management control module 530 respectively, and sends a wake-up request to the thermal management control module 530 according to the cooling mode request and the current charging and discharging state;

[0095] The thermal management control module 530 is connected to the vehicle controller 520, and is used to obtain the current temperature value of the monitored battery management module 510, and receive a wake-up request from the vehicle controller 520, and determine whether to turn on the cooling mode working state according to the wake-up request and the current temperature value.

[0096] In one embodiment, the battery management module 510 includes: a high-voltage battery, a high-voltage power distribution unit, and an on-board charger; wherein the high-voltage battery, the high-voltage power distribution unit, and the on-board charger are all deployed in an electrical compartment;

[0097] The first temperature sensor and the second temperature sensor are respectively installed inside and outside the electrical compartment of the battery management module; wherein the first temperature sensor is used to monitor the first temperature value inside the electrical compartment and transmit the first temperature value to the thermal management control module; the second temperature sensor is used to monitor the second temperature value outside the electrical compartment and transmit the second temperature value to the thermal management control module.

[0098] In one embodiment, the battery management module 510 is specifically configured to:

[0099] Determine whether the high-voltage battery in the electrical compartment is in a charging or discharging state;

[0100] If not, there is no need to send a cooling mode request and the corresponding current charging and discharging status to the vehicle controller;

[0101] If so, it is determined that the high-voltage battery has a cooling demand, and a cooling mode request is sent to the vehicle controller 520 , and the current charging state is the charging mode.

[0102] In one embodiment, the thermal management control module 530 includes a compressor, a condenser, an evaporator, an expansion valve, a TMS controller and corresponding pipelines; wherein the compressor is connected to the condenser; the condenser is connected to the expansion valve; the expansion valve is connected to the evaporator; the TMS controller is used to control the passage formed by the compressor, the condenser, the evaporator and the expansion valve; the working states of the TMS controller include shutdown mode, cooling mode and self-circulation mode.

[0103] In one embodiment, the thermal management control module 530 further includes: a water chiller, a HVAC, and an air conditioning pressure switch; accordingly, the thermal management control module 530 is specifically used for:

[0104] Receiving a wake-up request from the vehicle controller, waking up the TMS controller;

[0105] Acquire a first temperature value and a second temperature value transmitted by a first temperature sensor and a second temperature sensor respectively, and use the first temperature value and the second temperature value as the current temperature value;

[0106] Determine whether the current temperature value is greater than a preset temperature threshold value;

[0107] If so, determine the working state of the TMS controller in which the cooling mode is turned on, send a cooling mode turn-on state request and a high-pressure request of the TMS controller to the vehicle controller, and recover after receiving the request of the vehicle controller, turn on the TMS controller in a high-pressure state, the solenoid valve state of the chiller in an open state, the solenoid valve state of the HVAC in an open state, the air conditioning pressure switch in an open state, and given the required power of the TMS controller, turn on the cooling mode, and monitor the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode;

[0108] If not, there is no need to turn on the cooling mode.

[0109] In one embodiment, the working principle of the cooling mode includes:

[0110] The compressor compresses the low-temperature and low-pressure gaseous refrigerant into a high-temperature and high-pressure gas;

[0111] The condenser allows high-temperature and high-pressure gaseous refrigerant to enter the condenser, cool and condense into liquid, release heat, and obtain high-pressure liquid refrigerant;

[0112] The high-pressure liquid refrigerant enters the expansion valve and is depressurized to become a low-temperature and low-pressure liquid refrigerant;

[0113] The low-temperature and low-pressure liquid refrigerant enters the evaporator, absorbs heat from the surrounding environment and evaporates into gas;

[0114] The gaseous refrigerant enters the compressor again, and returns to the step where the compressor compresses the low-temperature and low-pressure gaseous refrigerant into a high-temperature and high-pressure gas, thus starting a new cycle.

[0115] In one embodiment, when the cooling mode is turned on, the TMS controller will self-check whether the components included in the thermal management control module have any fault phenomenon, and if a fault is detected, automatically upload the faulty component, the fault code corresponding to the faulty component, and the fault level;

[0116] The fault levels include a first level, a second level and a third level; the first level is greater than the second level; and the second level is greater than the third level.

[0117] In one embodiment, after the temperature is adjusted in the cooling mode, the thermal management control module maintains the current temperature value below the preset temperature threshold range, and turns on the self-circulation mode to monitor the charging and discharging conditions of the electrical compartment in the battery management module in real time, and when the charging and discharging conditions are in the charging and discharging state, the cooling mode of the thermal management control module is kept turned on;

[0118] When it is monitored that the charging and discharging condition is not in the charging and discharging state, the thermal management control module sends a shutdown mode request to the vehicle controller. When receiving a reply to the shutdown mode request from the vehicle controller, the TMS controller controls the thermal management control module to be in the shutdown state.

[0119] The thermal management control system of the unmanned sweeper provided in the embodiment of the present invention can execute the thermal management control method of the unmanned sweeper provided in any embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method.

[0120] In one embodiment, in order to better understand the structure of the thermal management control system of the unmanned sweeper, Figure 6 A structural block diagram of a thermal management control system for another unmanned road sweeper provided in one embodiment of the present invention.

[0121] like Figure 6As shown, the thermal management control system includes: a battery management module 610, a vehicle controller 620 and a thermal management control module 630; in one embodiment, the battery management module 610 includes: a high-voltage battery, a high-voltage power distribution unit and an on-board charger; wherein the high-voltage battery, the high-voltage power distribution unit and the on-board charger are all deployed in the electrical compartment; the first temperature sensor and the second temperature sensor are respectively installed inside and outside the electrical compartment of the battery management module; wherein the first temperature sensor is used to monitor the first temperature value in the electrical compartment and transmit the first temperature value to the thermal management control module; the second temperature sensor is used to monitor the second temperature value outside the electrical compartment and transmit the second temperature value to the thermal management control module. In this embodiment, the thermal management control module 630 includes a compressor, a condenser, an evaporator, an expansion valve, a TMS controller and corresponding pipelines; wherein the compressor is connected to the condenser; the condenser is connected to the expansion valve; the expansion valve is connected to the evaporator; the TMS controller is used to control the passage composed of the compressor, the condenser, the evaporator and the expansion valve.

[0122] In this embodiment, after the unmanned sweeper is powered on, the high-voltage system determines whether the battery is in the charging and discharging state, and in the case of charging and discharging, the BMS sends a cooling request mode and its current charging status to the CCU; the CCU receives the request and wakes up the TMS controller, the TMS controller receives the temperature value in the electrical compartment, and determines whether the temperature exceeds the threshold. If it exceeds the threshold, the TMS controller sends the working status to the CCU, turns on the TMS high-voltage state, sends a cooling request and a request for high voltage to the CCU, and after receiving the CCU request reply, turns on the thermal management mode, and monitors the condensing fan duty cycle, evaporator temperature, pressure sensor value, and compressor exhaust temperature under the thermal management mode.

[0123] In one embodiment, Figure 7 A block diagram of an unmanned sweeper provided in one embodiment of the present invention. The unmanned sweeper includes a thermal management control system as described in any embodiment of the present invention. Specifically, the unmanned sanitation vehicle includes a thermal management control system of the unmanned sweeper, and the thermal management control system includes: a battery management module, a thermal management control module and a vehicle controller.

[0124] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0125] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A thermal management control method for an unmanned sweeper, characterized in that: A thermal management control system applied to an unmanned sweeper, the thermal management control system comprising: a battery management module, a thermal management control module and a vehicle controller; The thermal management control method comprises: The battery management module obtains the charging and discharging status of the high-voltage battery in response to the vehicle power-on operation of the unmanned sweeper, and sends a cooling mode request and a current charging and discharging status to the vehicle controller according to the charging and discharging status; The vehicle controller sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging state; The thermal management control module obtains the current temperature value of the monitored battery management module, receives a wake-up request from the vehicle controller, and determines whether to turn on the cooling mode working state according to the wake-up request and the current temperature value.

2. The method according to claim 1, characterized in that The battery management module includes: a high-voltage battery, a high-voltage power distribution unit and an on-board charger; wherein the high-voltage battery, the high-voltage power distribution unit and the on-board charger are all deployed in the electrical compartment; The first temperature sensor and the second temperature sensor are respectively installed inside and outside the electrical compartment of the battery management module; wherein the first temperature sensor is used to monitor the first temperature value inside the electrical compartment and transmit the first temperature value to the thermal management control module; the second temperature sensor is used to monitor the second temperature value outside the electrical compartment and transmit the second temperature value to the thermal management control module.

3. The method according to claim 1, characterized in that The battery management module sends a cooling mode request and a current charging and discharging status to the vehicle controller according to the charging and discharging status, including: The battery management module determines whether the high-voltage battery in the electrical compartment is in a charging or discharging state; If not, there is no need to send a cooling mode request and the corresponding current charging and discharging status to the vehicle controller; If so, it is determined that the high-voltage battery has a cooling demand, and a cooling mode request is sent to the vehicle controller, and the current charging state is the charging mode.

4. The method according to claim 1, characterized in that: The thermal management control module includes a compressor, a condenser, an evaporator, an expansion valve, a TMS controller and corresponding pipelines; wherein the compressor is connected to the condenser; the condenser is connected to the expansion valve; the expansion valve is connected to the evaporator; the TMS controller is used to control the passage formed by the compressor, the condenser, the evaporator and the expansion valve; the working states of the TMS controller include shutdown mode, cooling mode and self-circulation mode.

5. The method according to claim 4, characterized in that The thermal management control module also includes: a water chiller, a heating and ventilation air conditioner, and an air conditioning pressure switch; accordingly, the thermal management control module obtains the current temperature value of the monitored battery management module, and receives a wake-up request from the vehicle controller, and determines whether to turn on the cooling mode according to the wake-up request and the current temperature value, including: The thermal management control module receives a wake-up request from the vehicle controller and wakes up the TMS controller; Acquire a first temperature value and a second temperature value transmitted by a first temperature sensor and a second temperature sensor respectively, and use the first temperature value and the second temperature value as the current temperature value; Determine whether the current temperature value is greater than a preset temperature threshold value; If so, determine the working state of the TMS controller in which the cooling mode is turned on, send a cooling mode turn-on state request and a high-pressure request of the TMS controller to the vehicle controller, and recover after receiving the request of the vehicle controller, turn on the TMS controller in a high-pressure state, the solenoid valve state of the chiller in an open state, the solenoid valve state of the HVAC in an open state, the air conditioning pressure switch in an open state, and given the required power of the TMS controller, turn on the cooling mode, and monitor the condensing fan duty cycle, evaporator temperature, pressure sensor value and compressor exhaust temperature in the cooling mode; If not, there is no need to turn on the cooling mode.

6. The method according to claim 5, characterized in that The working principle of the cooling mode includes: The compressor compresses the low-temperature and low-pressure gaseous refrigerant into a high-temperature and high-pressure gas; The condenser allows high-temperature and high-pressure gaseous refrigerant to enter the condenser, cool and condense into liquid, release heat, and obtain high-pressure liquid refrigerant; The high-pressure liquid refrigerant enters the expansion valve and is depressurized to become a low-temperature and low-pressure liquid refrigerant; The low-temperature and low-pressure liquid refrigerant enters the evaporator, absorbs heat from the surrounding environment and evaporates into gas; The gaseous refrigerant enters the compressor again, and returns to the step where the compressor compresses the low-temperature and low-pressure gaseous refrigerant into a high-temperature and high-pressure gas, thus starting a new cycle.

7. The method according to claim 5, characterized in that When the cooling mode is turned on, the TMS controller self-checks whether the components included in the thermal management control module have any fault phenomenon. If a fault is detected, the faulty component, the fault code corresponding to the faulty component, and the fault level are automatically uploaded; The fault levels include a first level, a second level and a third level; the first level is greater than the second level; and the second level is greater than the third level.

8. The method according to claim 5, characterized in that After the thermal management control module performs temperature adjustment in the cooling mode, the current temperature value is maintained below the preset temperature threshold range, and the self-circulation mode is turned on to monitor the charging and discharging conditions of the electrical compartment in the battery management module in real time, and when the charging and discharging conditions are in the charging and discharging state, the cooling mode of the thermal management control module is kept turned on; When it is monitored that the charging and discharging condition is not in the charging and discharging state, the thermal management control module sends a shutdown mode request to the vehicle controller. When receiving a reply to the shutdown mode request from the vehicle controller, the TMS controller controls the thermal management control module to be in the shutdown state.

9. A thermal management control system for an unmanned sweeper, characterized in that: The thermal management control system includes: a battery management module, a thermal management control module and a vehicle controller; The battery management module is connected to the vehicle controller and is used to obtain the charge and discharge status of the high-voltage battery in response to the vehicle power-on operation of the unmanned sweeper, and send a cooling mode request and the current charge and discharge status to the vehicle controller according to the charge and discharge status; The vehicle controller is connected to the battery management module and the thermal management control module respectively, and sends a wake-up request to the thermal management control module according to the cooling mode request and the current charging and discharging state; The thermal management control module is connected to the vehicle controller, and is used to obtain the current temperature value of the monitored battery management module and receive a wake-up request from the vehicle controller, and determine whether to turn on the cooling mode working state according to the wake-up request and the current temperature value.

10. An unmanned cleaning vehicle, characterized in that: The unmanned sweeper includes the thermal management control system as described in claim 9; the thermal management control system executes the thermal management control method as described in any one of claims 1-8.

Images