CN205160428U - Balanced scooter control system of two -wheeled - Google Patents
Balanced scooter control system of two -wheeled Download PDFInfo
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- CN205160428U CN205160428U CN201520980947.3U CN201520980947U CN205160428U CN 205160428 U CN205160428 U CN 205160428U CN 201520980947 U CN201520980947 U CN 201520980947U CN 205160428 U CN205160428 U CN 205160428U
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Abstract
The utility model discloses a balanced scooter control system of two -wheeled, including control panel and the drive plate through interface module and control panel formation level electrical connection, the motion of motor on the wheel hub is installed about to the drive plate according to the motor drive signal driver of control panel output, the control panel includes main control chip and rather than the sensor module and the PWM drive module that are connected, sensor module includes gyroscope, acceleration sensor and hall sensor at least, control PWM drive module output sensor module 1 signal after main control chip receives declination information, acceleration information and speed information and carries out data fusion, motor driver module in the drive plate is according to the motion of motor drive signal driver motor. Adopt the technical scheme of the utility model, since the simultaneous acquisition angle, acceleration and speed to the speed and the angle of messenger system can influence each other, when the inclination of system is too big, get back to the balancing seat automatically, thereby guarantee that the system security is with stable.
Description
Technical field
The utility model relates to balancing skateboard car technical field, particularly relates to a kind of control system for two-wheeled balancing skateboard car.
Background technology
Along with the fast development of the association areas such as computer technology, software engineering, microelectric technique, the communication technology, material technology, and science and technology and the continuous progress of people's living standard and raising, the vehicles in modern times are just towards trend development that is intelligent, small-sized, energy-saving and environmental protection.In recent years, along with deepening continuously of two-wheeled balancing skateboard car research, its field of applying is more extensive, and the environment faced and task also become increasingly complex.Two-wheeled balancing skateboard car often can run into that some are narrow; and have the workplace of a lot of large corner; therefore; two-wheeled balancing skateboard vehicle control is had higher requirement; but the control system of the two-wheeled balancing skateboard car of prior art is due to the restriction by cost and technology; its control precision is not high and unstable, and the buffeting of system is very large, there is very large potential safety hazard.
Therefore, for the above-mentioned defect existed in currently available technology, be necessary to study in fact, to provide a kind of scheme, solve the defect existed in prior art.
Utility model content
In order to overcome the defect that prior art exists, necessaryly provide the two-wheeled balancing skateboard vehicle control that a kind of control precision is high, system stability is safe.
In order to solve the problem of prior art, the technical solution of the utility model is:
A kind of two-wheeled balancing skateboard vehicle control, 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 used for drive installation and moves at the left and right wheel hub machine that powers on;
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.
Further, described drive plate also comprises and to be connected with battery and for the power module of system power supply.
Further, 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.
Further, 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.
Further, described drive plate also comprises the charging module being connected with external power supply to charge the battery.
Further, 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.
Further, 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.
Further, 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.
Further, 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 detects the velocity information of two-wheeled balancing skateboard car, and this velocity information is sent to main control chip.
Further, 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.
Compared with prior art, two-wheeled balancing skateboard vehicle control of the present utility model acquires angle, acceleration and rate signal simultaneously, thus the speed of system and angle are influenced each other, when the inclination angle of system is excessive, automatically return to equilbrium position, thus the safety and stablization of the system of guarantee, and control precision is higher.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the utility model two-wheeled balancing skateboard vehicle control.
Fig. 2 is the theory diagram of control board in the utility model two-wheeled balancing skateboard vehicle control.
Fig. 3 is the theory diagram of drive plate in the utility model two-wheeled balancing skateboard vehicle control.
Following specific embodiment will further illustrate the utility model in conjunction with above-mentioned accompanying drawing.
Embodiment
Below with reference to accompanying drawing, the technical scheme that the utility model provides is described further.
See Fig. 1, be depicted as the theory diagram of the utility model two-wheeled balancing skateboard vehicle control, the structure that two-wheeled balancing skateboard vehicle control of the present utility model adopts two pcb layer levels to connect, comprises control board and forms by interface module and described control board the drive plate that level is electrically connected.In the utility model, the power component with caloric value is all arranged on drive plate, is convenient to concentrate and does radiating treatment, and control board only retains main control chip and sensor periphery circuit thereof, to reduce power component to the impact of control board as far as possible, ensure stability and the useful life of control board.
Drive plate is connected with battery, and battery provides Power supply for drive plate, and the signal of telecommunication of battery is sent to control board by interface module by drive plate, and then is the electricity consumption power elements on control board.
Drive plate is connected with motor simultaneously, and motor is arranged on the left and right wheel hub of balancing skateboard car, by the motion of the rotating band dynamic balancing scooter of motor.The motion of the motor drive signal drive motors that drive plate exports according to control board.
See Fig. 2, be depicted as the theory diagram of control board in the utility model two-wheeled balancing skateboard vehicle control, control board comprises main control chip and, the sensor assembly that is connected with main control chip and the PWM driver module be connected with main control chip.Wherein, sensor assembly includes but not limited to gyroscope, acceleration transducer, Hall element.
This drift angle information for detecting the car body drift angle information of two-wheeled balancing skateboard car, and is sent to main control chip by gyroscope.Gyrostatic drift angle information is most important controling parameter, and main control chip controls the motion of two-wheeled balancing skateboard car based on this.
This acceleration information for detecting the acceleration information of two-wheeled balancing skateboard car, and is sent to main control chip by acceleration transducer.
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 detects the velocity information of two-wheeled balancing skateboard car, and this velocity information is sent to main control chip.
Main control chip receives drift angle information, acceleration information and velocity information and control PWM driver module output motor drive singal after carrying out data fusion by gathering incessantly.
In a preferred embodiment, PWM driver module adopts dedicated PWM integrated chip, exports 12 road pwm signal drive motors motions.
In a preferred embodiment, sensor assembly also comprises optoelectronic switch, for detecting, whether someone stand on two-wheeled balancing skateboard car to this optoelectronic switch, sense when someone stand on two-wheeled balancing skateboard car at optoelectronic switch and send induced signal to main control chip, make its work to start main control chip.
In a preferred embodiment, control board also comprises buzzer module and indicating lamp module, and ring device module is all connected with main control chip with indicating lamp module.Buzzer module sends warning message when being used for the system failure, and indicating lamp module is used to indicate the operating state of whole control system.
In a preferred embodiment, control board also comprises bluetooth module, and bluetooth module is connected with main control chip.Bluetooth module is used for carrying out data communication with outside bluetooth equipment.Such as, two-wheeled balancing skateboard car can be connected with smart mobile phone by bluetooth module, client the parameter information (such as present speed, information about power etc.) of two-wheeled balancing skateboard car is sent on smart mobile phone, so that can grasp parameter information in time and control transport condition according to parameter information.
In a preferred embodiment, control board also comprises wireless remote control module, and wireless remote control module is connected with main control chip.Wireless remote control module for receiving the signal of Digiplex and sending to main control chip, thus can control the motion of two-wheeled balancing skateboard car by wireless remote control module.
In a preferred embodiment, control board also comprises control board power module, and control board power module for receiving the voltage signal exported by drive plate of internal cell, and provides operating voltage for whole control board.Particularly, control board power module is mainly used in the direct voltage voltage signal exported by drive plate of internal cell being become 3V and 5V, and then provides operating voltage for whole control board.
See Fig. 3, be depicted as the theory diagram of drive plate in the utility model two-wheeled balancing skateboard vehicle control, drive plate comprises and is connected for the power module of powering for whole system and motor drive module with battery, and motor drive module is according to the motion of motor drive signal drive motors.Power module is used for providing piezoelectric voltage for whole system, particularly, the DC output power of Power convert 15V, 5V, 3.3V that battery exports by power module exports corresponding (being understandable that with electric device of whole system to, the use electric device driven with electric device, 5V that 15V can be divided into drive with electric device in whole system, the use electric device that 3.3V drives, the voltage of correspondence can be exported to corresponding use electric device by power module); Motor drive module receives 12 road PWM motor drive signal by interface module and controls power tube drive motors.
In a preferred embodiment, drive plate also comprises the mains switch be serially connected between battery and power module, main control chip also by out-put supply control signal to disconnect described mains switch or closed described mains switch.Particularly, 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 main control chip receives current of electric information and battery level information by interface module and output motor drive singal and power control signal after merging this information.
In a preferred embodiment, drive plate also comprises and being connected for the charging module charged the battery with external power supply.Charge information is sent to main control chip by interface module and controls charging process according to the control signal of this main control chip by this charging module.
The explanation of above embodiment just understands method of the present utility model and core concept thereof for helping.Should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model principle, can also carry out some improvement and modification to the utility model, these improve and modify and also fall in the protection range of the utility model claim.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520980947.3U CN205160428U (en) | 2015-12-01 | 2015-12-01 | Balanced scooter control system of two -wheeled |
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| CN201520980947.3U CN205160428U (en) | 2015-12-01 | 2015-12-01 | Balanced scooter control system of two -wheeled |
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| CN205160428U true CN205160428U (en) | 2016-04-13 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080879A (en) * | 2016-06-13 | 2016-11-09 | 深圳坂云智行有限公司 | Scooter and the motion control method of scooter and system |
| CN106379478A (en) * | 2016-09-05 | 2017-02-08 | 深圳市全球卖电子商务有限公司 | Scooter speed control system based on gyroscope and realization method of scooter speed control system |
| CN107298145A (en) * | 2016-04-15 | 2017-10-27 | 陈万添 | Self-balancing mobile carrier |
| USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
| CN107539398A (en) * | 2016-06-24 | 2018-01-05 | 深圳飞亮智能科技有限公司 | A kind of intelligent controller of electrodynamic balance single-wheel scooter |
| USD807457S1 (en) | 2016-07-20 | 2018-01-09 | Razor Usa Llc | Two wheeled board |
| CN107600267A (en) * | 2017-09-11 | 2018-01-19 | 广东工业大学 | A kind of control method of two wheel single-track vehicle and its balance |
| CN108334120A (en) * | 2018-02-07 | 2018-07-27 | 永康市拓天科技有限公司 | The kinetic control system and method for scooter and scooter |
| USD837323S1 (en) | 2018-01-03 | 2019-01-01 | Razor Usa Llc | Two wheeled board |
| USD840872S1 (en) | 2016-07-20 | 2019-02-19 | Razor Usa Llc | Two wheeled board |
| CN110171520A (en) * | 2019-07-03 | 2019-08-27 | 浙江阿尔郎科技有限公司 | Two-wheeled control system of balance car and two-wheeled balance car |
| US11040756B2 (en) | 2016-06-13 | 2021-06-22 | Ninebot (Beijing) Tech Co., Ltd | Power control method and apparatus, vehicle and computer storage medium |
| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| US11654995B2 (en) | 2017-12-22 | 2023-05-23 | Razor Usa Llc | Electric balance vehicles |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298145A (en) * | 2016-04-15 | 2017-10-27 | 陈万添 | Self-balancing mobile carrier |
| CN106080879A (en) * | 2016-06-13 | 2016-11-09 | 深圳坂云智行有限公司 | Scooter and the motion control method of scooter and system |
| US11040756B2 (en) | 2016-06-13 | 2021-06-22 | Ninebot (Beijing) Tech Co., Ltd | Power control method and apparatus, vehicle and computer storage medium |
| CN106080879B (en) * | 2016-06-13 | 2018-12-21 | 纳恩博（北京）科技有限公司 | The motion control method and system of scooter and scooter |
| CN107539398A (en) * | 2016-06-24 | 2018-01-05 | 深圳飞亮智能科技有限公司 | A kind of intelligent controller of electrodynamic balance single-wheel scooter |
| USD840872S1 (en) | 2016-07-20 | 2019-02-19 | Razor Usa Llc | Two wheeled board |
| USD807457S1 (en) | 2016-07-20 | 2018-01-09 | Razor Usa Llc | Two wheeled board |
| USD1013080S1 (en) | 2016-07-20 | 2024-01-30 | Razor Usa Llc | Two wheeled board |
| USD803963S1 (en) | 2016-07-20 | 2017-11-28 | Razor Usa Llc | Two wheeled board |
| USD1002764S1 (en) | 2016-07-20 | 2023-10-24 | Razor Usa Llc | Two wheeled board |
| USD837322S1 (en) | 2016-07-20 | 2019-01-01 | Razor Usa Llc | Two wheeled board |
| USD941948S1 (en) | 2016-07-20 | 2022-01-25 | Razor Usa Llc | Two wheeled board |
| USD960043S1 (en) | 2016-07-20 | 2022-08-09 | Razor Usa Llc | Two wheeled board |
| USD958278S1 (en) | 2016-07-20 | 2022-07-19 | Razor Usa Llc | Two wheeled board |
| USD865890S1 (en) | 2016-07-20 | 2019-11-05 | Razor Usa Llc | Two wheeled board |
| USD865095S1 (en) | 2016-07-20 | 2019-10-29 | Razor Usa Llc | Two wheeled board |
| USD899540S1 (en) | 2016-07-20 | 2020-10-20 | Razor Usa Llc | Two wheeled board |
| USD899541S1 (en) | 2016-07-20 | 2020-10-20 | Razor Usa Llc | Two wheeled board |
| CN106379478A (en) * | 2016-09-05 | 2017-02-08 | 深圳市全球卖电子商务有限公司 | Scooter speed control system based on gyroscope and realization method of scooter speed control system |
| CN107600267A (en) * | 2017-09-11 | 2018-01-19 | 广东工业大学 | A kind of control method of two wheel single-track vehicle and its balance |
| CN107600267B (en) * | 2017-09-11 | 2019-11-08 | 广东工业大学 | A kind of two take turns the control method of single-track vehicle and its balance |
| US11654995B2 (en) | 2017-12-22 | 2023-05-23 | Razor Usa Llc | Electric balance vehicles |
| USD837323S1 (en) | 2018-01-03 | 2019-01-01 | Razor Usa Llc | Two wheeled board |
| CN108334120A (en) * | 2018-02-07 | 2018-07-27 | 永康市拓天科技有限公司 | The kinetic control system and method for scooter and scooter |
| CN110171520A (en) * | 2019-07-03 | 2019-08-27 | 浙江阿尔郎科技有限公司 | Two-wheeled control system of balance car and two-wheeled balance car |
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