CN108791617A - Self-balancing electric twisting car and battery control method thereof - Google Patents

Abstract

The invention discloses a self-balancing electric swing car and a battery control method thereof. The self-balancing electric swing car comprises a control system and a power module. The power module includes at least one battery pack and a switching element. One of the positive pole and the negative pole of the battery pack is connected with the control system through a switch element, and the other of the positive pole and the negative pole of the battery pack is connected with the control system. A switching element is provided with two main electrodes and a G control electrode. One main electrode is connected to the battery pack and the other main electrode is connected to the control system. The control system is connected to the G control electrode to control the on/off state of the switch element. When the number of groups of the battery pack is larger than one, the other main electrodes of the switching elements are electrically connected. The battery pack is provided with a signal line interface used for being connected with the control system and used for sending current electric quantity information to the control system. The self-balancing electric swing car can conveniently disassemble the battery and can coordinate the electric quantity matching among different battery packs.

Description

Self-balancing electric twisting car and battery control method thereof

technical field

The invention belongs to the field of self-balancing electric vehicles, in particular to a self-balancing electric torsion vehicle and a battery control method thereof

Background technique

In the current market, the self-balancing electric twister car is deeply loved by consumers due to its high entertainment, strong sense of technology, and sufficient sense of fashion. The control system of the self-balancing self-balancing electric twister uses gyroscopes and acceleration sensors to detect changes in the posture of the car body, and uses the servo control system to accurately drive the motor to make corresponding adjustments to maintain the balance of the system. The body of the self-balancing self-balancing electric twisting car is equipped with lithium batteries and other types of battery packs as the power source of the car body. In order to ensure the cruising range of the car body, the capacity of the battery pack ranges from 158 to 208WH.

The self-balancing electric scooter currently on the market usually uses one or two battery packs to power the control system, and uses a basic battery management system. When a battery pack is removed, the self-balancing electric twister will stop working. Based on the different market demands of current users, battery packs of different numbers are usually used to match the vehicle, but at this time, different control systems are needed to match the battery packs of different numbers, so that the production of self-balancing electric twisting cars becomes easier. Relatively complicated.

At the same time, because the capacity of the battery pack is too high, when the user needs to transport the self-balancing electric scooter by air, all the battery packs equipped with the self-balancing electric scooter will exceed the limit requirements of general airports, and they will be forced to remove the self-balancing scooter. Balance some or all of the battery packs configured on the electric scooter to meet airport consignment requirements. Most of the self-balancing electric twister vehicles currently on the market have battery packs and complete vehicles that are integrally assembled, resulting in difficulty in disassembly and assembly.

Contents of the invention

The technical problem to be solved by the present invention is to provide a self-balancing electric twister, which adopts a battery pack with a modular design, and can easily disassemble one or more of the multiple battery packs. The battery pack can be turned on/off controlled by the control system through corresponding multiple switching elements, so as to coordinate the power matching among different battery packs. The invention also provides a corresponding battery control method.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

According to one aspect of the present invention, a self-balancing electric twister is provided, including a control system and a power module, wherein the power module includes at least one set of battery packs and switching elements, and a set of positive and negative poles of the battery pack One of the poles is connected to the control system through one of the switching elements, and the other pole of the positive and negative poles of the battery pack is connected to the control system; wherein,

Each of the switching elements is provided with two main electrodes and a G control pole, one of the two main electrodes is connected to the battery pack, the other main electrode is connected to the control system, and the control a system connected to the G control pole to control the on/off state of the switching element;

When the number of battery packs is greater than one, the other of the two main electrodes of each of the switching elements is electrically connected to each other;

And, the battery pack is provided with a signal line interface for connecting to the control system, for the battery pack to send current power information to the control system.

In another embodiment, the switching element is a bidirectional thyristor or a MOS transistor.

In another embodiment, when the number of battery packs is greater than one, and the self-balancing electric twister is in working state, the on/off state of each switching element is:

If the electric quantities of each of the battery packs are consistent, the control system controls each of the switching elements to be turned on; and

If the electric quantity of at least one of the battery packs is inconsistent with that of the other battery packs, the control system controls the switching elements corresponding to the several battery packs with the highest electric charge among all the battery packs to be turned on, And control the switching elements of other battery packs to close.

In another embodiment, the battery pack is in the form of a detachable module, and the self-balancing electric twister car also includes a chassis, and the chassis is provided with a locking block and a guide screw, and the locking block passes through the guide The screw is slidably fixed on the chassis, the locking block is provided with a spring, one end of the spring is fixed to the locking block, and the other end is against the chassis.

In another embodiment, the self-balancing electric twist car also includes a pedal and a chassis, the pedal is provided with a number of positioning guide buckles, and the chassis is provided with a number of positioning guide holes, wherein the The pedal is connected to the chassis through the cooperation of the positioning guide buckle and the positioning guide hole.

In another embodiment, the positioning guide buckle includes a mounting part, a positioning guide part and a buckle part that are fixedly connected in sequence, a spring is sleeved on the outside of the positioning guide part, and the positioning guide buckle passes through the buckle part Removably mounted on the chassis.

In another embodiment, the battery pack is provided with a connector, and the connector is provided with the signal line interface; the control system includes a main board, and the main board is provided with a Matching connectors; wherein the connectors of the battery pack are electrically connected with the connectors of the main board.

In another embodiment, the battery pack is provided with a USB interface, and the battery pack can be used as a charging device.

According to another aspect of the present invention, a battery control method of a self-balancing electric twister is provided, wherein the battery control method includes:

Provide the self-balancing electric twist car mentioned above;

When the number of groups of the battery pack is one group, the control system controls the on/off of the switching element; or

When the number of battery packs is greater than one, the control system collects and compares the power information of each of the battery packs. When the self-balancing electric twister is in working condition, the conduction of each of the switching elements /closed state is:

If the electric power of each of the battery packs is consistent, the control system controls each of the switching elements to be turned on; and,

If the electric quantity of at least one of the battery packs is inconsistent with that of the other battery packs, the control system controls the switching elements corresponding to the several battery packs with the highest electric charge among all the battery packs to be turned on, And control the switching elements of other battery packs to close.

In one embodiment, the battery pack is in the form of a detachable module; the battery pack is provided with a connector, and the control system includes a main board, and the main board is provided with a connector that matches the connector of the battery pack. Plug-ins; and the self-balancing electric twist car also includes a chassis, the chassis is provided with a locking block and a guide screw, the locking block is slidably fixed on the chassis by the guide screw, and the lock A spring is arranged on the tight block, one end of the spring is fixed to the locking block, and the other end is against the chassis.

In one embodiment, the self-balancing electric twisting car also includes a pedal and a chassis, the pedal is provided with a number of positioning guide buckles, the chassis is provided with a number of positioning guide holes, the pedal The plate is connected to the chassis through the cooperation between the positioning guide buckle and the positioning guide hole; wherein, the positioning guide buckle includes a mounting part, a positioning guide part and a buckle part that are fixedly connected in sequence, and the positioning guide The outside of the part is covered with a spring, and the positioning guide buckle is detachably mounted on the chassis through the buckle part.

Adopt the present invention to have following beneficial effect:

1. The self-balancing electric twister of the present invention adopts a modular battery pack, which can be conveniently disassembled, installed or replaced according to user needs or airport consignment requirements.

2. The battery control method adopted in the present invention can perform matching control of battery packs according to the power of multiple battery packs, so that the battery life configuration of the self-balancing electric twister is more diversified and the battery life is improved.

3. The multiple battery packs used in the present invention are connected in parallel. The dismantling or damage of one battery pack will not affect the other battery packs to continue to work to provide electric energy for the self-balancing electric twisting car, which plays a role in the redundancy of the power supply. effect.

4. The present invention adopts detachable pedals, so that when the pedals are removed, the battery pack can be further disassembled.

5. The modularized battery pack adopted by the present invention is provided with a USB interface, and the disassembled battery pack can be used as an independent charging device (power bank).

Description of drawings

Fig. 1 is the electrical schematic diagram of the control system and the power supply module of the embodiment of the present invention;

2 is a schematic diagram of the electrical structure of the switching element;

Fig. 3 is a schematic diagram of a battery pack and a locking device;

Fig. 4 is a schematic diagram of disassembling and assembling the battery pack of the self-balancing electric twisting car according to the embodiment of the present invention;

Fig. 5 is the front view of the self-balancing electric twisting car according to the embodiment of the present invention;

Fig. 6 is a schematic diagram of disassembling and assembling the pedals of the self-balancing electric twisting car according to the embodiment of the present invention;

Fig. 7 is a schematic diagram when the pedals of the self-balancing electric twist car according to the embodiment of the present invention are removed;

Fig. 8 is an exploded schematic diagram of the pedal and the positioning guide buckle;

Fig. 9 is a schematic diagram of a positioning guide buckle;

Figure 10 is a schematic diagram of cooperation between the pedal and the positioning guide buckle;

Fig. 11 is a schematic diagram of the internal structure of the self-balancing electric twist car according to the embodiment of the present invention;

Figure 12 is a schematic diagram of the working state of the chassis and the positioning guide buckle when the pedal is not stepped on;

Fig. 13 is a schematic diagram of the working state of the chassis and the positioning guide snap fit when the pedal is stepped on.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

A self-balancing electric twister usually includes two motor wheels, a power module, a pedal assembly and a control system. The motor wheel is provided with a motor and tires, wherein the tires are mounted on the motor. The motor wheel is installed on the chassis of the pedal assembly and is the output part of the power. The power supply module is installed under the pedal of the pedal assembly, which is the source of power and provides energy for the control system and the motor.

The control system is installed under the pedal board. The control system usually has a central processing unit, an attitude acquisition module, a motor drive module, a display module, an operation module, a storage module, a speed detection module, a current/voltage monitoring module and a battery protection module. The attitude acquisition module uses the attitude sensor to acquire the attitude parameters of the car body. The motor drive module drives the motor to rotate. The display module displays the current vehicle body and battery status. The operation module can set the operation mode and parameters. The storage module stores user habits and states of each module. The speed detection module detects the current motor speed. The current/voltage monitoring module monitors the motor drive voltage, battery voltage, and system current. The battery protection module protects the charging, discharging and standby of the battery. The central processing unit performs operations on the data of each module and drives the relevant output modules. Herein, the control system may adopt any suitable system known in the art, and will not be described in detail here.

Referring to Fig. 1 to Fig. 13, the embodiment of the self-balancing electric twist car according to the present invention is shown. As shown in Figure 1, the self-balancing electric twister car includes a control system and a power module. The power module includes two sets of battery packs and two corresponding switching elements, which are battery pack A, switching element A, battery pack B, and switching elements. B, wherein, a group of battery packs corresponds to a switching element.

The switch element is provided with T1 main electrode, T2 main electrode and G control pole, wherein the control system is connected to the G control pole to control the on/off state of the switch element. The switching element can be a bidirectional thyristor or a MOS transistor, which has a bidirectional conduction function. As shown in Figure 2, a bidirectional thyristor is shown, which is a semiconductor device with an N-P-N-P-N five-layer structure. It has a T1 main electrode, a T2 main electrode, and a G control electrode. The main electrode can be controlled by the G control electrode. On/off between T1 and main electrode T2.

In one embodiment, the T1 main electrode of the switching element A is connected to the positive pole of the battery pack A, the T2 main electrode of the switching element A is connected to the control system, and the G control electrode of the switching element A is connected to the control system. Similarly, the T1 main electrode of the switching element B is connected to the positive pole of the battery pack B, the T2 main electrode of the switching element B is connected to the control system, and the G control electrode of the switching element B is connected to the control system. In addition, the T2 main electrode of the switching element A and the T2 main electrode of the switching element B are connected to each other and further connected to the control system, and the negative pole of the battery pack A and the negative pole of the battery pack B are connected to each other and further connected to the control system. It is to connect battery pack A and battery pack B in parallel.

In another embodiment, contrary to the above embodiment, the positive and negative poles of the battery pack are connected in the opposite manner, that is, the negative pole of the battery pack is connected to the T1 main electrode of the switching element, and the positive pole of the battery pack is connected to the control system.

It should be noted that among the above switching elements, the connection relationship between the T1 main electrode and the T2 main electrode and other elements can be interchanged, for example, when one of them is connected to the battery pack, the other is connected to the control system.

The embodiment shown in Fig. 1 uses two sets of battery packs, the power supply module of the self-balancing electric twisting car according to the present invention can also use more than two sets of battery packs, the number of battery packs used specifically, It can be customized according to the actual needs of users or according to the model and configuration of the self-balancing electric twister. In general, multiple battery packs should be connected in parallel.

In order to implement battery control and management on the battery pack, the battery pack is also provided with a signal line interface for connecting to the control system, which is used for the battery pack to send current power information to the control system.

The battery control method of the self-balancing electric twisting car according to the present invention is as follows according to the difference in the number of battery packs:

1) When the number of battery packs is one, the control system directly controls the on/off of the switching element to control the battery pack to provide electric energy.

2) When the number of battery packs is greater than one set, taking the embodiment shown in FIG. 1 as an example, two sets of battery packs are used. The control system collects and compares the power information of battery pack A and battery pack B. When the self-balancing electric twister is working, the on/off state of switching element A and switching element B is determined by the power of each battery pack, specifically :

When the electric quantity of the battery pack A and the battery pack B are consistent, the control system controls the switching element A and the switching element B to be turned on, so that the battery pack A and the battery pack B are in parallel state, and simultaneously provide electric energy for the self-balancing electric twister car ;

When the electric quantities of battery pack A and battery pack B are inconsistent, the control system controls the switch element corresponding to the battery pack with a higher electric charge to be turned on, and controls the switch element corresponding to the other battery pack to be turned off. When the electric power of battery pack A and battery pack B are consistent again, the control system will control switching element A and switching element B to be turned on at the same time, and battery pack A and battery pack B will simultaneously supply power in a parallel state.

Similar to the above-mentioned battery control method, when the number of battery groups is greater than two groups, if at least one of the battery groups is inconsistent with the power of other battery groups, the control system controls the number of battery groups with the highest power. The switching element is turned on, and other switching elements are controlled to be turned off.

Referring to Fig. 3 to Fig. 5, the battery pack 10 of the self-balancing electric twister according to the present invention is in the form of a detachable module. The self-balancing electric twisting car is also provided with a chassis 2, and the battery pack 10 is provided with a locking block 11 and a guide screw 12, and the locking block 11 is slidably installed on the chassis 2 by the guide screw 12 so that the locking block 11 holds the battery Group 10 is detachably locked to chassis 2 . The locking block 11 is provided with a spring 13 , one end of the spring 13 is fixed to the locking block 11 , and the other end is against the chassis 2 .

When disassembling the battery pack 10 , the locking block 11 can slide relative to the chassis 2 to leave a space for disassembling the battery pack 10 . The spring 13 enables the locking block 11 to have a sliding reset function, and is beneficial to locking the battery pack. The chassis 2 is located inside the upper shell 3 and the lower shell 4 of the self-balancing electric twister, and the middle area of the chassis 2 is provided with a battery pack installation space 5, and the user can remove the battery pack 10 from the battery pack installation space 5 according to requirements .

The battery pack 10 is also provided with a connector 14, and the connector 14 is provided with the above-mentioned signal line interface. The control system is also provided with a main board, and a connector 15 matching the connector 14 of the battery pack 10 is arranged on the main board. The connector 15 of the main board is electrically connected with the connector of the battery pack. The battery pack 10 is also provided with a USB interface 16, which is used to detach the battery pack 10 from the self-balancing electric twister, and use the battery pack 10 as a charging device (power bank) to charge other electronic devices.

In order to disassemble and assemble the battery pack 10 conveniently, the battery pack can only be disassembled after the entire casing of the self-balancing electric twisting car is disassembled in the prior art, the present invention provides a more convenient The disassembly method only needs to remove the pedals of the self-balancing electric twister, and then the battery pack can be disassembled. As shown in Figure 6 and Figure 7, using a tool, apply force at the prying part 21 of the pedal 20, the pedal 20 can be removed from the body of the self-balancing electric twister, and the battery pack can be removed. 10 is exposed, so that the battery pack 10 can be further disassembled.

Referring to FIGS. 8 to 13 , the pedal 20 is divided into two parts: a rubber plate 22 and a pedal body 23 . The rubber plate 22 is mounted on the pedal main body 23 by screws 24 . The pedal 20 is provided with several positioning guide buckles 30 . The chassis 2 is provided with several positioning guide holes 41 , and the pedal 20 is connected to the chassis 2 through the cooperation of the positioning guide buckles 30 and the positioning guide holes 41 .

The positioning guide buckle 30 includes an installation part 31 , a positioning guide part 32 and a buckle part 33 which are sequentially fixedly connected. The positioning guide buckle 30 may be an integral structure. A spring 34 covers the outside of the positioning guide part 32 , and the positioning guide buckle 30 is detachably mounted on the chassis 2 through the buckle part 33 . The positioning guide buckle 30 is made of high-strength and highly elastic plastic parts.

The pedal 20 can move a stroke along the positioning guide part 32 under the compression/rebound action of the spring 34 . A travel switch 51 is provided on the chassis 2 , and a driving part 52 is provided at the bottom of the pedal 20 . When the pedal 20 is in motion, the driving part 52 can drive the travel switch 51 to act, so that the travel switch 51 further controls the working state of the self-balancing electric twister.

Referring to Figure 12 and Figure 13, it shows the working state of the positioning guide buckle 30 when the pedal 20 is not stepped on and when it is stepped on, as can be seen from the figure, the pedal 20 is in the positioning guide buckle Under the guiding effect of the positioning guide part 32 of 30, the linear action is performed, and the buckle part 33 can prevent the pedal 20 from breaking away from the chassis 2. In this embodiment, the positioning guide buckle 30 is provided with three buckle parts 33, a U-shaped gap is provided between the two buckle parts, and the three buckle parts 33 surround a hollow area, so that the positioning guide buckle 30 It can be disassembled from the chassis 2, and further, the battery pack 10 can be easily disassembled when the pedal 20 is disassembled.

It should be understood that the exemplary embodiments described herein are illustrative and not restrictive. Although one or more embodiments of the present invention have been described in conjunction with the drawings, it will be appreciated by those of ordinary skill in the art that various changes may be made without departing from the spirit and scope of the invention as defined by the appended claims. Changes in form and detail.

Claims (10)

1. A self-balancing electric twister, comprising a control system and a power module, characterized in that the power module includes at least one set of battery packs and switching elements, and one of the positive and negative poles of a set of battery packs passes through One of the switching elements is connected to the control system, and the other pole of the positive and negative poles of the battery pack is connected to the control system; wherein, Each of the switching elements is provided with two main electrodes and a G control pole, one of the two main electrodes is connected to the battery pack, the other main electrode is connected to the control system, and the control a system connected to the G control pole to control the on/off state of the switching element; When the number of battery packs is greater than one, the other of the two main electrodes of each of the switching elements is electrically connected to each other; And, the battery pack is provided with a signal line interface for connecting to the control system, for the battery pack to send current power information to the control system. 2. The self-balancing electric twister car according to claim 1, characterized in that, the switching element is a bidirectional thyristor or a MOS tube. 3. The self-balancing electric twisting car as claimed in claim 1, characterized in that, when the number of the battery packs is greater than one group, each of the switches of the self-balancing electric twisting car is in the working state. The on/off state of the element is: If the electric quantities of each of the battery packs are consistent, the control system controls each of the switching elements to be turned on; and If the electric quantity of at least one of the battery packs is inconsistent with that of the other battery packs, the control system controls the switching elements corresponding to the several battery packs with the highest electric charge among all the battery packs to be turned on, And control the switching elements of other battery packs to close. 4. The self-balancing electric twisting car as claimed in claim 1, wherein the battery pack is in the form of a detachable module, and the self-balancing electric twisting car also includes a chassis, and the chassis is provided with a locking block and a guide screw, the locking block is slidably fixed on the chassis through the guide screw, a spring is arranged on the locking block, one end of the spring is fixed to the locking block, and the other end against the chassis. 5. The self-balancing electric twisting car as claimed in claim 1, characterized in that, the self-balancing electric twisting car also includes a pedal and a chassis, and the pedal is provided with several positioning guide buckles, The chassis is provided with several positioning guide holes, wherein the pedal is connected to the chassis through the cooperation of the positioning guide buckles and the positioning guide holes. 6. The self-balancing electric twisting car according to claim 5, wherein the positioning guide buckle comprises a mounting part, a positioning guide part and a buckle part fixedly connected in sequence, and the outer side of the positioning guide part is covered with The spring, the positioning guide buckle is detachably installed on the chassis through the buckle part. 7. The self-balancing electric twisting car as claimed in claim 1, wherein the battery pack is provided with a connector, and the connector is provided with the signal line interface; the control system includes a main board, the A connector matching the connector of the battery pack is provided on the main board; wherein the connector of the battery pack is electrically connected with the connector of the main board. 8. A battery control method for a self-balancing electric twist car, characterized in that the battery control method comprises: Provide the self-balancing electric twist car as claimed in claim 1; When the number of groups of the battery pack is one group, the control system controls the on/off of the switching element; or When the number of battery packs is greater than one, the control system collects and compares the power information of each of the battery packs, and when the self-balancing electric twister is in working condition, the conduction of each of the switching elements /closed state is: If the electric power of each of the battery packs is consistent, the control system controls each of the switching elements to be turned on; and, If the electric quantity of at least one of the battery packs is inconsistent with the electric quantity of the other battery packs, the control system controls the switching elements corresponding to the several battery packs with the highest electric charge among all the battery packs to be turned on, And control the switching elements of other battery packs to close. 9. The battery control method of the self-balancing electric twist car as claimed in claim 8, wherein the battery pack adopts a detachable module form; the battery pack is provided with connectors, and the control system includes a main board , the main board is provided with a connector that matches the connector of the battery pack; and the self-balancing electric twister also includes a chassis, and the chassis is provided with a locking block and a guide screw, and the locking The block is slidably fixed on the chassis through the guide screw, a spring is arranged on the locking block, one end of the spring is fixed to the locking block, and the other end is against the chassis. 10. The battery control method of the self-balancing electric twist car as claimed in claim 8, characterized in that, the self-balancing electric twist car also includes a pedal and a chassis, and the pedal is provided with a number of positioning Guide buckle, the chassis is provided with a number of positioning guide holes, the pedal is connected to the chassis through the cooperation of the positioning guide buckle and the positioning guide hole; wherein, the positioning guide buckle includes The installation part, the positioning guide part and the buckle part are fixedly connected in sequence, the outer side of the positioning guide part is covered with a spring, and the positioning guide buckle is detachably mounted on the chassis through the buckle part.