Moving element emergency stop frame, moving element emergency stop system and terminal
Patent Information
- Application Number
- CN202611452070.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-09-17
- Publication Date
- 2026-11-03
AI Technical Summary
There is a risk of people or objects being pinched when adjusting moving parts inside the vehicle cabin. Existing anti-pinch solutions have large blind spots, slow response, and are cumbersome to operate.
By adding a first switch and modifying the circuit architecture, an emergency stop trigger circuit is provided to connect with the moving part drive circuit. When the user performs an emergency stop, the power supply to the drive motor can be cut off simultaneously, causing all moving parts to stop running.
It achieves a low-learning-cost, convenient, and fast one-button emergency stop, preventing further escalation of injuries caused by people or objects being trapped, and improving the reliability and safety of operation.
Smart Images
Figure CN123034752A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, specifically to a moving-part emergency stop architecture, a moving-part emergency stop system, and a terminal. Background Technology
[0002] With the development of intelligent vehicles, the number of moving parts (referred to as moving components) in the vehicle cabin is increasing, such as electric seats, windows, curtains, ceiling screens, and sunshades. Due to the limited space inside the cabin, there is a high risk of people or objects getting caught when adjusting these moving parts.
[0003] Existing anti-pinch solutions mainly rely on automatic sensing systems, which have blind spots in detecting children, light-weight passengers, and non-standard sitting postures. When there is a risk of pinching people or objects, existing stopping solutions also mainly rely on screen and software recognition, which is cumbersome to operate and slow to respond.
[0004] Therefore, a new solution is urgently needed to address the aforementioned issues. Summary of the Invention
[0005] This application provides a moving part emergency stop architecture, moving part emergency stop system and terminal. By adding a first switch and modifying the circuit architecture, a one-button emergency stop solution with low learning cost, convenience, speed and high reliability can be provided to prevent the moving part from trapping people or objects and causing further damage.
[0006] In a first aspect, a moving part emergency stop architecture is provided, comprising: an emergency stop trigger circuit and multiple moving part drive circuits, wherein the emergency stop trigger circuit is connected to the moving part drive circuits, and the emergency stop trigger circuit includes: one or more first switches connected to a first power supply, wherein the emergency stop trigger circuit is used to receive an emergency stop operation from a user and synchronously send a first emergency stop signal to the moving part drive circuits; each moving part drive circuit is connected to a drive motor of a corresponding moving part, and is used to cut off the power supply to the corresponding drive motor when the first emergency stop signal is received, so that the moving part stops running when the drive motor stops supplying power.
[0007] For example, moving parts can be moving components inside the vehicle cabin such as electric seats, windows, curtains, ceiling screens, sunshades, electric rearview mirrors, electric tables, electric massage components, electric lumbar support, electric headrests, electric seat belts, electric trunk lids, and electric refrigerators / heaters.
[0008] In this embodiment, in the event of a risk such as someone or an object being trapped, the user can perform an emergency stop operation. The emergency stop trigger circuit can synchronously send a first emergency stop signal to each connected moving component drive circuit. Upon receiving the first emergency stop signal, each moving component drive circuit can cut off the power supply to its corresponding drive motor. Since the power supply to all drive motors is cut off, all drive motors will immediately cease all power supply. Consequently, all moving components corresponding to all drive motors will stop their current movement upon losing power supply. In other words, in response to the user's emergency stop operation, each moving component drive circuit synchronously sends a first emergency stop signal, causing all moving components to stop operating synchronously.
[0009] Because the emergency stop operation is simple, all moving parts can be stopped synchronously after a one-click operation. Therefore, it is easy for users to learn, convenient, fast and highly reliable. One click can prevent the moving parts from trapping people or objects and causing further damage.
[0010] In one possible implementation of the first aspect, the emergency stop trigger circuit includes one or more first switches connected to a first power source.
[0011] In this embodiment, the user can perform an emergency stop operation on any of the first switches, so as to quickly cut off the power supply to the drive motor and immediately stop all moving parts in case of the risk of people or objects being caught in the moving parts.
[0012] In one possible implementation of the first aspect, when the emergency stop triggering circuit includes a plurality of first switches connected in parallel, any one of the first switches is configured to switch from an open state to an on state upon receiving the emergency stop operation, thereby issuing the first emergency stop signal.
[0013] In the embodiments of this application, when the emergency stop triggering circuit includes multiple first switches connected in parallel, the circuit has no current and zero power consumption under normal conditions; the emergency stop triggering circuit can only be turned on when any one of the first switches is closed. This method, which requires external driving to close the first switches to form a circuit, has better anti-interference performance and a lower false triggering rate.
[0014] In one possible implementation of the first aspect, when the emergency stop triggering circuit includes a plurality of first switches connected in series, any one of the first switches is configured to switch from an on state to an off state upon receiving the emergency stop operation, thereby issuing the first emergency stop signal.
[0015] In the embodiments of this application, when the emergency stop triggering circuit includes multiple first switches connected in series, the circuit has a continuous current under normal conditions and a certain static power consumption over a long period of time. However, apart from the first switch being disconnected in response to the emergency stop operation, any disconnection at any point in the line can be identified as an "emergency stop". Therefore, if there is an abnormality, it will automatically enter the emergency stop state even if no emergency stop operation is received, thus preventing the abnormality from being masked.
[0016] In one possible implementation of the first aspect, the architecture further includes an emergency stop control module; the emergency stop triggering circuit is connected to the moving part drive circuit, including: the emergency stop triggering circuit is connected to the moving part drive circuit through the emergency stop control module; the emergency stop control module is used to determine a target moving part drive circuit; the emergency stop triggering circuit is used to synchronously send the first emergency stop signal to the target moving part drive circuit through the emergency stop control module.
[0017] In this embodiment, the drive circuit of the moving part that is being powered by the drive motor connected before receiving the user's emergency stop operation is determined as the target drive circuit; in this way, an emergency stop can be performed only on the currently moving moving part, avoiding invalid operations on the already stopped moving part and improving the targeting of the emergency stop.
[0018] In one possible implementation of the first aspect, the architecture further includes an emergency stop control module; the emergency stop control module is connected to the emergency stop triggering circuit and the moving part drive circuit respectively; the emergency stop control module is used to determine the target moving part drive circuit and synchronously send a second emergency stop signal to the target moving part drive circuit.
[0019] In this embodiment, by issuing a second emergency stop signal from the emergency stop control module, the control terminal of the second switch can be dually controlled by both the first and second emergency stop signals, preventing the inability to disconnect the power supply to the drive motor when the first emergency stop signal fails. This enables redundant control of the second switch in the moving part drive circuit, enhancing the reliability of the emergency stop.
[0020] In one possible implementation of the first aspect, the target actuator drive circuit is used to indicate an actuator drive circuit in which the connected drive motor is providing power before the emergency stop trigger circuit receives an emergency stop operation from the user.
[0021] In one possible implementation of the first aspect, the architecture further includes a storage module connected to the emergency stop control module. The storage module is used to pre-store a linkage relationship table between each moving part. The linkage relationship table records at least the set of moving parts in the linkage operation state under different scenarios. The target moving part drive loop is used to indicate: each moving part drive loop corresponding to any set of moving parts.
[0022] In this embodiment of the application, when the user triggers an emergency stop operation, if the vehicle is in a certain preset scenario (such as movie viewing mode, welcome mode, etc.), the emergency stop control module 13 can determine the set of moving parts in the linkage operation state according to the linkage relationship table, and determine the target moving part drive circuit accordingly, so as to realize the synchronous emergency stop of all linked moving parts in the scenario.
[0023] In one possible implementation of the first aspect, each of the moving member drive circuits is further configured to supply reverse power to the corresponding drive motor, causing the moving member to retract when the drive motor provides reverse power.
[0024] The duration or distance of the rollback can be preset.
[0025] In this embodiment, the moving part drive circuit can supply reverse power to the drive motor, causing the moving part to retract to a safe position, so as to further release the clamped occupants or objects and reduce the risk of secondary injury.
[0026] In one possible implementation of the first aspect, the emergency stop trigger circuit is further configured to receive a user's recovery operation and synchronously send a recovery signal to the actuator drive circuit; each actuator drive circuit is further configured to restore the power supply to the corresponding drive motor when the recovery signal is received, so that the actuator resumes operation when the drive motor resumes power supply.
[0027] In this embodiment, after confirming safety, the user can trigger a recovery operation to restore the actuator to normal operation, achieving a one-time recovery after an emergency stop, which is simple to operate.
[0028] In one possible implementation of the first aspect, the moving part drive circuit includes a second switch, and the emergency stop trigger circuit is connected to the moving part drive circuit, including: the emergency stop trigger circuit is connected to the control terminal of the second switch included in the moving part drive circuit; the control terminal is used to receive the first emergency stop signal; each moving part drive circuit is connected to a drive motor of a corresponding moving part, including: a second power supply is connected to a drive motor of a corresponding moving part through the controlled terminal of each second switch; the controlled terminal is used to disconnect when the control terminal receives the first emergency stop signal, so that the second power supply stops supplying power to the drive motor.
[0029] In this embodiment of the application, by setting a second switch, the power supply to the drive motor can be cut off when an emergency stop operation is received from the user, thereby quickly stopping the corresponding moving part and preventing further escalation of injuries caused by people or objects being pinched.
[0030] In one possible implementation of the first aspect, the second switch is any one of a MOSFET, an IGBT, or a solid-state relay.
[0031] When the second switch is a MOSFET, IGBT, or solid-state relay, it has a fast response speed and high reliability, which can shorten the time required for emergency stop and further reduce the injury of people or objects being trapped; moreover, it is vibration resistant and has good controllability, and will not accidentally trigger emergency stop or accidentally resume operation.
[0032] In one possible implementation of the first aspect, the architecture further includes: a prompting module; the prompting module is used to present a prompting message when the emergency stop triggering circuit receives an emergency stop operation from the user, the prompting message being used to indicate that the movement has been stopped.
[0033] In this embodiment of the application, when the user triggers an emergency stop operation, the motion emergency stop architecture presents a prompt message through the prompt module, which can promptly and clearly inform the user that the corresponding motion has been stopped, thereby improving the human-computer interaction experience.
[0034] In one possible implementation of the first aspect, when the emergency stop architecture includes an emergency stop control module, the emergency stop control module is also connected to the prompting module, and is used to instruct the prompting module to present the prompting information when the emergency stop trigger circuit receives an emergency stop operation from the user or when the power supply to the corresponding drive motor is cut off in the moving part drive circuit.
[0035] In a second aspect, a moving part emergency stop system is provided, comprising: a first power source, a second power source, a plurality of drive motors, a plurality of moving parts, and a moving part emergency stop architecture as described in the first aspect or any possible implementation thereof.
[0036] Thirdly, a terminal is provided, the terminal comprising the motion emergency stop architecture as described in the first aspect or any possible implementation thereof, or the motion emergency stop system provided in the second aspect.
[0037] In one possible implementation of the third aspect, when the terminal is a vehicle and the emergency stop triggering circuit includes a plurality of first switches, the plurality of first switches are located at different positions on the vehicle.
[0038] Fourthly, a method for emergency stopping of moving parts is provided, applied to an emergency stopping architecture as described in the first aspect or any possible implementation thereof. The method includes: in response to an emergency stop operation by a user, the emergency stop triggering circuit synchronously sends a first emergency stop signal to the moving part drive circuit; each moving part drive circuit, upon receiving the first emergency stop signal, cuts off the power supply to the corresponding drive motor, causing each moving part to stop operating when the drive motor stops supplying power.
[0039] In one possible implementation of the fourth aspect, the method further includes: in response to a user's recovery operation, the emergency stop trigger circuit synchronously sends a recovery signal to each of the moving component drive circuits; upon receiving the recovery signal, each of the moving component drive circuits restores the power supply to the corresponding drive motor, so that each of the moving components resumes operation when the drive motor restores its power supply.
[0040] Fifthly, a computer-readable storage medium is provided, comprising instructions that, when executed by at least one processor of a device, cause the device to perform the methods provided in the fourth aspect or any possible implementation thereof.
[0041] In a sixth aspect, a computer program product is provided, the computer program product including instructions that, when at least one processor of a device executes the instructions, cause the device to perform the methods provided in the fourth aspect or any possible implementation thereof.
[0042] In a seventh aspect, a chip is provided, including a processor for performing methods as provided in the fourth aspect or any possible implementation thereof.
[0043] It is understood that the beneficial effects of the second to seventh aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. Attached Figure Description
[0044] Figure 1 A schematic diagram of a moving-part emergency stop architecture provided in an embodiment of this application; Figure 2 A schematic diagram of another moving-part emergency stop architecture provided in this application embodiment; Figure 3A A schematic diagram of a moving part emergency stop architecture under normal conditions is provided for an embodiment of this application; Figure 3B A schematic diagram of a moving part emergency stop architecture in an emergency stop state is provided for an embodiment of this application; Figure 4A A schematic diagram of another moving part emergency stop architecture under normal conditions provided in this application embodiment; Figure 4B A schematic diagram of another moving part emergency stop architecture in an emergency stop state provided in an embodiment of this application; Figure 5 A schematic diagram of another moving part emergency stop architecture provided in the embodiments of this application; Figure 6 A schematic diagram of another moving part emergency stop architecture provided in the embodiments of this application; Figure 7 A schematic diagram of another moving part emergency stop architecture provided in the embodiments of this application; Figure 8 A schematic diagram of another moving part emergency stop architecture provided in the embodiments of this application; Figure 9 This is a schematic diagram of the layout of the first switch on the vehicle provided in an embodiment of this application; Figure 10 This is a flowchart illustrating a method for emergency stopping of a moving part, as provided in an embodiment of this application. Detailed Implementation
[0045] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.
[0046] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.
[0047] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.
[0048] In this application, "for indication" can be understood as "enabling," which can include direct and indirect enabling. When describing information as enabling A, it can include whether the information directly or indirectly enables A, but does not necessarily mean that the information carries A. The information enabled by the information is called the information to be enabled. In the specific implementation process, there are many ways to enable the information to be enabled, such as, but not limited to, directly enabling the information to be enabled, such as the information to be enabled itself or its index. It can also indirectly enable the information to be enabled by enabling other information, where there is a correlation between the other information and the information to be enabled. It can also enable only a part of the information to be enabled, while the other parts are known or pre-agreed. For example, enabling specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing enabling overhead to some extent. At the same time, common parts of various information can be identified and enabled uniformly to reduce the enabling overhead caused by individually enabling the same information.
[0049] In this application, "pre-configuration" may include pre-defined terms, such as protocol definitions. These "pre-defined terms" can be implemented by pre-storing corresponding codes, tables, or other means of indicating relevant information in the device (e.g., including various network elements), and this application does not limit the specific implementation method.
[0050] The term "storage" or "preservation" in this application can refer to storage in one or more memory devices. These memory devices can be separately configured or integrated into an encoder, decoder, processor, or communication device. Alternatively, some memory devices can be separately configured, while others can be integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this is not limited.
[0051] When a risk of someone or object being trapped occurs, existing methods for stopping moving parts, such as requiring pause operations via buttons on the display screen or voice commands, are cumbersome and slow to respond. For children, the elderly, or users with limited reaction time in emergencies, this may result in delayed response or inconvenience. In such cases, the inability to stop the moving parts in time can prevent the trapping and injury from being stopped.
[0052] Currently, the moving parts of various systems within a vehicle are relatively independent, and common pause methods can only pause a specific moving part, which is too costly for users to learn. In addition, in in-vehicle interactive scenarios, such as one-click movie viewing mode, multiple moving parts are usually working together in a preset order. If a risk of someone being trapped occurs at this time, common pause methods cannot stop the actions of all moving parts.
[0053] In addition, existing motion-stopping schemes mainly rely on a single software path; if the software itself malfunctions, it will be unable to stop the motion.
[0054] Therefore, a new solution is urgently needed to address the problem of the inability to quickly stop the vehicle when there is a risk of people or objects being trapped by moving parts inside.
[0055] In view of this, the present application provides a moving part emergency stop architecture. By adding a first switch that is easy for the user to operate and modifying the circuit architecture, the power supply to the drive motor can be cut off when the user performs an emergency stop operation on the first switch, so that each moving part stops running when the drive motor stops supplying power. Thus, a one-button emergency stop solution with low learning cost, convenience, speed and high reliability can be realized, and the injury caused by the moving parts pinching people or objects can be prevented from continuing to increase.
[0056] The solutions provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0057] Figure 1 and Figure 2 This is a schematic diagram of a moving part emergency stop architecture provided in an embodiment of this application.
[0058] Reference Figure 1 The emergency stop architecture provided in this application embodiment may include: an emergency stop trigger circuit 11 and multiple moving part drive circuits 12.
[0059] The emergency stop trigger circuit 11 is connected to each moving component drive circuit 12 to receive the user's emergency stop operation and simultaneously send a first emergency stop signal to each moving component drive circuit 12. Each moving component drive circuit 12 is connected to a corresponding moving component's drive motor to cut off the power supply to the corresponding drive motor when the first emergency stop signal is received, so that each moving component stops running when the drive motor stops supplying power.
[0060] Among them, moving parts can be, for example, electric seats, windows, curtains, ceiling screens, sunshades, electric rearview mirrors, electric tables, electric massage components, electric lumbar support, electric headrests, electric seat belts, electric trunk lids, and other moving parts inside the vehicle cabin; the drive motor is used to output power to drive the corresponding moving parts.
[0061] The number of moving parts is an integer greater than 2. Each drive motor can be used to provide power to at least one corresponding moving part. Of course, each drive motor can also provide power to multiple moving parts. This application embodiment does not limit this.
[0062] The user's emergency stop operation can instruct the user to perform a click, press, or drag operation on the emergency stop trigger circuit, and this application does not limit the specific method.
[0063] The first emergency stop signal can be a voltage signal, such as a high-level or low-level (including ground) signal; it can also be a current signal, etc., and this application does not limit it in this regard.
[0064] In this embodiment, in the event of a risk such as someone or an object being trapped, the user can perform an emergency stop operation. The emergency stop trigger circuit can synchronously send a first emergency stop signal to each connected moving component drive circuit. Upon receiving the first emergency stop signal, each moving component drive circuit can cut off the power supply to its corresponding drive motor. Since the power supply to all drive motors is cut off, all drive motors will immediately cease all power supply. Consequently, all moving components corresponding to all drive motors will stop their current movement upon losing power supply. In other words, in response to the user's emergency stop operation, each moving component drive circuit synchronously sends a first emergency stop signal, causing all moving components to stop operating synchronously.
[0065] Because the emergency stop operation is simple, all moving parts can be stopped synchronously after a one-click operation. Therefore, it is easy for users to learn, convenient, fast and highly reliable. One click can prevent the moving parts from trapping people or objects and causing further damage.
[0066] In one possible implementation, each actuator drive circuit 12 is also used to reverse power supply to the corresponding drive motor after the actuator stops running, so that each actuator retracts when the drive motor provides reverse power supply.
[0067] The duration or distance of the rollback can be preset, and this application does not impose any limitations on it.
[0068] For example, the retraction time can be set from 50ms to 500ms. If the time is too short, it will not be enough to release the clamped object, and if it is too long, it will affect the response experience. The retraction distance can be set from 1cm to 10cm, which can be adjusted according to the type of moving part, the running speed, and safety requirements.
[0069] For example, when the moving part is an electric seat, if the user suddenly stops the seat during the forward adjustment process, the moving part drive circuit 12 can supply reverse power to the drive motor, so that the seat moves back to a safe position to release the trapped occupant or object and reduce the risk of secondary injury.
[0070] For example, when the moving part is a car window or sunshade, if the car window or sunshade is suddenly stopped by the user during the lifting and lowering adjustment process, the moving part drive circuit 12 can supply reverse power to the drive motor, so that the car window or sunshade can be moved back to a safe position to release the trapped occupants or items and reduce the risk of secondary injury.
[0071] In one possible implementation, the emergency stop trigger circuit 11 is also used to receive the user's recovery operation and synchronously send recovery signals to each moving component drive circuit 12; each moving component drive circuit 12 is also used to restore the power supply to the corresponding drive motor when it receives the recovery signal, so that each moving component can resume operation when the drive motor resumes power supply.
[0072] For example, the first switch can be a button, in which case the user's emergency stop operation can be a pressing operation on the button, and correspondingly, the user's recovery operation can be a long press operation on the button; or, the first switch can be a pull ring, in which case the user's emergency stop operation can be a pulling operation on the pull ring, and correspondingly, the user's recovery operation can be a resetting operation on the pull ring.
[0073] In this embodiment, after confirming safety, the user can trigger a recovery operation to restore the normal operation of each component, achieving a one-time recovery after an emergency stop, which is simple to operate.
[0074] Optionally, refer to Figure 2 The emergency stop trigger circuit 11 includes one or more first switches connected to a first power supply.
[0075] For example, the first switch can be a button, in which case the user's emergency stop operation can be a pressing operation on the button; or, the first switch can be a pull ring, in which case the user's emergency stop operation can be a pulling operation on the pull ring.
[0076] Assume that the emergency stop trigger circuit 11 includes multiple first switches, which need to be located in different positions for convenient user operation. Furthermore, when the emergency stop trigger circuit 11 includes multiple first switches, the user's emergency stop operation includes an emergency stop operation targeting any one of the first switches.
[0077] The first power supply is a low-voltage power supply. The emergency stop trigger circuit 11 can be connected to a low-voltage battery or a connection point where a high-voltage battery is converted to a low-voltage output via DC-DC conversion. This application does not limit this.
[0078] In this embodiment, the user can perform an emergency stop operation on any of the first switches, so as to quickly cut off the power supply to the drive motor and immediately stop all moving parts in case of the risk of people or objects being caught in the moving parts.
[0079] Optionally, refer to Figure 2 The actuator drive circuit 12 includes a second switch. The second switch includes a control terminal and one or more controlled terminals. The emergency stop trigger circuit 11 is connected to each actuator drive circuit 12, and includes: the emergency stop trigger circuit 11 is connected to the control terminal of the second switch in each actuator drive circuit 12, and the control terminal is used to receive a first emergency stop signal issued by the emergency stop trigger circuit.
[0080] Each actuator drive circuit 12 is connected to a corresponding actuator drive motor, including: a second power supply is connected to a corresponding actuator drive motor through the controlled terminal of each second switch, the controlled terminal being used to disconnect when the control terminal receives a first emergency stop signal, so that the second power supply stops supplying power to the drive motor.
[0081] like Figure 2 As shown, the second power supply, the controlled terminal of the second switch, and the drive motor are connected in series to form a moving component drive circuit 12.
[0082] When the control terminal of the second switch does not receive the first emergency stop signal, the controlled terminal is turned on, allowing the second power supply to power the drive motor in the moving part drive circuit 12. The drive motor, receiving power, provides power to the corresponding moving part, enabling the moving part to move. Conversely, when the control terminal of the second switch receives the first emergency stop signal, the controlled terminal is turned off, causing the second power supply to stop powering the drive motor in the moving part drive circuit 12. The drive motor then stops supplying power, and the moving part immediately stops operating.
[0083] For example, the second switch can be any one of a metal-oxide-semiconductor field-effect transistor (MOSFET), an insulated-gate bipolar transistor (IGBT), or a solid-state relay.
[0084] The above are just a few examples; this application does not limit the specific type of the second switch.
[0085] In this embodiment of the application, by setting a second switch, the power supply to the drive motor can be cut off when an emergency stop operation is received from the user, thereby quickly stopping the corresponding moving part and preventing further escalation of injuries caused by people or objects being pinched.
[0086] When the second switch is a MOSFET, IGBT, or solid-state relay, it has a fast response speed and high reliability, which can shorten the time required for emergency stop and further reduce the injury of people or objects being trapped; moreover, it is vibration resistant and has good controllability, and will not accidentally trigger emergency stop or accidentally resume operation.
[0087] Optionally, refer to Figure 3A and Figure 3B The emergency stop trigger circuit 11 may include multiple first switches connected in parallel.
[0088] like Figure 3AAs shown, taking a solid-state relay as an example, under normal conditions (no emergency stop operation is received), each of the first switches is in the open state or normally open state. The control terminal of the second switch is not energized, and the controlled terminal of the second switch is turned on by a low level. The second power supply normally supplies power to the drive motor, and the drive motor is in motion and outputs power to drive the moving parts.
[0089] like Figure 3B As shown, taking a solid-state relay as an example, when the user performs an emergency stop operation on any of the first switches, the first switch switches from the open state to the on state, and the control terminal of the second switch is energized. This high level is equivalent to the first emergency stop signal issued by the emergency stop trigger circuit 11. The controlled terminal of the second switch is disconnected under the control of the high level, thereby cutting off the power supply to the drive motor. The drive motor stops supplying power or switches to a stationary state, and the moving parts stop running.
[0090] In the embodiments of this application, when the emergency stop triggering circuit includes multiple first switches connected in parallel, the circuit has no current and extremely low power consumption under normal conditions; the emergency stop triggering circuit can only be turned on when any one of the first switches is closed. This method, which requires external driving to close the first switches to form a circuit, has better anti-interference performance and a low false triggering rate.
[0091] Optionally, refer to Figure 4A and Figure 4B The emergency stop trigger circuit 11 may include multiple first switches connected in series.
[0092] like Figure 4A As shown, taking a solid-state relay as an example, under normal conditions, all first switches are in the on state or in the normally closed state. The control terminal of the second switch is energized, the controlled terminal of the second switch is on, the second power supply normally supplies power to the drive motor, the drive motor is in motion, and outputs power to drive the moving parts.
[0093] like Figure 4B As shown, taking a solid-state relay as an example, when the user performs an emergency stop operation on any of the first switches, the first switch switches from the on state to the off state, the control terminal of the second switch is de-energized, and this low level is equivalent to the first emergency stop signal issued by the emergency stop trigger circuit 11; the controlled terminal of the second switch is disconnected, thereby cutting off the power supply to the drive motor, the drive motor stops power supply or switches to a stationary state, and the moving parts stop running.
[0094] In the embodiments of this application, when the emergency stop triggering circuit includes multiple first switches connected in series, the circuit has a continuous current under normal conditions and a certain static power consumption over a long period of time. However, apart from the first switch being disconnected in response to the emergency stop operation, any disconnection at any point in the line can be identified as an "emergency stop". Therefore, if there is an abnormality, it will automatically enter the emergency stop state even if no emergency stop operation is received, thus preventing the abnormality from being masked.
[0095] Optionally, when the emergency stop trigger circuit 11 includes multiple first switches connected in series, the emergency stop trigger circuit 11 may also include a fuse box, through which the first power supply is connected to the first switches and the actuator drive circuit. The fuse box can turn off when the current flowing through it exceeds a preset current threshold.
[0096] In addition, the emergency stop trigger circuit may include other devices, which are not limited in this application.
[0097] Figure 5 This is a schematic diagram of another moving part emergency stop architecture provided in an embodiment of this application.
[0098] Reference Figure 5 The emergency stop architecture may also include an emergency stop control module 13.
[0099] The emergency stop triggering circuit 11 is connected to each moving component drive circuit 12, including: the emergency stop triggering circuit 11 is connected to each moving component drive circuit 12 through the emergency stop control module 13. The emergency stop control module 13 is used to determine the target moving component drive circuit; the emergency stop triggering circuit 11 is used to synchronously send a first emergency stop signal to the target moving component drive circuit through the emergency stop control module 13.
[0100] Optionally, the target moving part drive circuit is used to indicate the moving part drive circuits that are being powered by the connected drive motors before the emergency stop trigger circuit 11 receives the user's emergency stop operation. That is, the target moving part drive circuit is all or part of the moving part drive circuits.
[0101] The emergency stop control module 13 can collect the state of the first switch in the emergency stop trigger circuit, the state of each drive motor (moving state or stationary state), or the state of the moving part (running or stationary state) to determine the target moving part drive circuit. This application does not limit this.
[0102] For example, the emergency stop control module can acquire the state of the first switch in the emergency stop trigger circuit through Controller Area Network (CAN) signals, hard-wired level inputs, or General Purpose Input / Output (GPIO) interrupts.
[0103] exist Figures 2 to 4BOn the shown emergency stop architecture for moving parts, the emergency stop trigger circuit 11 can be connected to the control terminal of the second switch in each moving part drive circuit 12 through the emergency stop control module 13, and the second switch is filtered to send the first emergency stop signal only to some control terminals.
[0104] For example: if a moving part that is running before receiving an emergency stop operation triggered by the user needs to stop immediately, a first emergency stop signal can be sent to the control terminal of the second switch in the driving circuit of the moving part that is providing power; if some moving parts are stationary before receiving an emergency stop operation triggered by the user, then since these moving parts are not running, the first emergency stop signal can be ignored, and the first emergency stop signal is not sent to the control terminal of the second switch in the driving circuit of the moving parts associated with these moving parts.
[0105] Of course, if all moving parts are stationary, the first emergency stop signal can be ignored, and the first emergency stop signal will not be sent to the control terminal of the second switch in each moving part drive circuit.
[0106] In this embodiment of the application, by determining the drive circuits of each moving part that are being powered by the connected drive motor before receiving the user's emergency stop operation as the target drive circuit, an emergency stop can be performed only on the currently moving moving parts, avoiding invalid operations on already stopped moving parts and improving the targeting of the emergency stop.
[0107] Figure 6 This is a schematic diagram of another moving part emergency stop architecture provided in an embodiment of this application.
[0108] Reference Figure 6 The emergency stop architecture also includes an emergency stop control module 13, which is connected to the emergency stop trigger circuit 11 and each moving part drive circuit 12. The emergency stop control module 13 is used to determine the target moving part drive circuit and synchronously send a second emergency stop signal to the target moving part drive circuit.
[0109] The second emergency stop signal is the same as the first emergency stop signal. The control terminal of the second switch in the moving part drive circuit can receive the first emergency stop signal and the second emergency stop signal, and disconnect the controlled terminal under the control of the first emergency stop signal and / or the second emergency stop signal.
[0110] exist Figures 2 to 4BIn the illustrated emergency stop architecture, the emergency stop trigger circuit 11, in addition to its own connection structure, can be reconnected to the control terminal of the second switch in each moving component drive circuit 12 via the emergency stop control module 13. The module then filters the second switches, sending the second emergency stop signal only to a subset of control terminals. In response to the first emergency stop signal, each moving component drive circuit 12 disconnects at the controlled terminal of the second switch, causing the corresponding drive motor to stop power supply and the moving component to stop operating. If an individual moving component drive circuit 12 malfunctions and fails to receive the first emergency stop signal, it can also disconnect the controlled terminal of the second switch upon receiving the second emergency stop signal, thereby causing its corresponding drive motor to stop power supply and the moving component to stop operating.
[0111] In this embodiment, by issuing a second emergency stop signal from the emergency stop control module, the control terminal of the second switch can be simultaneously controlled by both the first and second emergency stop signals, preventing the inability to disconnect the power supply to the drive motor when the first emergency stop signal fails. This enables redundant control of the second switch in the moving part drive circuit, enhancing the reliability of the emergency stop.
[0112] Figure 7 and Figure 8 This is a schematic diagram of another moving part emergency stop architecture provided in an embodiment of this application.
[0113] Reference Figure 7 and Figure 8 The emergency stop architecture also includes a storage module 14 connected to the emergency stop control module 13.
[0114] Storage module 14 is used to pre-store the linkage relationship table between various moving parts. The linkage relationship table records at least the set of moving parts in the linkage operation state under different scenarios. The target moving part drive loop is used to indicate: the driving loop of each moving part corresponding to any set of moving parts.
[0115] In this embodiment of the application, when the user triggers an emergency stop operation, if the vehicle is in a certain preset scenario (such as movie viewing mode, welcome mode, rest mode, child protection mode, etc.), the emergency stop control module 13 can determine the set of moving parts in the linkage operation state according to the linkage relationship table, and determine the target moving part drive circuit accordingly, so as to realize the synchronous emergency stop of all linked moving parts in the scenario.
[0116] Reference Figure 7 and Figure 8 The emergency stop architecture may also include a prompt module 15.
[0117] The prompt module 15 is used to present a prompt message when the emergency stop trigger circuit 11 receives an emergency stop operation from the user. The prompt message indicates that the movement has stopped. In addition, the prompt message may also include a recovery operation, so that the prompt message can be reset by the recovery operation to exit the emergency stop state of the movement emergency stop architecture.
[0118] The prompt module may include various actuators such as a display screen, speaker, projector, interior ambient lighting, seat vibration motor, and steering wheel vibration motor. The prompt information may be presented in any one or more ways, such as text, image, sound, flashing lights, or vibration feedback. This application does not limit the specific methods used.
[0119] For example, when an emergency stop is triggered, a pop-up window can appear on the cockpit display screen to show a prompt message and make a voice announcement to inform the user that the operation of moving parts in the cockpit has been stopped for safety reasons; in addition, the user can be prompted to resume the operation of moving parts and exit the emergency stop state by pressing and holding the button.
[0120] like Figure 7 and Figure 8 As shown, when the emergency stop architecture includes an emergency stop control module 13, the emergency stop control module 13 is also connected to a prompt module 15, which is used to control the prompt module 15 to present a prompt message when the emergency stop trigger circuit 11 receives an emergency stop operation from the user, or when the power supply to the corresponding drive motor is cut off by the moving part drive circuit 12.
[0121] In this embodiment of the application, when the user triggers an emergency stop operation, the motion emergency stop architecture presents a prompt message through the prompt module, which can promptly and clearly inform the user that the corresponding motion has been stopped, thereby improving the human-computer interaction experience.
[0122] Figure 10 This is a flowchart illustrating a method for emergency stopping of a moving part, as provided in an embodiment of this application.
[0123] like Figure 10 As shown, the method can be executed by the aforementioned moving emergency stop architecture, and the method may include steps S110 and S120.
[0124] S110. In response to the user's emergency stop operation, the emergency stop trigger circuit synchronously sends the first emergency stop signal to each moving component drive circuit.
[0125] S120. When each moving component drive circuit receives the first emergency stop signal, it cuts off the power supply to the corresponding drive motor, so that each moving component stops running when the drive motor stops supplying power.
[0126] In this embodiment, in the event of a risk such as someone or an object being trapped, the user can perform an emergency stop operation. The emergency stop trigger circuit can synchronously send a first emergency stop signal to each connected moving component drive circuit. Upon receiving the first emergency stop signal, each moving component drive circuit can cut off the power supply to its corresponding drive motor. Since the power supply to all drive motors is cut off, all drive motors will immediately cease all power supply. Consequently, all moving components corresponding to all drive motors will stop their current movement upon losing power supply. In other words, in response to the user's emergency stop operation, each moving component drive circuit synchronously sends a first emergency stop signal, causing all moving components to stop operating synchronously.
[0127] Because the emergency stop operation is simple, all moving parts can be stopped synchronously after a one-click operation. Therefore, it is easy for users to learn, convenient, fast and highly reliable. One click can prevent the moving parts from trapping people or objects and causing further damage.
[0128] Optionally, after each moving element drive circuit stops the moving element from running, it can also supply reverse power to the corresponding drive motor, so that each moving element retracts when the drive motor provides reverse power supply.
[0129] Optionally, the method may further include the steps S130 and S140.
[0130] S130, in response to the user's recovery operation, the emergency stop trigger circuit synchronously sends a recovery signal to each moving component drive circuit.
[0131] S140. When each moving component drive circuit receives a recovery signal, it restores the power supply to the corresponding drive motor, so that each moving component resumes operation when the drive motor resumes power supply.
[0132] In this embodiment, after confirming safety, the user can trigger a recovery operation to restore the normal operation of each component, achieving a one-time recovery after an emergency stop, which is simple to operate.
[0133] This application also provides a moving part emergency stop system, including: a first power supply, a second power supply, multiple drive motors, multiple moving parts, and the moving part emergency stop architecture described in the above embodiments.
[0134] This application also provides a terminal that may include the emergency stop architecture described in the above embodiments, or the emergency stop system described in the above embodiments.
[0135] When the moving part emergency stop architecture is applied to a vehicle, and the emergency stop trigger circuit 11 includes multiple first switches, the multiple first switches are located at different positions on the vehicle.
[0136] For example, such as Figure 9As shown, multiple first switches can be set in easily accessible locations such as the inside of each door, the side of each seat, and the center console. For example, there can be 4 to 8 first switches, which are set in the driver's side door, the passenger side door, the rear doors on both sides, the driver's seat, the passenger seat, the center console, and the rear seat area to cover the activity areas of the main occupants in the cabin. This allows users to trigger the emergency stop operation nearby, quickly, and conveniently in an emergency, reducing operation time and learning costs.
[0137] The terminal structure will be briefly explained below.
[0138] The embodiments provided in this application can be applied to terminals including various moving parts. Taking a vehicle as an example, the vehicle can include, but is not limited to: land vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. The vehicle can be a vehicle in a broad sense. For example, the vehicle can be a means of transportation (such as cars, buses, subways, high-speed trains, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments in this application do not limit the specific type, form, and function of the terminal.
[0139] Furthermore, the terminal may also include various embodied intelligent devices with moving parts. For example, the embodied intelligent device may be a humanoid robot, a quadruped / wheeled robot, a drone, etc. This application does not limit the specific type, form, or function of the embodied intelligent device.
[0140] Taking a vehicle as an example, in some cases, the emergency stop control module in the dynamic emergency stop architecture can be a controller or an electronic control unit (ECU).
[0141] In some examples, the emergency stop control module in the dynamic emergency stop architecture can also be a Central Computing Unit (CCU), a computing platform, or a Central Domain Controller.
[0142] The embodiments provided in this application can be applied to the field of intelligent driving. For example, the embodiments provided in this application are used in the dynamic operation scenario of intelligent vehicles.
[0143] It should be noted that the intelligent driving mentioned above can include a comprehensive system that enables vehicles to have environmental perception, decision-making and planning, and / or autonomous control capabilities through at least one of the technologies such as artificial intelligence, sensor fusion processing, and network information collaboration. Its core goal is to ultimately achieve a gradual transformation from human driving to machine autonomous driving. The functions implemented mainly include, but are not limited to: Adaptive Cruise Control (ACC), Automatic Emergency Braking (AEB), Automatic Parking (AP), Blind Spot Monitoring (BSM), Front Cross Traffic Alert / Braking (FCTA / B), Rear Cross Traffic Alert / Braking (RCTA / B), Forward Collision Warning (FCW), Lane Departure Warning (LDW), Lane Keeping Assist (LKA), Rear Collision Warning (RCW), Traffic Sign Recognition (TSR), Traffic Jam Assist (TJA), and Highway Assist (HWA). It should be understood that the specific requirements and content of the above functions may vary depending on the level of autonomous driving (L0-L5). Intelligent driving is a description that focuses on driving technology and functions, while autonomous driving is a description that focuses on driving capabilities. Intelligent driving can include assisted driving, conditional autonomous driving, highly automated driving, and fully automated driving.
[0144] This application also provides a computer-readable storage medium storing a program that, when run on a computer, causes the computer to perform the aforementioned actions. Figure 10 The steps in the method described in the illustrated embodiment.
[0145] This application also provides a computer program product, which includes a program that, when run on a computer, causes the computer to perform the aforementioned actions. Figure 10 The steps in the method described in the illustrated embodiment.
[0146] The emergency stop control module provided in this application embodiment can specifically be a chip. The chip includes a processing unit, which may be, for example, a processor. Optionally, the chip also includes a communication unit, which may be, for example, an input / output interface, pins, or circuits. The processing unit can execute computer execution instructions stored in the storage unit to cause the chip to perform the above-mentioned operations. Figure 10 The method described in the illustrated embodiment.
[0147] Optionally, the storage unit is a storage unit within the chip, such as a register or cache. Alternatively, the storage unit can be a storage unit located outside the chip within the wireless access device, such as a read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).
[0148] The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of a program in the first aspect of the above method.
[0149] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.
[0150] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, and of course, it can also be implemented by special hardware including application-specific integrated circuits, special-purpose CLUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0151] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.
[0152] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0153] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.
Claims
1. A moving-component emergency stop structure, characterized in that, include: An emergency stop triggering circuit and multiple moving part drive circuits are provided. The emergency stop triggering circuit is connected to the moving part drive circuit. The emergency stop triggering circuit includes one or more first switches connected to a first power supply. The emergency stop triggering circuit is used to receive the user's emergency stop operation and synchronously send a first emergency stop signal to the moving part drive circuit. Each of the moving component drive circuits is connected to a corresponding moving component drive motor, and is used to cut off the power supply to the corresponding drive motor when the first emergency stop signal is received, so that the moving component stops running when the drive motor stops supplying power.
2. The emergency stop mechanism for moving parts as described in claim 1, characterized in that, When the emergency stop triggering circuit includes multiple first switches connected in parallel, any one of the first switches is used to switch from an open state to an on state when the emergency stop operation is received, and then sends the first emergency stop signal.
3. The emergency stop structure for moving parts as described in claim 1, characterized in that, When the emergency stop triggering circuit includes multiple first switches connected in series, any one of the first switches is used to switch from an on state to an off state when the emergency stop operation is received, thereby issuing the first emergency stop signal.
4. The emergency stop mechanism for moving parts as described in any one of claims 1 to 3, characterized in that, It also includes an emergency stop control module; The emergency stop trigger circuit is connected to the moving part drive circuit, including: the emergency stop trigger circuit is connected to the moving part drive circuit through the emergency stop control module; The emergency stop control module is used to determine the target moving part drive circuit; The emergency stop triggering circuit is used to synchronously send the first emergency stop signal to the target moving part drive circuit through the emergency stop control module.
5. The emergency stop mechanism for moving parts as described in any one of claims 1 to 3, characterized in that, It also includes an emergency stop control module; The emergency stop control module is connected to the emergency stop trigger circuit and the moving part drive circuit respectively; The emergency stop control module is used to determine the target moving part drive circuit and synchronously send a second emergency stop signal to the target moving part drive circuit.
6. The emergency stop mechanism for moving parts as described in claim 4 or 5, characterized in that, The target moving part drive circuit is used to indicate the moving part drive circuits that are providing power to the connected drive motors before the emergency stop trigger circuit receives the user's emergency stop operation.
7. The emergency stop mechanism for moving parts as described in claim 4 or 5, characterized in that, It also includes a storage module connected to the emergency stop control module. The storage module is used to pre-store a linkage relationship table between each moving part. The linkage relationship table records at least the set of moving parts in the linkage operation state under different scenarios. The target moving part drive circuit is used to indicate: each moving part drive circuit corresponding to any set of moving parts.
8. The emergency stop mechanism for moving parts as described in any one of claims 1 to 7, characterized in that, Each of the aforementioned actuator drive circuits is also used to supply reverse power to the corresponding drive motor, so that the actuator retracts when the drive motor provides reverse power.
9. The moving-part emergency stop structure as described in any one of claims 1 to 8, characterized in that, The emergency stop trigger circuit is also used to receive the user's recovery operation and synchronously send a recovery signal to the moving part drive circuit; Each of the aforementioned actuator drive circuits is also used to restore the power supply to the corresponding drive motor when the recovery signal is received, so that the actuator resumes operation when the drive motor resumes power supply.
10. The moving-part emergency stop structure as described in any one of claims 1 to 9, characterized in that, The actuator drive circuit includes a second switch, and the emergency stop trigger circuit is connected to the actuator drive circuit, including: the emergency stop trigger circuit is connected to the control terminal of the second switch included in the actuator drive circuit; the control terminal is used to receive the first emergency stop signal; Each of the aforementioned actuator drive circuits is connected to a corresponding actuator drive motor, including: a second power supply is connected to a corresponding actuator drive motor through the controlled terminal of each of the second switches; the controlled terminal is used to disconnect when the control terminal receives the first emergency stop signal, so that the second power supply stops supplying power to the drive motor.
11. The emergency stop mechanism for moving parts as described in claim 10, characterized in that, The second switch is any one of a MOSFET, an IGBT, or a solid-state relay.
12. The moving-part emergency stop structure as described in any one of claims 1 to 11, characterized in that, Also includes: Prompt module; The prompting module is used to present a prompting message when the emergency stop triggering circuit receives an emergency stop operation from the user. The prompting message is used to indicate that the movement has been stopped.
13. The emergency stop mechanism for moving parts as described in claim 12, characterized in that, When the moving part emergency stop architecture includes an emergency stop control module, the emergency stop control module is also connected to the prompt module, and is used to instruct the prompt module to present the prompt information when the emergency stop trigger circuit receives the user's emergency stop operation or when the moving part drive circuit cuts off the power supply to the corresponding drive motor.
14. A moving-part emergency stop system, characterized in that, include: The system comprises a first power source, a second power source, multiple drive motors, multiple moving parts, and a moving part emergency stop architecture as described in any one of claims 1 to 13.
15. A terminal, characterized in that, It includes the moving part emergency stop architecture as described in any one of claims 1 to 13, or the moving part emergency stop system as described in claim 14.
16. The terminal as described in claim 15, characterized in that, When the terminal is a vehicle and the emergency stop trigger circuit includes multiple first switches, the multiple first switches are located at different positions on the vehicle.
17. A method for emergency stopping of a moving component, characterized in that, Applied to the moving-part emergency stop architecture as described in any one of claims 1 to 13, the method comprises: In response to the user's emergency stop operation, the emergency stop triggering circuit synchronously sends a first emergency stop signal to the moving part drive circuit; When each of the moving parts drive circuits receives the first emergency stop signal, it cuts off the power supply to the corresponding drive motor, causing the moving part to stop running when the drive motor stops supplying power.
18. The method as described in claim 17, characterized in that, The method further includes: In response to the user's recovery operation, the emergency stop trigger circuit synchronously sends a recovery signal to the moving part drive circuit; When each of the moving parts drive circuits receives the recovery signal, it restores the power supply to the corresponding drive motor, so that the moving part resumes operation when the drive motor restores its power supply.
19. A computer program product, characterized in that, The computer program product includes instructions that, when executed by at least one processor of the device, cause the device to perform the method as described in claim 17 or 18.
20. A chip, characterized in that, The chip includes a processor for performing the method of claim 17 or 18.