CN205160428U - Balanced scooter control system of two -wheeled - Google Patents

Abstract

The utility model discloses a two-wheel balance scooter control system, which comprises a control board and a drive board which forms a hierarchical electrical connection with the control board through an interface module. The control board includes a main control chip and a sensor module connected to it and a PWM drive module. The sensor module includes at least a gyroscope, an acceleration sensor and a Hall sensor. The main control chip receives declination information, acceleration information and speed information and performs After data fusion, the PWM drive module is controlled to output the motor drive signal; the motor drive module in the drive board drives the motor to move according to the motor drive signal. Adopting the technical scheme of the utility model, since the angle, acceleration and speed are collected at the same time, the speed and angle of the system can affect each other, and when the inclination angle of the system is too large, it will automatically return to the equilibrium position, thereby ensuring the safety and stability of the system .

Description

A two-wheel balance scooter control system

technical field

The utility model relates to the technical field of a balance scooter, in particular to a control system for a two-wheel balance scooter.

Background technique

With the rapid development of computer technology, software technology, microelectronics technology, communication technology, material technology and other related fields, as well as the continuous progress and improvement of science and technology and people's material living standards, modern vehicles are moving towards intelligent, small and energy-saving , The trend of environmental protection. In recent years, with the continuous deepening of the research on two-wheeled balance scooters, its application fields are more extensive, and the environment and tasks it faces are becoming more and more complex. Two-wheeled balance scooters often encounter some relatively narrow workplaces with many large corners. Therefore, higher requirements are placed on the control system of two-wheeled balance scooters. However, the two-wheeled balance scooters of the prior art Due to the cost and technical limitations of the control system, its control accuracy is not high and unstable, and the chattering of the system is very large, which poses a great potential safety hazard.

Therefore, in view of the above-mentioned defects existing in the current prior art, it is necessary to conduct research to provide a solution to solve the defects existing in the prior art.

Utility model content

In order to overcome the defects in the prior art, it is indeed necessary to provide a two-wheel balance scooter control system with high control precision, stable and safe system.

In order to solve the problems of the prior art, the technical solution of the utility model is:

A two-wheel balance scooter control system, including a control board and a drive board connected to the control board, the control board is used to output motor drive signals to drive the drive board to work, and the drive board is used to drive the Motor movement on the left and right hubs;

The control board includes a main control chip, a sensor module connected with the main control chip and a PWM drive module connected with the main control chip, the sensor module includes a gyroscope, an acceleration sensor and a Hall sensor, and the gyroscope The instrument is used to detect the body deflection angle information of the two-wheel balanced scooter, the acceleration sensor is used to detect the acceleration information of the two-wheel balanced scooter, and the Hall sensor is used to detect the speed information of the two-wheel balanced scooter; The main control chip is used to receive the declination information, acceleration information and speed information and perform data fusion and to drive the PWM drive module to output the motor drive signal;

The driving board includes a motor driving module, and the motor driving module is used for receiving the motor driving signal to drive the motor to move.

Further, the drive board also includes a power module connected to the battery and used to supply power to the system.

Further, the drive board further includes a power switch connected in series between the battery and the power module, and the main control chip is also used to output a power control signal to turn off the power switch or close the power switch.

Further, the drive board also includes a motor current acquisition module for detecting motor current information and a power supply information acquisition module for detecting battery power information, and the main control chip is also used for receiving the motor current information and the and outputting the motor drive signal and the power control signal after fusing the battery power information.

Further, the drive board also includes a charging module connected to an external power supply to charge the battery.

Further, the control board further includes a buzzer module and an indicator light module, both of which are connected to the main control chip.

Further, the control board further includes a bluetooth module, which is connected to the main control chip and used for data communication with an external bluetooth device.

Further, the control board further includes a wireless remote control module, which is connected to the main control chip and used to receive signals from the wireless remote control and send them to the main control chip.

Further, the Hall sensor is installed on the left and right wheel hubs of the two-wheel balance scooter to detect the rotation position of the corresponding motor, and then detect the speed information of the two-wheel balance scooter, and send the speed information to Master chip.

Further, the two-wheel balance scooter control system also includes an interface module, and a hierarchical electrical connection is formed between the control board and the driving board through the interface module.

Compared with the prior art, the two-wheel balance scooter control system of the utility model collects angle, acceleration and speed signals at the same time, so that the speed and angle of the system can affect each other, and when the inclination angle of the system is too large, it will automatically return to The balance position ensures the safety and stability of the system, and the control accuracy is high.

Description of drawings

Fig. 1 is the functional block diagram of the control system of the utility model two-wheel balance scooter.

Fig. 2 is the principle block diagram of the control board in the control system of the utility model two-wheel balance scooter.

Fig. 3 is a functional block diagram of the driving board in the control system of the utility model two-wheel balance scooter.

The following specific embodiments will further illustrate the utility model in conjunction with the above-mentioned accompanying drawings.

detailed description

The technical solution provided by the utility model will be further described below in conjunction with the accompanying drawings.

Referring to Fig. 1, shown is the functional block diagram of the control system of the two-wheel balance scooter of the present utility model, the two-wheel balance scooter control system of the present utility model adopts the structure that two circuit boards are connected in layers, including the control board and the interface module and the The control board forms a driver board for the hierarchical electrical connection. In the utility model, the power components with heat generation are arranged on the drive board, which is convenient for centralized heat dissipation treatment, and only the main control chip and its sensor peripheral circuit are kept on the control board to minimize the influence of the power components on the control board , to ensure the stability and service life of the control board.

The drive board is connected to the battery, the battery provides power for the drive board, and the drive board transmits the electrical signal of the battery to the control board through the interface module, and then supplies power to the electric components on the control board.

The drive plate is connected with the motor at the same time, and the motor is installed on the left and right hubs of the balance scooter, and the rotation of the motor drives the movement of the balance scooter. The drive board drives the motor to move according to the motor drive signal output by the control board.

Referring to Fig. 2, shown is the functional block diagram of the control board in the control system of the utility model two-wheeled scooter, the control board includes the main control chip and, the sensor module connected with the main control chip and the PWM driving module connected with the main control chip . Wherein, the sensor module includes but not limited to a gyroscope, an acceleration sensor, and a Hall sensor.

The gyroscope is used to detect the body deflection angle information of the two-wheel balance scooter, and send the deflection angle information to the main control chip. The deflection angle information of the gyroscope is the most important control parameter, and the main control chip controls the movement of the two-wheel balance scooter based on this.

The acceleration sensor is used to detect the acceleration information of the two-wheel balance scooter, and send the acceleration information to the main control chip.

The Hall sensor is installed on the left and right hubs of the two-wheel balance scooter to detect the rotation position of the corresponding motor, and then detect the speed information of the two-wheel balance scooter, and send the speed information to the main control chip.

The main control chip controls the PWM drive module to output the motor drive signal by continuously collecting and receiving deflection angle information, acceleration information and speed information and performing data fusion.

In a preferred embodiment, the PWM driving module adopts a dedicated PWM integrated chip and outputs 12 channels of PWM signals to drive the motor to move.

In a preferred embodiment, the sensor module also includes a photoelectric switch, which is used to detect whether someone is standing on the two-wheeled balance scooter, and sends an induction signal when the photoelectric switch detects that someone is standing on the two-wheeled balance scooter. Signal to the main control chip to start the main control chip to make it work.

In a preferred embodiment, the control board further includes a buzzer module and an indicator light module, both of which are connected to the main control chip. The buzzer module is used to send alarm information when the system fails, and the indicator light module is used to indicate the working status of the entire control system.

In a preferred embodiment, the control board further includes a bluetooth module, and the bluetooth module is connected with the main control chip. The Bluetooth module is used for data communication with external Bluetooth devices. For example, a two-wheel balance scooter can be connected to a smart phone through a Bluetooth module, and the parameter information (such as current speed, power information, etc.) Control the driving state according to the parameter information.

In a preferred embodiment, the control board further includes a wireless remote control module, and the wireless remote control module is connected to the main control chip. The wireless remote control module is used to receive the signal of the wireless remote control and send it to the main control chip, so that the movement of the two-wheel balance scooter can be controlled through the wireless remote control module.

In a preferred embodiment, the control board further includes a control board power module, and the control board power module is used to receive the voltage signal output by the internal battery through the drive board, and provide an operating voltage for the entire control board. Specifically, the power supply module of the control board is mainly used to change the voltage signal output by the internal battery through the drive board into DC voltages of 3V and 5V, thereby providing working voltage for the entire control board.

Referring to Fig. 3, shown is the functional block diagram of the driving board in the control system of the utility model two-wheel balance scooter. The motor drive signal drives the motion of the motor. The power supply module is used to provide electric voltage for the whole system. Specifically, the power supply module converts the power output from the battery into 15V, 5V, and 3.3V DC output power and outputs it to the corresponding electrical components of the whole system (it can be understood that the power consumption in the whole system The electrical components can be divided into 15V-driven electrical components, 5V-driven electrical components, 3.3V-driven electrical components, the power module can output the corresponding voltage to the corresponding electrical components); the motor drive module through the interface The module receives 12 PWM motor drive signals and controls the power tube to drive the motor.

In a preferred embodiment, the driver board further includes a power switch connected in series between the battery and the power module, and the main control chip also outputs a power control signal to turn off the power switch or close the power switch. Specifically, the driver board also includes a motor current acquisition module for detecting motor current information and a power supply information acquisition module for detecting battery power information. The main control chip receives the motor current information and battery power information through the interface module and fuses the information Output motor drive signal and power control signal.

In a preferred embodiment, the driving board further includes a charging module connected to an external power supply for charging the battery. The charging module sends the charging information to the main control chip through the interface module and controls the charging process according to the control signal of the main control chip.

The descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made to the utility model, and these improvements and modifications also fall into the protection of the claims of the utility model. within range.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. a two-wheeled balancing skateboard vehicle control, it is characterized in that, the drive plate comprising control board and be connected with described control board, described control board is used for output motor drive singal and drives described drive plate work, and described drive plate is for the motor movement of drive installation on the wheel hub of left and right;

The PWM driver module that described control board comprises main control chip, the sensor assembly be connected with described main control chip and is connected with described main control chip, described sensor assembly comprises gyroscope, acceleration transducer and Hall element, described gyroscope is for detecting two-wheeled balancing skateboard car car body drift angle information, described acceleration transducer is for detecting the acceleration information of two-wheeled balancing skateboard car, and described Hall element is for detecting the velocity information of two-wheeled balancing skateboard car; Described main control chip is for receiving described drift angle information, acceleration information and velocity information and carrying out data fusion and for driving described PWM driver module to export described motor drive signal;

Described drive plate comprises motor drive module, and described motor drive module moves with drive motors for receiving described motor drive signal.

2. two-wheeled balancing skateboard vehicle control according to claim 1, is characterized in that, described drive plate also comprises and to be connected with battery and for the power module of system power supply.

3. two-wheeled balancing skateboard vehicle control according to claim 2, it is characterized in that, described drive plate also comprises the mains switch be serially connected between battery and described power module, described main control chip also for out-put supply control signal to disconnect described mains switch or closed described mains switch.

4. two-wheeled balancing skateboard vehicle control according to claim 3, it is characterized in that, described drive plate also comprises the current of electric acquisition module for detecting current of electric information and the power information acquisition module for detecting battery level information, and described main control chip is also for receiving described current of electric information and described battery level information and exporting described motor drive signal and described power control signal after merging this information.

5. two-wheeled balancing skateboard vehicle control according to claim 2, is characterized in that, described drive plate also comprises the charging module being connected with external power supply to charge the battery.

6. two-wheeled balancing skateboard vehicle control according to claim 1, it is characterized in that, described control board also comprises buzzer module and indicating lamp module, and described ring device module is all connected with described main control chip with described indicating lamp module.

7. two-wheeled balancing skateboard vehicle control according to claim 1, it is characterized in that, described control board also comprises bluetooth module, and described bluetooth module is connected with described main control chip and for carrying out data communication with outside bluetooth equipment.

8. two-wheeled balancing skateboard vehicle control according to claim 1, it is characterized in that, described control board also comprises wireless remote control module, and described wireless remote control module is connected with described main control chip and sends to described main control chip for the signal that receives Digiplex.

9. two-wheeled balancing skateboard vehicle control according to claim 1, it is characterized in that, described Hall element is arranged on two, the left and right wheel hub of two-wheeled balancing skateboard car, for detecting the position of rotation of corresponding motor, and then detect the velocity information of two-wheeled balancing skateboard car, and this velocity information is sent to main control chip.

10. the two-wheeled balancing skateboard vehicle control according to claim 1-9 any one, it is characterized in that, described two-wheeled balancing skateboard vehicle control also comprises interface module, forms level be electrically connected between described control board and described drive plate by described interface module.