CN110615059A - Control system for balance car and balance car - Google Patents

Abstract

The invention discloses a balance car control system and a balance car, wherein the balance car control system includes: a main control board, the main control board includes a circuit board 1; used for detecting signals, processing the detected signals, and externally The main control chip for sending control signals; the gyroscope chip one for detecting the angular velocity and acceleration of the balance car body; and the bluetooth chip for data transmission and audio transmission; the main control chip, gyroscope chip one and bluetooth The chips are all installed on the circuit board 1, and the gyroscope chip 1 and the bluetooth chip are both connected to the main control chip. In the balance vehicle control system of the present invention, the gyroscope chip 1 is directly installed on the circuit board 1, and the gyroscope chip 1 directly communicates with the main control chip, and the communication is more stable; and the bluetooth chip is directly arranged on the circuit board 1, and the bluetooth chip can be used For data transmission and audio transmission, the application scheme shortens the communication distance, and the sending and receiving data and audio transmission can be processed at the same time, and the anti-interference is enhanced.

Description

Balance vehicle control system and balance vehicle

technical field

The invention relates to a control system for a balance car and a balance car.

Background technique

Now there is a type of balance car, the left and right car bodies can rotate relative to each other, commonly known as the twist car, the control system in the twist car generally includes a main control board and two auxiliary control boards, and the two auxiliary control boards are respectively set Gyroscope and control chip, the control chip is also set on the main control board. In this control system, the gyroscope on the sub-control board communicates with the control chip on the sub-control board respectively, and then communicates with the The control chip communicates, the signal transmission is unstable, the cost is high, it is easy to damage, and it is inconvenient to install and maintain.

Contents of the invention

The invention relates to a control system for a balance vehicle and the balance vehicle, which has improved integration, reduced cost and convenient installation and maintenance.

The present invention is achieved through the following technical solutions:

A control system for a balance vehicle, comprising: a main control board, the main control board includes a circuit board 1; a main control chip for detecting signals, processing the detected signals, and sending control signals to the outside; The gyroscope chip one of angular velocity and acceleration of body; One and the bluetooth chip are both connected to the main control chip.

By adopting the above technical solution, the gyroscope chip 1 is directly installed on the circuit board of the main control board, the gyroscope chip 1 is connected to the main control chip, and the gyroscope chip 1 communicates directly with the main control chip without passing through other intermediary circuits. Board or control chip, the communication is more stable; and the Bluetooth chip is directly set on the main control board, the Bluetooth chip can be used for data transmission and audio transmission, which is different from the traditional two Bluetooth modules that need to be set separately for data transmission and audio transmission. For audio transmission, the bluetooth chip of this application integrates the two, and is directly installed on the first circuit board, which shortens the communication distance between the two, and the data sending and receiving and audio transmission can be processed at the same time, and the anti-interference performance is enhanced.

As a further improvement of the present invention, the first circuit board is provided with a Hall seat for steering. By adopting the above-mentioned technical scheme, this balance car control system can be used for a flat balance car, that is, a balance car whose body cannot rotate relative to each other. Steering is achieved by turning the angle of the joystick, and the steering Hall seat can be connected to the steering Hall element through a wire.

As a further improvement of the present invention, it also includes a secondary control board, the secondary control board includes a circuit board 2 and a gyroscope chip 2 mounted on the circuit board 2, the circuit board 1 is provided with a communication seat 1, and the circuit board 1 The second is provided with a communication seat 3 for connecting to the communication seat 1; it also includes a circuit board 3, the surface of one side of the circuit board 3 is provided with a photoelectric switch 1, and the surface of the other side of the circuit board 3 is provided with a main control board interface, and the circuit board 3 The second is provided with a photoelectric switch 2, the circuit board 1 is provided with a photoelectric switch seat 1, and the interface of the main control board is connected with the photoelectric switch seat 1. By adopting the above-mentioned technical scheme, the second gyroscope chip is installed on the circuit board two of the sub-control board, and the second gyroscope chip is connected to the main control chip through each communication socket, then through the functions of the main control board and the sub-control board, the system can be Applied to twisting cars, the first gyroscope chip can sense the acceleration and angular velocity information of one side of the car body, and then convert it into the tilt information of the side car body, and the second gyroscope chip can sense the acceleration and angular velocity of the other side of the car body The information is converted into the tilt information of the corresponding car body, so as to provide the information source for the main control chip, and realize the balance control of each car body of the self-balancing car. Each photoelectric switch can be used for the steering control of the Twist car. And the setting of the photoelectric switch seat 1 can be used to connect the interface of the main control board on the circuit board 3, so as to facilitate the signal transmission of the photoelectric switch to the main control chip.

As a further improvement of the present invention, the circuit board 1 is also provided with Hall connector 1, Hall connector 2 and photoelectric switch seat 2, and the Hall connector 1, Hall connector 2 and photoelectric switch seat 2 are located on the circuit board 1. Lower edge position. By adopting the above technical solution, Hall connector 1 can be used to connect the Hall sensor in the motor on one side of the balance car, and Hall connector 2 can be used to connect the Hall sensor in the motor on the other side of the balance car. The setting of photoelectric switch seat 2 enables this control system to be applied to flat balance vehicles. After replacing the sub-control board, the photoelectric switch seat 2 can be connected to a photoelectric switch for sensing whether people are on board, and cleverly utilizes the main control The space of the circuit board of the board makes the structure compact and multi-purpose.

As a further improvement of the present invention, the photoelectric switch seat 2 is on the right side of Hall connector 2, and the photoelectric switch seat 1 is on the left side of Hall connector 1; between Hall connector 1 and Hall connector 2, on the circuit board 1 A large lamp holder is provided, and on the right side of the photoelectric switch holder two, a fault lamp holder or an electric quantity lamp holder is arranged on the circuit board one. By adopting the above technical scheme, the layout of the positions of the Hall connectors and the photoelectric switch seats is reasonable and ingenious, and the structure is compact, so that the space on the circuit board 1 can be rationally utilized and the installation of each line is facilitated.

As a further improvement of the present invention, under the main control chip, on the circuit board 1, there are arranged side by side a taillight holder, a turn signal holder and a marquee holder. By adopting the above-mentioned technical scheme, the tail lamp holder, the turn signal holder and the marquee lamp holder are located below the main control chip, and above the second photoelectric switch holder and the first Hall connector, so that the layout of each wiring holder is compact.

As a further improvement of the present invention, MOS tubes are provided on the left and right edges of the circuit board 1, and the MOS tubes are mounted on a metal base plate through fasteners, and insulating pads are provided between the MOS tubes and the metal base plate. By adopting the above-mentioned technical solution, the MOS tubes are distributed on both sides of the circuit board one, and the structural layout is reasonable, which is easy to dissipate heat from the MOS tubes, and will not adversely affect important components such as the main control chip and the gyroscope chip.

As a further improvement of the present invention, the main control chip is located at the lower position of the circuit board 1 in the up and down direction, and is in the middle position in the left and right direction, and the gyroscope chip 1 is located in the upper position of the circuit board 1 in the up and down direction, and is in the middle of the left and right direction Location. By adopting the above technical solution, the arrangement of various components is facilitated.

As a further improvement of the present invention, the left side of the gyroscope chip one is provided with a communication seat two on the circuit board one, and the left side of the communication seat two is provided with a charging seat on the circuit board one, and the communication seat one is located in the communication seat two Above, on the right side of the communication seat one, a switch seat is arranged on the circuit board one. By adopting the above technical solution, the setting of the communication seat 2 can be used for the communication connection of the backup gyroscope. The setting of the switch seat can be used to connect the start switch of the balance car.

A self-balancing car, including the control system for a self-balancing car described in any one of the solutions above. By adopting the above technical solution, the self-balancing car adopts this control system, which is beneficial to the optimization of the circuit board, improves the control performance, and reduces the cost of the self-balancing car.

According to the balance vehicle control system and the balance vehicle of the present invention, compared with the prior art, it at least has the following beneficial effects: the main control board is directly equipped with a gyroscope chip one, and there is no need to set the gyroscope chip on the circuit board three, effectively The communication quality and efficiency between the gyroscope chip and the main control chip are improved, and the processing cost of the circuit board 3 can be reduced, and the process can be saved. The Bluetooth chip with data transmission and audio transmission functions installed on the main control board is conducive to improving the communication quality and stability, and also makes the space of the main control board to be used to the maximum.

In order to make the above and other objects, features and advantages of the present invention more comprehensible, preferred embodiments are specifically cited below and described in detail with accompanying drawings.

Description of drawings

Fig. 1 is the functional block diagram of the main control board provided by an embodiment of the present invention

FIG. 2 is a schematic diagram of the overall structure of the main control board provided by an embodiment of the present invention;

Fig. 3 is a structural schematic diagram of another angle of the main control board in Fig. 2 of the present invention;

Fig. 4 is an exploded schematic diagram of the main control board of Fig. 2 of the present invention;

Fig. 5 is a schematic top view of the main control board in Fig. 2 of the present invention;

Fig. 6 is a schematic structural diagram of an auxiliary control board provided by an embodiment of the present invention;

Fig. 7 is a structural schematic diagram of another angle of the auxiliary control board in Fig. 7 of the present invention;

Fig. 8 is a schematic top view of the auxiliary control board in Fig. 7 of the present invention;

FIG. 9 is a schematic structural diagram of a circuit board three and components on it provided by an embodiment of the present invention.

In the figure: metal base plate 101, insulating pad 102, circuit board 103, photoelectric switch seat 104, horn seat 105, Hall connector 106, tail light seat 107, headlight seat 108, turn signal seat 109, Hall Connector two 110, marquee lamp holder 111, photoelectric switch holder two 112, four or six lamp holder one 113, MOS tube 114, buzzer 115, driver chip one 116, hall seat 117, capacitor 118, switch holder 119, gyroscope Chip One 120, Communication Seat One 121, Communication Seat Two 122, Charging Seat 123, Driver Chip Two 124, Main Control Chip 125, Bluetooth Chip 126, Operational Amplifier Chip One 127, Operational Amplifier Chip Two 128, Power Amplifier Chip 129, Voltage Chip 130, inductance 131, circuit board 2 21, communication seat 3 22, gyroscope chip 2 23, tail light seat 2 24, steering lamp seat 2 25, lamp seat 2 26, lamp control chip 27, photoelectric switch 2 28, circuit Board three 31, main control board interface 32, photoelectric switch one 33.

Detailed ways

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the following will be combined with the drawings and preferred embodiments, and the specific implementation, structure, features and effects of the present invention will be described in detail as follows .

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation or position indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. The relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore It should not be construed as a limitation of the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it may be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrally connected; may be mechanically connected, may also be electrically connected; may be directly connected, may also be indirectly connected through an intermediary, and may be internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In this application, unless otherwise expressly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Example 1

The control system for a self-balancing vehicle, referring to Fig. 1 to Fig. 7, includes a main control board 1 and a sub-control board 2, and the main control board 1 is connected to the sub-control board 2. The main control board 1 includes a metal base plate 101, an insulating pad 102, a circuit board 103, a photoelectric switch seat 104, a horn seat 105, a Hall connector 106, a tail light seat 107, a headlight seat 108, and a steering lamp seat 109. Hall connector 2 110, marquee lamp holder 111, photoelectric switch holder 2 112, lamp holder 113, MOS tube 114, buzzer 115, driver chip 1 116, Hall holder 117, capacitor 118, switch holder 119, Gyroscope chip one 120, communication seat one 121, communication seat two 122, charging stand 123, driver chip two 124, main control chip 125, bluetooth chip 126, operational amplifier chip one 127, operational amplifier chip two 128, power amplifier chip 129, Voltage chip 130, inductor 131, resistors, etc. Among them, the capacitor 118 includes multiple capacitors with various types and styles, for example, chip capacitors or plug-in capacitors can be used. The voltage chip 130 includes a plurality of types and functions, and can be a voltage stabilizing chip, a step-down chip, or a boost chip. Resistor models can be varied, styles can be varied, and chip or plug-in resistors can be used.

Referring to Fig. 6 to Fig. 8, the sub-control board 2 includes circuit board two 21, communication seat three 22, gyroscope chip two 23, tail light seat two 24, steering light seat two 25, four-six lamp seat two 26, light control chip 27 , photoelectric switch two 28 and necessary resistance, capacitance and so on. In other embodiments, when the balance vehicle control system is applied to a flat balance vehicle, the gyroscope chip 2 is not set on the sub-control board 2 of the balance vehicle control system, but only the gyroscope chip 1 is set on the main control board. Can.

The balance vehicle control system also includes a circuit board three 31. Referring to FIG. 9, one side of the circuit board three 31 is provided with a main control board interface 32, and the other side is provided with two photoelectric switches one 33.

The principle frame of the main control board is shown in Figure 1. The main control board 1 includes a main control chip, a gyroscope chip one, a first power supply circuit, a motor drive circuit, a current detection circuit, an overcurrent protection circuit, a voltage detection circuit, and a secondary The interface circuit for the signal interaction of the control board (sub-control board interface/communication seat 121); the main control chip is used to detect signals, process the detected data, interact with the signals of the sub-control board, and send control signals to the outside, and the gyroscope chip 1 It is used to detect the angular velocity and acceleration of the body of the two-wheel balance car. The first power supply circuit is used to supply the voltage required by the main control board, auxiliary control board and peripheral devices. The motor drive circuit is used to output the PWM signal according to the main control chip. The battery voltage is converted into corresponding PWM form output, and sent to the motor through the motor interface to drive the hub motor to run. The current detection circuit is used to detect the motor running current, and the overcurrent protection circuit is used to protect and cut off the drive when the motor running current is too large. A PWM signal of the motor, the PWM signal may be a PWM signal output from the motor driver chip to the motor, or a PWM signal output from the main control chip to the motor driver chip. The voltage detection circuit is used to detect the battery voltage, and the sub-control board interface for signal interaction with the sub-control board is also used to supply power to the sub-control board, match the interface voltage of the main control board and the sub-control board, and signal processing.

Auxiliary control board interface (such as communication seat 121), voltage detection circuit, first power supply circuit, overcurrent protection circuit, current detection circuit, motor drive circuit, motor internal Hall element interface, steering Hall element interface, vehicle information display The device interface, station human detection component interface, magic light strip interface, lighting interface, on-board buzzer, Bluetooth communication and audio processing (such as Bluetooth chip) and gyroscope chip are all connected to the main control chip. The Hall element interface inside the motor (such as Hall connector 106, Hall connector 2 110) is connected to the Hall element inside each motor through wires, and the steering Hall element interface (such as Hall seat 117) can be connected to the steering through wires. Hall element used. The interface of the vehicle information display device (such as four or six lamp holders one 113 ) can be connected to the vehicle information display device through wires. The interface of the person detection element (such as photoelectric switch seat 104) can be connected to the person detection element (such as photoelectric switch) through wires. The magic light strip interface can be connected to the magic light strip through wires, and the lighting lamp interface can be connected to lighting lamps through wires. The on-board buzzer or buzzer interface, and the Bluetooth chip with data transmission and audio transmission functions are connected to the main control chip. The voltage detection circuit is connected to the first power supply circuit, the first power supply circuit is connected to the battery interface, and the auxiliary control board interface is connected to the first power supply circuit. The switch interface is connected to the first power supply circuit and the main control chip. The battery interface is connected to the milliohm-level sampling resistor, and the milliohm-level sampling resistor is connected to the overcurrent protection circuit; the battery interface is connected to the motor drive circuit, the motor drive circuit is connected to the current detection circuit and the motor interface, and the milliohm-level sampling resistor is connected to the motor drive circuit. The circuit in the dotted line box in the lower left part of Fig. 1 is the principle block diagram of the motor control circuit.

The gyroscope chip 120 is directly installed on the circuit board 103 of the main control board, and the gyroscope chip 120 is connected to the main control chip 125, and the gyroscope chip 120 directly communicates with the main control chip 125 without passing through other intermediary circuits Board or control chip, the communication is more stable; and the bluetooth chip 126 is directly set on the main control board, the bluetooth chip 126 can be used for data transmission and audio transmission, which is different from the traditional need to set up two bluetooth modules separately for data respectively For transmission and audio transmission, the bluetooth chip 126 of this application integrates the two, and is directly arranged on the circuit board 103, which shortens the communication distance between the two, and can simultaneously process the sending and receiving data and audio transmission, and the anti-interference performance is enhanced.

Referring to FIGS. 1 to 5 , the metal base plate 101 is at the bottom, the upper surface of the metal base plate 101 is attached with an insulating pad 102, the upper surface of the insulating pad 102 is attached with a MOS tube 114, and the upper surface of the MOS tube is attached to the circuit board one 103. The lower surface, the upper surface of the circuit board one 103 is used for setting other components. One side of the MOS tube has pins, and the pins of the MOS tube are curved (in other solutions, the pins of the MOS tube can be set to other shapes according to actual needs, such as straight lines), and the pins of the MOS tube are plugged into the circuit On board one, the other side of the lower part of the MOS tube is a metal heat sink. The heat sink of the MOS tube is attached to the insulating pad, and the heat sink of the MOS tube is fixed on the metal plate and the insulating pad with plastic screws. The MOS tube is between the circuit board one and the metal plate, and the three are fixed.

The purpose of this method is to use the metal plate to increase the heat dissipation capacity of the MOS tube without causing a short circuit, and the metal plate also has a fixing effect.

Specifically, as shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, circuit board one 103 is a rectangle, referring to Fig. 5, as shown in Fig. Circuit board one up and down. The main control chip 125 is located in the middle of the circuit board 1 in the left and right direction, and is located in the lower position of the circuit board 1 in the up and down direction. The location layout of the main control chip is conducive to the arrangement of other components, and also facilitates the signal interaction between other components and the main control chip, and at the same time makes the circuit arrangement on the circuit board more convenient.

Referring to FIG. 5 , the gyroscope chip 1 120 is at the upper position of the circuit board 1 in the vertical direction. On the lower edge of the circuit board one, install photoelectric switch holder one 104, Hall connector one 106, headlight holder 108, Hall connector two 110, photoelectric switch holder two 112 and four-six lamp holders neatly from left to right 113, on the lower side of the circuit board one, above the photoelectric switch seat one 104, install the bluetooth chip 126, the horn seat 105, the tail light seat one 107, the turn lamp seat one 109, the marquee lamp seat 111 and the buzzer successively from left to right device 115, the right upper position of the bluetooth chip 126, and the circuit board one is provided with a power amplifier chip 129. Among them, the three parts of tail lamp holder 107, turn signal holder 109 and marquee lamp holder 111 are neatly arranged, and the positions of the three are higher than the position of the speaker base 105 and lower than the position of the Bluetooth chip 126, and the positions of the three are in the main control chip Between the position of 125 and the position of each component of a row where the headlight holder 108 is located. The bluetooth chip 126 is directly arranged on the circuit board one 103, which shortens the communication distance between the bluetooth chip and the main control chip, does not need to separately set up lead-out wires, and improves the signal stability of bluetooth sending and receiving data and audio transmission. The layout of the position of the Hall connector and the position of each photoelectric switch seat is reasonable and ingenious, and the structure is compact, so that the space on the circuit board can be used reasonably and the installation of each line is convenient.

As soon as the circuit board is on, referring to FIG. 5 , the Hall seat 117 is installed on the right side of the main control chip 125 . On the upper left side of the main control chip, the second circuit board 124 is installed with the driver chip 124, and between the driver chip 124 and the main control chip 125, the second operational amplifier chip 128 is installed on the first circuit board. Above the right side of the Hall seat 117, drive chip one 116 is installed on the circuit board one, below the drive chip one 116, an operational amplifier chip one 127 is installed on the circuit board one, above the driver chip one, an inductor 131 is installed on the circuit board one , above the inductor 131 , a voltage chip 130 is installed on the circuit board one. Operational amplifier chip one 127, driver chip one 116 and six MOS tubes on the right side of circuit board one and their connecting circuits constitute a motor drive circuit; operational amplifier chip two 128, driver chip two 124 and six MOS tubes on the left side of circuit board one The tube and its connecting circuit constitute another motor drive circuit.

The gyroscope chip one 120 is located in the middle of the circuit board one in the left and right direction, and is in the upper position of the circuit board one in the up and down direction. On the left side of the gyroscope chip one 120, the communication seat two 122 is installed on the circuit board one, and the setting of the communication seat two can be used for the communication connection of the standby gyroscope. Communication seat two 122 is arranged along the up and down direction, on the left side of communication seat two, a horizontally arranged charging stand 123 is installed on the circuit board one, and the setting of the charging stand can be used to connect the charging connector of the balance car. Above the communication seat two, the circuit board one is also horizontally provided with the communication seat one 121, the right side of the communication seat one 121, the switch seat 119 is set on the circuit board one, and the setting of the switch seat can be used to connect the start switch of the balance car.

On the left and right sides of the circuit board 1, there are six MOS tubes neatly arranged, that is, the total number of MOS tubes is 12. The insulating pad 112 can be a whole, or two separate sets, and there is one insulating pad under each row of MOS transistors. The left and right sides of circuit board 1 are arranged with high-power device MOS tubes. The structure and layout are reasonable, which is convenient for heat dissipation and effectively prevents short circuit, and will not cause damage to important components such as the main control chip and gyroscope chip in the middle of the circuit board. Negative Effects.

As shown in Fig. 6, Fig. 7 and Fig. 8, the lower surface of circuit board two 21 is equipped with communication seat three 22, gyroscope chip two 23, tail light seat two 24, turn signal lamp seat two 25, forty-six lamp seat two 26 and The light control chip 27 has two photoelectric switches 28 installed on the upper surface. As shown in Figure 8, the communication seat 3 22 is installed in the left middle part of the circuit board 2 21, the gyroscope chip 23 is in the middle left position on the circuit board 2 21, and the right side of the circuit board 2 is neatly arranged from top to bottom. Four or six lamp holders two 26, turn signal lamp holder two 25 and tail lamp holder two 24 are arranged on the ground. During normal use, the photoelectric switch 2 on the circuit board 2 faces up, which is convenient for pedal triggering. Tail lamp holder two 24 can be used for connecting tail lamp, turn signal lamp holder two 25 can be used for connecting turn signal, four and six lamp holders can be used for connecting four or six lights (fault lights). Each lamp holder can adopt male and female socket sockets, so as to connect various peripheral devices.

As shown in FIG. 9 , a main control board interface 32 is installed on one surface of the circuit board three 31 , and two photoelectric switches one 33 are installed on the other surface. During normal use, the photoelectric switch on the circuit board three faces up, which is convenient for pedal triggering.

Example 2

The self-balancing car includes the control system for the self-balancing car of the above-mentioned embodiment 1, and also includes a car body, wheels, batteries, pedals and peripheral devices. The car body includes a left car body and a right car body, and the left car body and the right car body rotate relatively. Connection, the left side of the left car body is equipped with a wheel, the right side of the right car body is installed with another wheel, and the battery is installed in any car body, that is, the self-balancing car is a twist car. Peripheral devices include but are not limited to turn signals, marquee lights, four-six lights, tail lights, headlights, and Hall sensors. The four-six lights are fault lights and can be connected to the vehicle information display device. The marquee lights are magic lights The light strip, the headlight can be a headlight, and is a lighting lamp. The turn lamp holder two 25, the four six lamp holder two 26 and the tail lamp holder two 24 on the circuit board two 21 are all correspondingly connected to the turn signal lamp, the four six lamps and the tail lamp respectively by wires. The communication seat 3 22 on the circuit board 2 21 is connected to the communication seat 1 121 on the circuit board 1 103 through wires.

The photoelectric switch base 104 on the circuit board one 103 is connected to the main control board interface 32 on the circuit board three 31 through wires. The Hall connector 106 on the circuit board 103 is connected to the Hall sensor in the hub motor in a wheel through wires to sense the wheel speed. The Hall connector 2 110 is connected to the Hall sensor in the hub motor in another wheel through wires. The headlight sockets are connected to the headlights by wires.

The main control board is installed in the left vehicle body, that is, the circuit board one 103 and the components on it are installed in the left vehicle body. Circuit board three 31 and its upper components are installed in the left car body, and the photoelectric switch one on the circuit board three 31 faces upwards, and the photoelectric switch one is below the pedal on the left car body of the balancing car. The auxiliary control board is installed in the right body, that is, the circuit board 21 and its components are installed in the right body, the photoelectric switch 2 on the circuit board 21 faces upward, and the photoelectric switch 2 is on the pedal on the right body of the self-balancing vehicle below. In other schemes, the circuit board 1 and the circuit board 3 can also be installed in the right vehicle body, and the circuit board 2 can be installed in the left vehicle body.

Example 3

A self-balancing car, including the control system for a self-balancing car of the above-mentioned embodiment 1, including a main control board 1, the sub-control board 2 does not have a gyroscope chip 2, and also includes a car body, wheels, batteries, pedals, joysticks and peripheral devices , the wheels are located on both sides of the car body, the battery is installed in the car body, the pedals are installed on the car body, and the lower part of the joystick is rotated and installed in the middle of the car body. The difference from Embodiment 2 is that in this embodiment, the vehicle body cannot rotate relative to each other, that is, the balance vehicle is a flat balance vehicle. Peripheral devices include but are not limited to turn signals, marquee lights, forty-six lights, headlights, and Hall sensors. The four or six lamps are fault lamps or battery lamps, the marquee lamps are colored light strips, and the headlights can be headlights. The turn lamp holder one 109, the four six lamp holder one 113 and the tail lamp holder one 107 on the circuit board one 103 are all correspondingly connected to the turn signal lamp, the four six lamp and the tail lamp respectively by wires. The communication seat 3 22 on the circuit board 2 21 is connected to the communication seat 1 121 on the circuit board 1 103 through wires. The Hall seat 117 on the first circuit board 103 is connected to the Hall sensor on the steering shaft of the steering lever through wires to sense the rotation angle and direction of the steering lever. The joystick can be a hand control lever, a leg control lever or a seat control lever, that is, the self-balancing vehicle can be a hand-controlled self-balancing vehicle, a leg-controlled self-balancing vehicle, or a seat-controlled self-balancing vehicle.

The photoelectric switch base 104 on the circuit board one 103 is connected to the main control board interface 32 on the circuit board three 31 through wires. The Hall connector 106 on the circuit board 103 is connected to the Hall sensor in the hub motor in a wheel through wires to sense the wheel speed. The Hall connector 2 110 is connected to the Hall sensor in the in-wheel motor in another wheel through wires. The headlight sockets are connected to the headlights by wires.

That is, the Hall connector 106 can be used to connect the Hall sensor in the motor on one side of the balance car, and the Hall connector 2 110 can be used to connect the Hall sensor in the motor on the other side of the balance car. The setting of the photoelectric switch seat 112 makes this control system applied to the flat balance vehicle. After replacing the sub-control board, the photoelectric switch seat 112 can be connected to a photoelectric switch for sensing whether people are on board, and it is cleverly used. The space of the circuit board of the main control board makes the structure compact and multi-purpose. The main control board 1 is installed in the vehicle body, and each photoelectric switch is located under each pedal.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art , without departing from the scope of the technical solution of the present invention, when the technical content disclosed above can be used to make some changes or be modified into equivalent embodiments with equivalent changes, but as long as it does not depart from the technical solution of the present invention, the technical content of the present invention In essence, any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solution of the present invention.

Claims (10)

1. A control system for a balance vehicle, characterized in that it includes: a main control board (1), the main control board (1) includes a circuit board one (103); used for detecting signals, processing the detected signals, The main control chip (125) that sends control signals to the outside; the gyroscope chip one (120) used to detect the angular velocity and acceleration of the balance car body; and the bluetooth chip (126) used for data transmission and audio transmission; The main control chip (125), the gyroscope chip 1 (120) and the bluetooth chip (126) are all installed on the circuit board 1 (103), and the gyroscope chip 1 (120) and the bluetooth chip (126) are all connected to the main control chips (125). 2. The balance vehicle control system according to claim 1, characterized in that, the first circuit board (103) is provided with a steering hall seat (117). 3. The balance vehicle control system according to claim 1, characterized in that it also includes a secondary control board (2), the secondary control board includes circuit board two (21) and is installed on the circuit board two (21) The gyroscope chip two (23), the circuit board one (103) is provided with a communication seat one (121), and the circuit board two (21) is provided with a communication seat three (22) for connecting to the communication seat one; The balance vehicle control system also includes a circuit board three (31), one side surface of the circuit board three (31) is provided with a photoelectric switch one (33), and the other side surface of the circuit board three (31) is provided with a main control board interface (32), the circuit board two (21) is provided with a photoelectric switch two (28), the circuit board one is provided with a photoelectric switch seat one (104), and the main control board interface (32) is connected to the photoelectric switch seat one (104 ). 4. The balance vehicle control system according to claim 3, characterized in that, the circuit board one (103) is also provided with Hall connector one (106), Hall connector two (110) and a photoelectric switch seat Two (112), Hall connector one (106), Hall connector two (110) and photoelectric switch seat two (112) are in the lower edge position of circuit board one. 5. The balance vehicle control system according to claim 4, characterized in that, the photoelectric switch seat 2 (112) is on the right side of the Hall joint 2 (110), and the photoelectric switch seat 1 (104) is on the Hall On the left side of connector one (106); between Hall connector one (106) and Hall connector two (110), a large lamp holder (108) is arranged on the circuit board one (103), and a photoelectric switch holder two (112 ) on the right side of the circuit board 1 is provided with a fault lamp holder or a power lamp holder. 6. The control system for a self-balancing vehicle according to claim 5, characterized in that, under the main control chip (125), on the first circuit board, a tail lamp holder (107) and a turn lamp holder (109) are arranged side by side. ) and marquee holder (111). 7. The control system for a self-balancing vehicle according to any one of claims 1-6, characterized in that MOS tubes (114) are provided at the edges of the left and right sides of the circuit board one (3), and the MOS tubes (114) is installed on a metal bottom plate (101) by fasteners, and an insulating pad (102) is arranged between the MOS tube (114) and the metal bottom plate (101). 8. The balance vehicle control system according to any one of claims 1-6, characterized in that, the main control chip (125) is located at the lower part of the circuit board one (103), and the gyroscope chip one (120) In the upper position of circuit board one (103). 9. The balance vehicle control system according to any one of claims 1-6, characterized in that, on the left side of the gyroscope chip one (120), a communication seat two (122) is provided on the circuit board one , on the left side of communication seat 2 (122), a charging seat (123) is arranged on circuit board 1, communication seat 1 (121) is above communication seat 2 (122), and on the right side of communication seat 1 (121), A switch base (119) is arranged on the circuit board one. 10. A self-balancing vehicle, characterized in that it comprises the control system for a self-balancing vehicle according to any one of claims 1-9.