Upper part control device with positioning function

Abstract

The utility model discloses a top-mounted control device with a positioning function, which belongs to the technical field of vehicle-mounted electronics, comprises a main controller, a first CAN (Controller Area Network) interface group, a second CAN interface group, a CAN module group, a GNSS (Global Navigation Satellite System) positioning module, an inertia measurement module, an IO (Input / Output) expansion module and a power supply module, and solves the technical problems of CAN bus expansion optimization and positioning function providing of the top-mounted controller. According to the utility model, the multi-CAN bus design is adopted, the circuit interface design between the CAN module and the main controller is optimized, the CAN buses have high flexibility, and each CAN bus has strong independence, avoids mutual interference and has high reliability; according to the utility model, the GNSS positioning module is integrated, and the inertial measurement module is introduced, so that the positioning fusion of GNSS and inertia can be realized, and the positioning precision can be improved; the device is provided with the I / O expansion module, can provide four paths of IO port driving, and can be suitable for various vehicle-mounted environments.

Description

Technical Field

[0001] The utility model belongs to the technical field of vehicle-mounted electronics, and in particular relates to a top-mounted control device with a positioning function. Background Art

[0002] As vehicles become increasingly intelligent and automated, body-mounted control devices are increasingly used. These controllers typically process data from multiple subsystems, including remote control commands, powertrain systems, instrument controllers, and information acquisition modules. Furthermore, the integration of positioning capabilities is a must-have feature in today's automated equipment.

[0003] In existing technologies, most body control devices only provide a limited number of CAN bus interfaces, which cannot meet the expansion requirements of complex systems. When multiple subsystems need to be connected, the following problems arise:

[0004] Insufficient interfaces: The number of native CAN interfaces is limited and cannot directly support multiple CAN buses.

[0005] Expansion complexity: When expanding the CAN interface, additional gateway modules are usually required, which complicates the system structure.

[0006] Insufficient anti-interference capability: Existing equipment has poor communication stability in complex electromagnetic environments and is easily interfered with.

[0007] No positioning capability: The current upper installation system does not have positioning function and needs to provide positioning data through an external system. Utility Model Content

[0008] The purpose of the utility model is to provide a bodywork control device with a positioning function, which solves the technical problems of CAN bus expansion optimization of the bodywork controller and providing the positioning function.

[0009] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0010] A body control device with positioning function, comprising a main controller, a first CAN interface group, a second CAN interface group, a CAN module group, a GNSS positioning module, an inertial measurement module, an IO expansion module and a power module;

[0011] The first CAN interface group, the CAN module group, the GNSS positioning module, the inertial measurement module and the IO expansion module are all connected to the main controller;

[0012] The second CAN interface group is connected to the CAN module group;

[0013] The power module provides power to the main controller, CAN module group, GNSS positioning module, inertial measurement module and IO expansion module;

[0014] The first CAN interface group includes three groups of CAN bus interfaces, and the three groups of CAN bus interfaces are respectively connected to the three groups of CAN interfaces of the main controller;

[0015] The CAN module group includes four CAN transceivers, and the second CAN interface group includes four groups of CAN interfaces, and the four groups of CAN interfaces are respectively connected to the four CAN transceivers;

[0016] The four CAN transceivers communicate with the main controller via a serial bus.

[0017] Preferably, the first CAN interface group includes a 6-pin terminal block, namely, interface J6, pins 1 and 2 of interface J6 are respectively connected to the first group of CAN interfaces of the main controller, namely, the CAN1H interface and the CAN1L interface, pins 3 and 4 of interface J6 are respectively connected to the second group of CAN interfaces of the main controller, namely, the CAN2H interface and the CAN2L interface, and pins 5 and 6 of interface J6 are respectively connected to the third group of CAN interfaces of the main controller, namely, the CAN3H interface and the CAN3L interface;

[0018] The main controller is an ARM chip IC7, and its model is STM32F767ZI.

[0019] Preferably, the four CAN transceivers included in the CAN module group are transceiver IC1, transceiver IC2, transceiver IC3 and transceiver IC4, and the four groups of CAN interfaces included in the second CAN interface group are interface J1, interface J2, interface J3 and interface J4;

[0020] The CANH and CANL interfaces of transceiver IC1 are connected to pins 1 and 2 of interface J1 respectively. The RXD and TXD interfaces of transceiver IC1 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC1 is connected to an IO port PA4 of the main controller.

[0021] The CANH and CANL interfaces of transceiver IC2 are connected to pins 1 and 2 of interface J2 respectively. The RXD and TXD interfaces of transceiver IC2 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC2 is connected to an IO port PA5 of the main controller.

[0022] The CANH and CANL interfaces of transceiver IC3 are connected to pins 1 and 2 of interface J3 respectively. The RXD and TXD interfaces of transceiver IC3 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC3 is connected to an IO port PA6 of the main controller.

[0023] The CANH interface and CANL interface of transceiver IC4 are connected to pins 1 and 2 of interface J4 respectively, the RXD interface and TXD interface of transceiver IC4 are connected to the UART0_TXD interface and UART0_RXD interface of the main controller respectively, and the EN interface of transceiver IC4 is connected to an IO port PA7 of the main controller.

[0024] Preferably, the transceiver IC1 , the transceiver IC2 , the transceiver IC3 and the transceiver IC4 are all of model TCAN1042A.

[0025] Preferably, the GNSS positioning module is a positioning chip IC5, and the TXD interface and RXD interface of the positioning chip IC5 are respectively connected to the UART1_RXD interface and UART1_TXD interface of the main controller;

[0026] The model of the positioning chip IC5 is u-blox ZED-F9R.

[0027] Preferably, the inertial measurement module is an inertial chip IC6, which is connected to the main controller via an I2C bus. The model of the inertial chip IC6 is BMI088.

[0028] Preferably, the IO expansion module is a driver chip IC8, and the IN1 interface, IN2 interface, IN3 interface and IN4 interface of the driver chip IC8 are respectively connected to the PA10 interface, PA11 interface, PA12 interface and PA13 interface of the main controller, and the OUT1 interface, OUT2 interface, OUT3 interface and OUT4 interface of the driver chip IC8 are respectively connected to the 6th pin, 5th pin, 4th pin and 3th pin of the interface J5, and the 1st pin of the interface J5 is connected to the ground wire, and the 2nd pin is connected to the 5V power supply output by the power module;

[0029] The model of the driver chip IC8 is ULN2003.

[0030] Preferably, the power supply module includes a 12V to 5V DC-DC module IC9 and a 3.3V module IC10, the V+ end of the DC-DC module IC9 is connected to an external power supply VIN, the OUT end outputs a 5V power supply, and the OUT end of the DC-DC module IC9 is connected to a ground capacitor C1;

[0031] The IN and EN terminals of the 3.3V module IC10 are connected to the 5V power supply, the OUT terminal outputs the 3.3V power supply, and the OP1V and OP2V terminals are connected to the ground wire;

[0032] The model of DC-DC module IC9 is B1205LS, and the model of 3.3V module IC10 is TPS7A47;

[0033] The 3.3V power supply is used to power the main controller, CAN module group, GNSS positioning module, and inertial measurement module;

[0034] The 5V power supply is used to power the IO expansion module.

[0035] The utility model discloses a body control device with a positioning function, which solves the technical problems of optimizing the CAN bus expansion of the body controller and providing the positioning function. The utility model adopts a multi-CAN bus design and optimizes the circuit interface design between the CAN module and the main controller. The CAN bus has high flexibility, and each CAN bus is highly independent, avoiding mutual interference and having high reliability. The utility model integrates a GNSS positioning module and introduces an inertial measurement module, which can realize the positioning fusion of GNSS and inertia, and can improve positioning accuracy. The utility model has an I / O expansion module, which can provide 4-way IO port drive and is suitable for various vehicle-mounted environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic block diagram of the utility model;

[0037] Figure 2 It is a schematic diagram of the principle diagram interface of the utility model;

[0038] Figure 3 It is a schematic block diagram of the power module of the utility model. DETAILED DESCRIPTION

[0039] Depend on Figure 1-Figure 3 The upper body control device with positioning function shown includes a main controller, a first CAN interface group, a second CAN interface group, a CAN module group, a GNSS positioning module, an inertial measurement module, an IO expansion module and a power module;

[0040] The first CAN interface group, the CAN module group, the GNSS positioning module, the inertial measurement module and the IO expansion module are all connected to the main controller;

[0041] The second CAN interface group is connected to the CAN module group;

[0042] The power module provides power to the main controller, CAN module group, GNSS positioning module, inertial measurement module and IO expansion module;

[0043] The first CAN interface group includes three groups of CAN bus interfaces, and the three groups of CAN bus interfaces are respectively connected to the three groups of CAN interfaces of the main controller;

[0044] The first CAN interface group includes a 6-pin terminal block, namely interface J6, pins 1 and 2 of interface J6 are respectively connected to the first group of CAN interfaces of the main controller, namely CAN1H interface and CAN1L interface, pins 3 and 4 of interface J6 are respectively connected to the second group of CAN interfaces of the main controller, namely CAN2H interface and CAN2L interface, and pins 5 and 6 of interface J6 are respectively connected to the third group of CAN interfaces of the main controller, namely CAN3H interface and CAN3L interface;

[0045] The main controller is an ARM chip IC7, and its model is STM32F767ZI.

[0046] The CAN module group includes four CAN transceivers, and the second CAN interface group includes four groups of CAN interfaces, and the four groups of CAN interfaces are respectively connected to the four CAN transceivers;

[0047] The four CAN transceivers communicate with the main controller via a serial bus.

[0048] The four CAN transceivers included in the CAN module group are transceiver IC1, transceiver IC2, transceiver IC3 and transceiver IC4, and the four groups of CAN interfaces included in the second CAN interface group are interface J1, interface J2, interface J3 and interface J4;

[0049] The CANH and CANL interfaces of transceiver IC1 are connected to pins 1 and 2 of interface J1 respectively. The RXD and TXD interfaces of transceiver IC1 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC1 is connected to an IO port PA4 of the main controller.

[0050] The CANH and CANL interfaces of transceiver IC2 are connected to pins 1 and 2 of interface J2 respectively. The RXD and TXD interfaces of transceiver IC2 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC2 is connected to an IO port PA5 of the main controller.

[0051] The CANH and CANL interfaces of transceiver IC3 are connected to pins 1 and 2 of interface J3 respectively. The RXD and TXD interfaces of transceiver IC3 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC3 is connected to an IO port PA6 of the main controller.

[0052] The CANH interface and CANL interface of transceiver IC4 are connected to pins 1 and 2 of interface J4 respectively, the RXD interface and TXD interface of transceiver IC4 are connected to the UART0_TXD interface and UART0_RXD interface of the main controller respectively, and the EN interface of transceiver IC4 is connected to an IO port PA7 of the main controller.

[0053] The transceiver IC1, transceiver IC2, transceiver IC3 and transceiver IC4 are all of the type TCAN1042A.

[0054] In this embodiment, a multi-CAN bus design is adopted, in which the main controller integrates 3 groups of native CAN interfaces to meet basic communication requirements.

[0055] The other four channels are expanded with four additional CAN interfaces through four TCAN1042A transceiver modules, achieving a total of seven CAN bus supports.

[0056] The extended 4-channel CAN interface communicates with the main controller via the serial bus and has efficient data transmission capabilities.

[0057] In this embodiment, the enable state of the transceiver is controlled by the GPIO of the main controller, and the enabled CAN interface can be dynamically selected. The expanded four-way CAN bus is independent of each other to avoid mutual interference. The transceiver TCAN1042A has strong anti-interference capability and is suitable for complex vehicle environments.

[0058] The main controller (STM32F767ZI) communicates with the four extended CAN transceivers through the UART interface, which has a simple structure and is easy to implement.

[0059] In intelligent logistics vehicles, the upper control device needs to communicate with multiple modules at the same time, and the utility model can meet the needs of various application scenarios, such as:

[0060] Remote control command receiving module: receives instructions from the dispatching center through the CAN bus.

[0061] Power control system: obtains the power system status in real time through the CAN bus and controls the collaboration between the engine and the drive motor.

[0062] Instrument controller: communicates with the instrument panel via the CAN bus and displays vehicle status information in real time.

[0063] Information acquisition module: collects external sensor data through the CAN bus, such as temperature, humidity, load and other information.

[0064] The utility model has the following advantages when applied:

[0065] Achieve efficient communication: The main controller natively supports 3-way CAN, meeting the communication needs of the power control system, instrument controller and remote control commands.

[0066] Flexible expansion: The additional 4-channel CAN is used to connect information acquisition modules and other backup devices without affecting the native CAN interface resources of the main controller.

[0067] Reliable positioning: It provides hardware functions for fusion positioning of GNSS and IMU inertial measurements, ensuring accurate navigation of vehicles in complex environments such as tunnels and forests.

[0068] Anti-interference capability: Each CAN bus communicates through a high-performance TCAN1042A transceiver to ensure stability in electromagnetic interference environments.

[0069] The GNSS positioning module is a positioning chip IC5, and the TXD interface and RXD interface of the positioning chip IC5 are connected to the UART1_RXD interface and UART1_TXD interface of the main controller respectively;

[0070] The model of the positioning chip IC5 is u-blox ZED-F9R.

[0071] The inertial measurement module is an inertial chip IC6, which is connected to the main controller via an I2C bus. The model of the inertial chip IC6 is BMI088.

[0072] In this embodiment, a GNSS positioning module (u-blox ZED-F9R) is integrated to support RTK high-precision positioning. The Bosch BMI088 inertial measurement module is introduced and integrated with GNSS data to provide reliable high-precision positioning, which is particularly suitable for signal obstruction scenarios.

[0073] The GNSS positioning module and inertial measurement module are connected to the main controller through UART and I2C interfaces respectively, and the interfaces are clear and unambiguous.

[0074] The IO expansion module is a driver chip IC8, and the IN1 interface, IN2 interface, IN3 interface and IN4 interface of the driver chip IC8 are respectively connected to the PA10 interface, PA11 interface, PA12 interface and PA13 interface of the main controller, and the OUT1 interface, OUT2 interface, OUT3 interface and OUT4 interface of the driver chip IC8 are respectively connected to the 6th pin, 5th pin, 4th pin and 3th pin of the interface J5, and the 1st pin of the interface J5 is connected to the ground wire, and the 2nd pin is connected to the 5V power supply output by the power module;

[0075] The model of the driver chip IC8 is ULN2003.

[0076] The power supply module includes a 12V to 5V DC-DC module IC9 and a 3.3V module IC10. The V+ terminal of the DC-DC module IC9 is connected to the external power supply VIN, and the OUT terminal outputs 5V power. The OUT terminal of the DC-DC module IC9 is connected to a ground capacitor C1.

[0077] The IN and EN terminals of the 3.3V module IC10 are connected to the 5V power supply, the OUT terminal outputs the 3.3V power supply, and the OP1V and OP2V terminals are connected to the ground wire;

[0078] The model of DC-DC module IC9 is B1205LS, and the model of 3.3V module IC10 is TPS7A47;

[0079] The 3.3V power supply is used to power the main controller, CAN module group, GNSS positioning module, and inertial measurement module;

[0080] The 5V power supply is used to power the IO expansion module.

[0081] The utility model discloses a body control device with a positioning function, which solves the technical problems of optimizing the CAN bus expansion of the body controller and providing the positioning function. The utility model adopts a multi-CAN bus design and optimizes the circuit interface design between the CAN module and the main controller. The CAN bus has high flexibility, and each CAN bus is highly independent, avoiding mutual interference and having high reliability. The utility model integrates a GNSS positioning module and introduces an inertial measurement module, which can realize the positioning fusion of GNSS and inertia, and can improve positioning accuracy. The utility model has an I / O expansion module, which can provide 4-way IO port drive and is suitable for various vehicle-mounted environments.

Claims

1. A top-mounted control device with a positioning function, characterized in that: It includes a main controller, a first CAN interface group, a second CAN interface group, a CAN module group, a GNSS positioning module, an inertial measurement module, an IO expansion module and a power module; The first CAN interface group, the CAN module group, the GNSS positioning module, the inertial measurement module and the IO expansion module are all connected to the main controller; The second CAN interface group is connected to the CAN module group; The power module provides power to the main controller, CAN module group, GNSS positioning module, inertial measurement module and IO expansion module; The first CAN interface group includes three groups of CAN bus interfaces, and the three groups of CAN bus interfaces are respectively connected to the three groups of CAN interfaces of the main controller; The CAN module group includes four CAN transceivers, and the second CAN interface group includes four groups of CAN interfaces, and the four groups of CAN interfaces are respectively connected to the four CAN transceivers; The four CAN transceivers communicate with the main controller via a serial bus.

2. A body-mounted control device with a positioning function as claimed in claim 1, characterized in that: The first CAN interface group includes a 6-pin terminal block, namely interface J6, pins 1 and 2 of interface J6 are respectively connected to the first group of CAN interfaces of the main controller, namely CAN1H interface and CAN1L interface, pins 3 and 4 of interface J6 are respectively connected to the second group of CAN interfaces of the main controller, namely CAN2H interface and CAN2L interface, and pins 5 and 6 of interface J6 are respectively connected to the third group of CAN interfaces of the main controller, namely CAN3H interface and CAN3L interface; The main controller is an ARM chip IC7, and its model is STM32F767ZI.

3. The upper body control device with positioning function according to claim 1, characterized in that: The four CAN transceivers included in the CAN module group are transceiver IC1, transceiver IC2, transceiver IC3 and transceiver IC4, and the four groups of CAN interfaces included in the second CAN interface group are interface J1, interface J2, interface J3 and interface J4; The CANH and CANL interfaces of transceiver IC1 are connected to pins 1 and 2 of interface J1 respectively. The RXD and TXD interfaces of transceiver IC1 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC1 is connected to an IO port PA4 of the main controller. The CANH and CANL interfaces of transceiver IC2 are connected to pins 1 and 2 of interface J2 respectively. The RXD and TXD interfaces of transceiver IC2 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC2 is connected to an IO port PA5 of the main controller. The CANH and CANL interfaces of transceiver IC3 are connected to pins 1 and 2 of interface J3 respectively. The RXD and TXD interfaces of transceiver IC3 are connected to the UART0_TXD and UART0_RXD interfaces of the main controller respectively. The EN interface of transceiver IC3 is connected to an IO port PA6 of the main controller. The CANH interface and CANL interface of transceiver IC4 are connected to pins 1 and 2 of interface J4 respectively, the RXD interface and TXD interface of transceiver IC4 are connected to the UART0_TXD interface and UART0_RXD interface of the main controller respectively, and the EN interface of transceiver IC4 is connected to an IO port PA7 of the main controller.

4. A body-mounted control device with a positioning function as claimed in claim 3, characterized in that: The transceiver IC1, transceiver IC2, transceiver IC3 and transceiver IC4 are all of the model TCAN1042A.

5. The upper body control device with positioning function according to claim 1, characterized in that: The GNSS positioning module is a positioning chip IC5, and the TXD interface and RXD interface of the positioning chip IC5 are connected to the UART1_RXD interface and UART1_TXD interface of the main controller respectively; The model of the positioning chip IC5 is u-blox ZED-F9R.

6. The upper body control device with positioning function according to claim 1, characterized in that: The inertial measurement module is an inertial chip IC6, which is connected to the main controller via an I2C bus. The model of the inertial chip IC6 is BMI088.

7. The upper body control device with positioning function according to claim 1, characterized in that: The IO expansion module is a driver chip IC8, and the IN1 interface, IN2 interface, IN3 interface and IN4 interface of the driver chip IC8 are respectively connected to the PA10 interface, PA11 interface, PA12 interface and PA13 interface of the main controller, and the OUT1 interface, OUT2 interface, OUT3 interface and OUT4 interface of the driver chip IC8 are respectively connected to the 6th pin, 5th pin, 4th pin and 3th pin of the interface J5, and the 1st pin of the interface J5 is connected to the ground wire, and the 2nd pin is connected to the 5V power supply output by the power module; The model of the driver chip IC8 is ULN2003.

8. The upper body control device with positioning function according to claim 1, characterized in that: The power supply module includes a 12V to 5V DC-DC module IC9 and a 3.3V module IC10. The V+ terminal of the DC-DC module IC9 is connected to the external power supply VIN, and the OUT terminal outputs 5V power. The OUT terminal of the DC-DC module IC9 is connected to a ground capacitor C1. The IN and EN terminals of the 3.3V module IC10 are connected to the 5V power supply, the OUT terminal outputs the 3.3V power supply, and the OP1V and OP2V terminals are connected to the ground wire; The model of DC-DC module IC9 is B1205LS, and the model of 3.3V module IC10 is TPS7A47; The 3.3V power supply is used to power the main controller, CAN module group, GNSS positioning module, and inertial measurement module; The 5V power supply is used to power the IO expansion module.

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