CN103170122A - Electric self-balancing double-wheel scooter - Google Patents

Abstract

The invention discloses an electric self-balancing double-wheel scooter, which is characterized in that the posture balance control of the scooter is carried out by a dynamic balance principle, a scooter balance control signal is output by a scooter balance control module, a scooter speed control signal is output by a speed control module, and the scooter balance control signal and the scooter speed control signal are superposed by a signal superposition module and then output to a motor driving circuit by a PWM (pulse width modulation) interface circuit, so that the scooter runs in a self-balancing way, and a driver runs more safely; the scooter is controlled to turn by arranging the steering control module, an infrared receiving module in the steering control module is used for receiving steering control signals sent by a wireless remote controller, the infrared receiving module sends the received steering control signals to the motor differential control unit, and the motor differential control unit outputs corresponding left and right motor differential control voltage signals according to the steering control signals, so that the left and right motors rotate in opposite directions, and the steering of the scooter is realized.

Description

Electronic self-balancing two-wheel scooter

Technical field

The present invention relates to two-wheel scooter field, particularly a kind of electronic self-balancing two-wheel scooter.

Background technology

Scooter is the novel product form of the another skateboarding after conventional skateboard, is a kind of simple laborsaving sports apparatus, is one of sports products of liking of teenagers, also can be used as the vehicles and uses.Along with the development of electric motor car, also developed DYN dynamic scooter, convenient when using as the vehicles, laborsaving.Existing scooter generally has two or more wheels, himself is balance with the scooter of two above wheels, just can keep balance thereby need not skill when the driver drives scooter, can not fall down.But the number of wheel has caused the increase of vehicle body gravity, and scooter is as small sized product, and the increase of its gravity inconvenient user move; Secondly, himself be unbalanced with the scooter of two wheels, during driving, need skill to keep health and car body balance, can not realize that the vehicle body self-balancing travels.

In addition, turning to of scooter also need to realize by skill, and existing scooter can not be realized auto-steering.

Summary of the invention

Main purpose of the present invention is to provide a kind of electronic self-balancing two-wheel scooter, realizes self-balancing driving functions, acceleration function and the auto-steering function of electric two-wheel scooter, Segway Human Transporter is travelled safer.

The present invention proposes a kind of electronic self-balancing two-wheel scooter, comprise the slide plate vehicle frame, be installed on the left and right wheel of both sides, the described slide plate vehicle frame back side, be used for driving the left and right motor of left and right vehicle wheel rotation, be used for controlling control circuit board and the power module of described left and right motor power output; Be provided be used to the left motor-drive circuit that drives left motor with for the right motor-drive circuit that drives right motor at described control circuit board, be provided with slide plate balance control module, rate control module on described control circuit board, turn to control module and automatically lock the solution lock module;

described slide plate balance control module is used for keeping the slide plate balance, comprise the acceleration transducer for detection of the angle of inclination of described slide plate vehicle frame, detect for the angular-rate sensor of the angular speed of measuring described slide plate vehicle frame inclination and acceleration signal and the described angular-rate sensor that is used for described acceleration transducer is detected the ALU that angular velocity signal carries out logical operation and exports corresponding balance control signal according to logical operation, described acceleration transducer, described angular-rate sensor is connected with described ALU, the output of described ALU and described left motor-drive circuit, described right motor-drive circuit connects,

described rate control module is used for controlling the rotating speed of described wheel, comprise be used to the left-hand rotation speed sensor of measuring left motor speed, be used for measuring the right-hand rotation speed sensor of right motor speed and be used for receiving the fast sensor of described left-hand rotation and a left side that described right-hand rotation speed sensor detects, right motor speed signal also carries out the PID rate control module of PID s operation control, the fast sensor of described left-hand rotation, the fast sensor of described right-hand rotation is connected with described PID rate control module, the output of described PID rate control module and described left motor-drive circuit, described right motor-drive circuit connects,

The output of described ALU be connected the output of PID rate control module and connect a signal laminating module, the output of described signal laminating module is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively.

The described travel direction that turns to control module to be used to control described scooter, comprise be used to the motor Differential Control unit of exporting left and right motor Differential Control voltage signal, described motor Differential Control unit is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively;

The described solution lock module that automatically locks is used for automatic detection, and whether someone uses, and enter lock-out state or driving condition according to the described scooter of testing result control, comprise for detection of whether someone steps on the pressure sensor on scooter and is used for receiving the detection signal of described pressure sensor and the release switch unit of locking that carries out corresponding control according to the detection signal that receives, described pressure sensor is connected with the described release switch unit of locking, and described left motor-drive circuit, described right motor-drive circuit connect the described release switch unit of locking respectively; When described pressure sensor detected someone and steps on described slide plate vehicle frame, the described release switch unit of locking was controlled described left motor-drive circuit and described right motor-drive circuit startup work, makes described scooter enter driving condition; When described pressure sensor detected nobody and steps on described slide plate vehicle frame, the described release switch unit of locking controls described left motor-drive circuit and described right motor-drive circuit quits work, and makes described scooter enter locking state.

preferably, described ALU, described PID rate control module, described signal laminating module, described motor Differential Control unit and the described release switch unit of locking all are integrated in a microprocessor, described microprocessor is provided with analog-to-digital conversion interface and PWM output interface, described acceleration transducer, described angular-rate sensor be connected pressure sensor and all be connected with described analog-to-digital conversion interface, described acceleration transducer be connected angular-rate sensor and be connected with described ALU by described analog-to-digital conversion interface, described pressure sensor is connected with the described release switch unit of locking by described analog-to-digital conversion interface, described left motor-drive circuit be connected right motor-drive circuit and all be connected with described PWM output interface, described signal laminating module, described motor Differential Control unit be connected lock the release switch unit all by described PWM output interface and described left motor-drive circuit be connected right motor-drive circuit and be connected.

Described acceleration transducer is used for the acceleration voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;

Described angular-rate sensor is used for the angular speed voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;

Described analog-to-digital conversion interface is used for converting described acceleration voltage signal and described angular speed voltage signal to corresponding acceleration value and angular speed numerical value.

Described logical operation module is used for that the acceleration value of input is carried out coefficients conversion and forms inclination angle numerical value, and the angular speed numerical value of described inclination angle numerical value and input is carried out the Kalman filtering computing, calculate the accurate inclination angle numerical value of described slide plate vehicle frame, and described accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the required operation of described slide plate vehicle frame balance, and output;

Left motor speed signal, right motor speed signal and given rate signal that described PID rate control module is used for feeding back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed;

Described signal laminating module is used for described slide plate balance control signal and described slide plate speed control signal are carried out the signal stack, and the control signal after superposeing exports to described left motor-drive circuit and described right motor-drive circuit by described PWM output interface, makes described scooter self-balancing operation.

Preferably, described acceleration transducer is obliquity sensor, the fast sensor of described left-hand rotation and described right-hand rotation speed sensor are photoelectric encoder, described photoelectric encoder is coupling on the output shaft of corresponding described left motor and described right motor, and the output of described photoelectric encoder is connected with described PID rate control module by the counter port of described microprocessor.

Preferably, described PWM output interface is provided with four, wherein two PWM output interfaces are connected with described left motor, the one PWM output interface that is connected with described left motor is used for the pwm control signal that described left motor forward is controlled in output, and another PWM output interface that is connected with described left motor is used for the pwm control signal that described left motor reversal is controlled in output; Another two PWM output interfaces are connected with described right motor, the one PWM output interface that is connected with described right motor is used for the pwm control signal that described right motor forward is controlled in output, and another PWM output interface that is connected with described right motor is used for the pwm control signal that described right motor reversal is controlled in output.

Preferably, also be provided with purpose overspeed protective module in described microprocessor, the input of described purpose overspeed protective module is connected with the output of described photoelectric encoder by the counter port of described microprocessor CPU, is used for receiving the speed of described left motor and described right motor; The output of described purpose overspeed protective module is connected with described PID rate control module; be provided with maximum protection speed in described purpose overspeed protective module; when the left and right motor speed that receives being detected and surpass described maximum protection speed; described purpose overspeed protective module is controlled the pwm control signal that described PID rate control module output is used for deceleration, and the output voltage of described motor-drive circuit is reduced.

Preferably, be provided with buzzer on described control circuit board, described purpose overspeed protective module is connected with described buzzer, and when the motor speed that receives being detected and surpass described maximum protection speed, described purpose overspeed protective module drives described buzzer sounding.

Preferably, comprise that also one is used for adjusting the Digiplex of travel direction, described Digiplex comprises rocker regulation resistance and infrared sending module, the described control module that turns to also comprises an infrared receiving module, described infrared receiving module is arranged on described control circuit board, and described infrared receiving module is connected with described motor Differential Control unit.

Preferably, described slide plate vehicle frame is long strip type slide plate vehicle frame, and described left and right wheel is arranged on the central balancing point of described slide plate vehicle frame.

the beneficial effect of the electronic self-balancing two-wheel of the present invention scooter is: the present invention carries out posture balancing by principle of mobile equilibrium to scooter and controls, adopt angular-rate sensor to the slide plate vehicle frame angular velocity detection that tilts, adopting acceleration transducer to carry out the angle of inclination to the slide plate vehicle frame detects, and with the angular speed voltage signal that detects and acceleration voltage signal through analog-to-digital conversion interface conversion angulation speed numerical value and acceleration value, adopt again logical operation module that the acceleration value of input is carried out coefficients conversion and form inclination angle numerical value, and the angular speed numerical value of inclination angle numerical value and input is carried out the Kalman filtering computing, make two detection numerical value fusion calculations go out the accurate inclination angle numerical value of scooter under inactive state and high-speed motion state, and accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the required operation of slide plate vehicle frame balance, and output, simultaneously, adopting left and right speed probe to carry out speed to left and right motor detects, and the speed feedback signal of the left and right motor that will detect is to the PID rate control module, the left motor speed signal, right motor speed signal and the given rate signal that adopt the PID rate control module to feed back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed, adopt the signal laminating module that slide plate balance control signal and slide plate speed control signal are carried out the signal stack, and the control signal after superposeing is exported to left motor-drive circuit and right motor-drive circuit by the PWM output interface, left and right motor-drive circuit drives left and right electric machine rotation according to the control signal of stack, the slide plate balance control signal makes scooter remain balance, the slide plate speed control signal moves scooter in the velocity interval of setting, thereby make scooter remain that balance travels, the driver is travelled safer.

And, the present invention is provided with and turns to control module, employing turns to the infrared receiving module in control module to receive the steering controling signal that Digiplex sends, infrared receiving module sends to motor Differential Control unit with the steering controling signal that receives, motor Differential Control unit is according to the corresponding left and right motor Differential Control voltage signal of steering controling signal output, left and right motor is rotated mutually in the opposite direction, thereby realize turning to of scooter.

Description of drawings

Fig. 1 is the stereogram of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;

Fig. 2 is the another stereogram of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;

Fig. 3 is the rearview of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;

Fig. 4 is the right view of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;

Fig. 5 is the front view of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;

Fig. 6 is the circuit block diagram of an embodiment of the electronic self-balancing two-wheel of the present invention scooter.

The realization of the object of the invention, functional characteristics and advantage are described further with reference to accompanying drawing in connection with embodiment.

The specific embodiment

Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.

referring to figs. 1 through Fig. 6, one embodiment of a kind of electronic self-balancing two-wheel scooter of the present invention is proposed, this electronic self-balancing two-wheel scooter comprises slideplate vehicle frame 10, be installed on theleft wheel 101 of slideplate vehicle frame 10 both sides, the back side,right wheel 102, be used for drivingleft wheel 101, theleft motor 201 thatright wheel 102 rotates,right motor 202, be used for controllingleft motor 201,control circuit board 30 and thepower module 20 ofright motor 202 power outputs, slideplate vehicle frame 10 is long strip type slideplate vehicle frame 10,left wheel 101,right wheel 102 is arranged on the central balancing point of slideplate vehicle frame 10,power module 20 iscontrol circuit board 30 and motor power supply.This motor is reducing motor, and reducing motor drives vehicle wheel rotation by reduction gear box.Be provided be used to the left motor-drive circuit 203 that drivesleft motor 201 rotations oncontrol circuit board 30 and be used for driving the right motor-drive circuit 204 thatright motor 202 rotates, left motor-drive circuit 203 is connected withleft motor 201, and right motor-drive circuit 204 is connected withright motor 202.

The present invention carries out posture balancing by principle of mobile equilibrium to scooter and controls, namely when slideplate vehicle frame 10 tilts, accelerate to the direction running of slideplate vehicle frame 10 inclinations by wheel, offset the slope trend of slideplate vehicle frame 10, thereby keep slideplate vehicle frame 10 balances, angle of inclination in the time of can tilting by measurement slideplate vehicle frame 10 calculates the required acceleration of wheel, thereby results from the opposite restoring force of vehicle frame incline direction by the accelerated motion of wheel, makes slideplate vehicle frame 10 keep balances.For realizing the self-balancing operation of scooter, slide platebalance control module 40,rate control module 50 andsignal laminating module 80 are set oncontrol circuit board 30, and the output that the output of slide platebalance control module 40 is connected with rate control module is connected with signal laminating module 80.this slide platebalance control module 40 is used for keeping the slide plate balance, comprise theacceleration transducer 401 for detection of the angle of inclination of slideplate vehicle frame 10, detect for the angular-rate sensor 402 of the angular speed of measuring 10 inclinations of slide plate vehicle frame and acceleration signal and the angular-rate sensor 402 that is used foracceleration transducer 401 is detected theALU 404 that angular velocity signal carries out logical operation and exports corresponding balance control signal according to logical operation,acceleration transducer 401, angular-rate sensor 402 all is connected withALU 404 by analog-to-digital conversion interface 403, the output ofALU 404 is bysignal laminating module 80 and left motor-drive circuit 203, right motor-drive circuit 204 connects.

Adopt 402 pairs of slideplate vehicle frames 10 of angular-rate sensor angular velocity detection that tilts, adopt 401 pairs of slide plate vehicle frames ofacceleration transducer 10 to carry out accelerationdetection.Acceleration transducer 401 is obliquity sensor, andacceleration transducer 401 is exported toALU 404 with the acceleration voltage signal that detects through analog-to-digital conversion interface 403; Angular-rate sensor 402 is exported toALU 404 with the angular speed voltage signal that detects through analog-to-digital conversion interface 403; Analog-to-digital conversion interface 403 is used for degree of will speed up voltage signal and the angular speed voltage signal converts corresponding acceleration value and angular speed numerical value to.Logical operation module is used for that the acceleration value of input is carried out coefficients conversion and forms inclination angle numerical value, and the angular speed numerical value of inclination angle numerical value and input is carried out the Kalman filtering computing, calculate the accurate inclination angle numerical value of slideplate vehicle frame 10, and accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the 10 required operations of balance of slide plate vehicle frame, and export to signal laminating module 80.slide platebalance control module 40 runnings are: acceleration voltage signal and angular speed voltage signal thatacceleration transducer 401 and angular-rate sensor 402 detect convert angular speed numerical value and acceleration value to through analog-to-digital conversion interface 403, logical operation module is carried out coefficients conversion with the acceleration value of input and is formed inclination angle numerical value, and the angular speed numerical value of inclination angle numerical value and input is carried out the Kalman filtering computing, make two detection numerical value fusion calculations go out the accurate inclination angle numerical value of scooter under inactive state and high-speed motion state, and accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the 10 required operations of balance of slide plate vehicle frame, and export to signal laminatingmodule 80.

thisrate control module 50 is used for controlling the rotating speed of wheel, comprise be used to the left-handrotation speed sensor 501 of measuringleft motor 201 rotating speeds, be used for measuring the right-handrotation speed sensor 502 ofright motor 202 rotating speeds and be used for receivingfast sensor 501 and a left side that thefast sensor 502 of turning right detects, right motor speed signal also carries out the PIDrate control module 504 of PID s operation control,fast sensor 501 turns left, thefast sensor 502 of turning right is connected with PIDrate control module 504, the output of PIDrate control module 504 is bysignal laminating module 80 and left motor-drive circuit 203, right motor-drive circuit 204 connects.Left andright speed probe 502 is used for measuring the rotating speed ofleft motor 201,right motor 202, and the left and right motor speed signal that will measure gained feeds back to PIDrate control module 504; Left motor speed signal, right motor speed signal and given rate signal that PIDrate control module 504 is used for feeding back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed.Rate control module 50 runnings are: theleft motor 201 that left andright speed probe 502 will detect, the speed feedback signal ofright motor 202 are to PIDrate control module 504, the left motor speed signal that PIDrate control module 504 will feed back, right motor speed signal and given rate signal carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed.

The output that the output ofALU 404 is connected with the PID rate control module is connected withsignal laminating module 80, and the output ofsignal laminating module 80 is connected with the input of left motor-drive circuit 203, the input of right motor-drive circuit 204 respectively by PWM output interface 90.signal laminating module 80 is used for slide plate balance control signal and slide plate speed control signal are carried out the signal stack, and the control signal after superposeing is exported to left motor-drive circuit 203 and right motor-drive circuit 204 byPWM output interface 90,left motor 201, right motor-drive circuit 204 drivesleft motor 201 according to the control signal of stack,right motor 202 rotates, the slide plate balance control signal makes scooter remain balance, the slide plate speed control signal moves scooter in the velocity interval of setting, thereby make scooter remain that balance travels, the driver is travelled safer.

control for convenience the travel direction of scooter, the present invention is provided with the Digiplex that turns tocontrol module 60 and to be used for adjusting travel direction, this turns tocontrol module 60 to comprise be used to exportingleft motor 201, motorDifferential Control unit 602 and theinfrared receiving module 601 ofright motor 202 Differential Control voltage signals,infrared receiving module 601 is arranged oncontrol circuit board 30,infrared receiving module 601 is connected with motorDifferential Control unit 602 by analog-to-digital conversion interface 403, motorDifferential Control unit 602 respectively with the input of left motor-drive circuit 203, the input of right motor-drive circuit 204 connects, Digiplex comprises rocker regulation resistance and infrared sending module, rocker regulation resistance is exported steering controling signal by voltage change, vacillate now to the left, now to the right to export different voltage by rocker regulation resistance, when rocker regulation resistance is in mid point, voltage is 1.5V, when rocker regulation resistance swung, the output voltage of rocker regulation resistance changed between 0-3V, as when rocker regulation resistance swings left, the output voltage of rocker regulation resistance is 0-1.5V, the steering controling signal that output is turned left, when rocker regulation resistance swung to the right, the output voltage of rocker regulation resistance was 1.5-3V, exported right-handed steering controling signal.infrared sending module is used for sending this steering controling signal to infraredreceiving module 601,infrared receiving module 601 is used for receiving the steering controling signal that infrared sending module sends and exports to analog-to-digital conversion interface 403, this analog-to-digital conversion interface 403 converts steering controling signal to and turns to numerical signal, and export to motorDifferential Control unit 602, motorDifferential Control unit 602 is according to turning to the correspondingleft motor 201 of numerical signal output,right motor 202 Differential Control voltage signals, makeleft motor 201,right motor 202 rotates mutually in the opposite direction, thereby realize turning to of scooter.The driver can use Digiplex to control the left and right turning of electronic self-balancing two-wheel scooter, and original place 360 degree tunes, facilitates the driver to use.

for the use that makes scooter safer, the present invention is provided with also whether someone uses for automatic detection, and control according to testing result thesolution lock module 70 that automatically locks that scooter enters lock-out state or driving condition, this automatically locks and separateslock module 70 and comprise for detection of whether, someone steps on thepressure sensor 701 on scooter, and for the detection signal ofreception pressure sensor 701 and therelease switch unit 702 of locking that carries out corresponding control according to the detection signal that receives,pressure sensor 701 is connected with therelease switch unit 702 of locking, lockrelease switch unit 702 respectively with left motor-drive circuit 203, right motor-drive circuit 204 connects, whenpressure sensor 701 detected someone and steps on slideplate vehicle frame 10, therelease switch unit 702 of locking was controlled left motor-drive circuit 203 and the 204 startup work of right motor-drive circuit, makes scooter enter driving condition, whenpressure sensor 701 detects nobody and steps on slideplate vehicle frame 10, therelease switch unit 702 of locking controls left motor-drive circuit 203 and right motor-drive circuit 204 quits work, make scooter enter locking state, thereby guarantee that scooter can nobody not travel.

ALU 404, PIDrate control module 504,signal laminating module 80, motorDifferential Control unit 602 and therelease switch unit 702 of locking all are integrated in a microprocessor, analog-to-digital conversion interface 403 andPWM output interface 90 are arranged on this microprocessor,acceleration transducer 401, angular-rate sensor 402 is connected with pressure sensor and all is connected with analog-to-digital conversion interface 403,acceleration transducer 401 is connected with angular-rate sensor and is connected with ALU 404 by analog-to-digital conversion interface 403,pressure sensor 701 is connected with therelease switch unit 702 of locking by analog-to-digital conversion interface 403, left motor-drive circuit 203 be connected motor-drive circuit 204 and all be connected withPWM output interface 90,signal laminating module 80, motorDifferential Control unit 602 be connectedrelease switch unit 702 all byPWM output interface 90 and left motor-drive circuit 203 be connected motor-drive circuit 204 and be connected.

Above-mentionedPWM output interface 90 is provided with four, wherein twoPWM output interfaces 90 are connected withleft motor 201, the one PWM output interface that is connected withleft motor 201 90 is used for the pwm control signal thatleft motor 201 forwards are controlled in output, another PWM output interface that is connected withleft motor 201 90 is used for the pwm control signal thatleft motor 201 counter-rotatings are controlled in output, is used for controlling the forward and backward ofleft motor 201; Another twoPWM output interfaces 90 are connected withright motor 202, the one PWM output interface that is connected withright motor 202 90 is used for the pwm control signal thatright motor 202 forwards are controlled in output, another PWM output interface that is connected withright motor 202 90 is used for the pwm control signal thatright motor 202 counter-rotatings are controlled in output, is used for controlling the forward and backward ofright motor 202.

Thefast sensor 501 that turns left is photoelectric encoder with thefast sensor 502 of turning right, photoelectric encoder is coupling on the output shaft of correspondingleft motor 201 andright motor 202, and the output of photoelectric encoder is connected with PIDrate control module 504 by thecounter port 503 of microprocessor.Photoelectric encoder is directly exported digital pulse signal to thecounter port 503 of microprocessor, and microprocessor is accumulated the number of digital pulse signal of input within the set time bycounter port 503, thereby calculates the rotating speed of motor.When the motor forward, photoelectric encoder output forward pulse signal, during motor reversal, photoelectric encoder output inversion pulse signal; The forward pulse signal is identical with the waveform of inversion pulse signal, and 90 ° of phase phasic differences, namely when the motor forward, second pulse falls behind 90 °; When motor reversal, 90 ° of second pulse advances, thereby the rotation direction of judgement motor.

Also be provided with purpose overspeed protective module in microprocessor, the input of purpose overspeed protective module is connected with the output of photoelectric encoder by thecounter port 503 of microprocessor CPU, is used for receiving the speed ofleft motor 201 andright motor 202; The output of purpose overspeed protective module is connected with PIDrate control module 504, is provided with buzzer oncontrol circuit board 30, and purpose overspeed protective module is connected with buzzer.Be provided with maximum protection speed in purpose overspeed protective module, when theleft motor 201 that receives,right motor 202 speed being detected over maximum protection speed, purpose overspeed protective module can drive the buzzer sounding, reminds the driver to take care; Simultaneously, 504 outputs of purpose overspeed protective module Control PID rate control module are used for the pwm control signal of deceleration, and the output voltage of motor-drive circuit is reduced, thereby reduce the travel speed of wheel.

The above is only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.

Claims (8)

Translated fromChinese

1.一种电动自平衡双轮滑板车，包括滑板车架、安装于所述滑板车架背面两侧的左、右车轮，用于驱动所述的左、右车轮转动的左、右电机，用于控制所述的左、右电机动力输出的控制电路板以及电源模块；在所述控制电路板设有用于驱动左电机的左电机驱动电路和用于驱动右电机的右电机驱动电路，其特征在于，在所述控制电路板上设有滑板平衡控制模块、速度控制模块、转向控制模块和自动上锁解锁模块；1. An electric self-balancing two-wheeled scooter, comprising a scooter frame, left and right wheels installed on both sides of the back of the scooter frame, left and right motors for driving the left and right wheels to rotate, A control circuit board and a power supply module for controlling the power output of the left and right motors; the control circuit board is provided with a left motor drive circuit for driving the left motor and a right motor drive circuit for driving the right motor, which It is characterized in that a skateboard balance control module, a speed control module, a steering control module and an automatic locking and unlocking module are arranged on the control circuit board;所述滑板平衡控制模块用于保持滑板平衡，包括用于检测所述滑板车架的倾斜角度的加速度传感器、用于测量所述滑板车架倾斜的角速度的角速度传感器以及用于对所述加速度传感器检测到的加速度信号和所述角速度传感器检测到角速度信号进行逻辑运算并根据逻辑运算输出相应的平衡控制信号的逻辑运算单元，所述加速度传感器、所述角速度传感器与所述逻辑运算单元连接，所述逻辑运算单元的输出端与所述左电机驱动电路、所述右电机驱动电路连接；The skateboard balance control module is used to maintain the balance of the skateboard, including an acceleration sensor for detecting the inclination angle of the skateboard frame, an angular velocity sensor for measuring the tilted angular velocity of the skateboard frame, and an acceleration sensor for measuring the tilt angle of the skateboard frame. The detected acceleration signal and the angular velocity signal detected by the angular velocity sensor perform logical operations and output a logical operation unit corresponding to the balance control signal according to the logical operation. The acceleration sensor and the angular velocity sensor are connected to the logical operation unit. The output terminal of the logic operation unit is connected with the left motor drive circuit and the right motor drive circuit;所述速度控制模块用于控制所述车轮的转速，包括用于测量左电机转速的左转速传感器、用于测量右电机转速的右转速传感器以及用于接收所述左转速传感器和所述右转速传感器检测到的左、右电机转速信号并进行PID运算控制的PID速度控制模块，所述左转速传感器、所述右转速传感器与所述PID速度控制模块连接，所述PID速度控制模块的输出端与所述左电机驱动电路、所述右电机驱动电路连接；The speed control module is used to control the rotation speed of the wheels, including a left rotation speed sensor for measuring the rotation speed of the left motor, a right rotation speed sensor for measuring the rotation speed of the right motor, and a device for receiving the left rotation speed sensor and the right rotation speed sensor. The left and right motor speed signals detected by the sensor are PID speed control modules that perform PID calculation control. The left speed sensor and the right speed sensor are connected to the PID speed control module, and the output terminals of the PID speed control module connected with the left motor drive circuit and the right motor drive circuit;所述逻辑运算单元的输出端和所述PID速度控制模块的输出端连接一信号叠加模块，所述信号叠加模块的输出端分别与所述左电机驱动电路的输入端、所述右电机驱动电路的输入端连接。The output terminal of the logic operation unit and the output terminal of the PID speed control module are connected to a signal superposition module, and the output terminal of the signal superposition module is connected with the input terminal of the left motor drive circuit and the right motor drive circuit respectively. input connection.所述转向控制模块用于控制所述滑板车的行驶方向，包括用于输出左、右电机差动控制电压信号的电机差动控制单元，所述电机差动控制单元分别与所述左电机驱动电路的输入端、所述右电机驱动电路的输入端连接；The steering control module is used to control the driving direction of the scooter, including a motor differential control unit for outputting left and right motor differential control voltage signals, and the motor differential control unit is respectively connected with the left motor drive The input end of the circuit is connected to the input end of the right motor drive circuit;所述自动上锁解锁模块用于自动检测是否有人使用，并根据检测结果控制所述滑板车进入锁定状态或驾驶状态，包括用于检测是否有人踏在滑板车上的压力传感器、以及用于接收所述压力传感器的检测信号并根据接收的检测信号进行相应控制的上锁解锁切换单元，所述压力传感器与所述上锁解锁切换单元连接，所述上锁解锁切换单元分别所述左电机驱动电路、所述右电机驱动电路连接；当所述压力传感器检测到有人踏在所述滑板车架上时，所述上锁解锁切换单元控制所述左电机驱动电路和所述右电机驱动电路启动工作，使所述滑板车进入驾驶状态；当所述压力传感器检测到无人踏在所述滑板车架上时，所述上锁解锁切换单元控制所述左电机驱动电路和所述右电机驱动电路停止工作，使所述滑板车进入上锁状态。The automatic locking and unlocking module is used to automatically detect whether someone is using it, and control the scooter to enter the locked state or driving state according to the detection result, including a pressure sensor for detecting whether someone steps on the scooter, and for receiving The detection signal of the pressure sensor and the locking and unlocking switching unit that performs corresponding control according to the received detection signal, the pressure sensor is connected with the locking and unlocking switching unit, and the locking and unlocking switching unit is respectively driven by the left motor circuit and the right motor drive circuit are connected; when the pressure sensor detects that someone steps on the scooter frame, the locking and unlocking switching unit controls the left motor drive circuit and the right motor drive circuit to start work, so that the scooter enters the driving state; when the pressure sensor detects that no one is stepping on the scooter frame, the locking and unlocking switching unit controls the left motor drive circuit and the right motor drive The circuit stops working, and the scooter is locked.2.根据权利要求1所述的电动自平衡双轮滑板车，其特征在于，所述逻辑运算单元、所述PID速度控制模块、所述信号叠加模块、所述电机差动控制单元和所述上锁解锁切换单元均集成在一微处理器中，所述微处理器上设有模数转换接口和PWM输出接口，所述加速度传感器、所述角速度传感器和所述压力传感器均与所述模数转换接口连接，所述加速度传感器和所述角速度传感器通过所述模数转换接口与所述逻辑运算单元连接，所述压力传感器通过所述模数转换接口与所述上锁解锁切换单元连接；所述左电机驱动电路和所述右电机驱动电路均与所述PWM输出接口连接，所述信号叠加模块、所述电机差动控制单元和所述上锁解锁切换单元均通过所述PWM输出接口与所述左电机驱动电路和所述右电机驱动电路连接。2. The electric self-balancing two-wheel scooter according to claim 1, characterized in that, the logic operation unit, the PID speed control module, the signal superposition module, the motor differential control unit and the The locking and unlocking switching units are all integrated in a microprocessor, and the microprocessor is provided with an analog-to-digital conversion interface and a PWM output interface, and the acceleration sensor, the angular velocity sensor and the pressure sensor are all connected to the analog The digital conversion interface is connected, the acceleration sensor and the angular velocity sensor are connected to the logical operation unit through the analog-to-digital conversion interface, and the pressure sensor is connected to the locking and unlocking switching unit through the analog-to-digital conversion interface; Both the left motor drive circuit and the right motor drive circuit are connected to the PWM output interface, and the signal superposition module, the motor differential control unit and the locking and unlocking switching unit are all connected through the PWM output interface It is connected with the left motor drive circuit and the right motor drive circuit.所述加速度传感器用于将检测到的加速度电压信号经所述模数转换接口输出给所述逻辑运算单元；The acceleration sensor is used to output the detected acceleration voltage signal to the logic operation unit through the analog-to-digital conversion interface;所述角速度传感器用于将检测到的角速度电压信号经所述模数转换接口输出给所述逻辑运算单元；The angular velocity sensor is used to output the detected angular velocity voltage signal to the logical operation unit through the analog-to-digital conversion interface;所述模数转换接口用于将所述加速度电压信号和所述角速度电压信号转换成相应的加速度数值和角速度数值。The analog-to-digital conversion interface is used to convert the acceleration voltage signal and the angular velocity voltage signal into corresponding acceleration values and angular velocity values.所述逻辑运算模块用于将输入的加速度数值进行系数转换形成倾角数值，并将所述倾角数值和输入的角速度数值进行卡尔曼滤波运算，计算出所述滑板车架的准确倾角数值，并将所述准确倾角数值进行逻辑运算，计算出维持所述滑板车架平衡所需运行的速度的滑板平衡控制信号，并输出；The logic operation module is used to convert the input acceleration value into a coefficient to form an inclination value, and perform a Kalman filter operation on the inclination value and the input angular velocity value to calculate the exact inclination value of the scooter frame, and Perform logic operations on the accurate inclination value to calculate the skateboard balance control signal at the speed required to maintain the balance of the skateboard frame, and output it;所述PID速度控制模块用于将反馈回来的左电机转速信号、右电机转速信号和给定的速度信号进行PID运算，并根据PID运算结果输出用于控制电机速度的滑板速度控制信号；The PID speed control module is used to perform PID calculation on the feedback left motor speed signal, right motor speed signal and given speed signal, and output a skateboard speed control signal for controlling the motor speed according to the PID calculation result;所述信号叠加模块用于将所述滑板平衡控制信号和所述滑板速度控制信号进行信号叠加，并将叠加后的控制信号通过所述PWM输出接口输出给所述左电机驱动电路和所述右电机驱动电路，使所述滑板车自平衡运行。The signal superposition module is used to superimpose the skateboard balance control signal and the skateboard speed control signal, and output the superimposed control signal to the left motor drive circuit and the right motor drive circuit through the PWM output interface. The motor drive circuit enables the scooter to run in a self-balancing manner.3.根据权利要求2所述的电动自平衡双轮滑板车，其特征在于，所述加速度传感器为倾角传感器，所述左转速传感器和所述右转速传感器均为光电编码器，所述光电编码器轴接在相应的所述左电机和所述右电机的输出轴上，所述光电编码器的输出端通过所述微处理器的计数器端口与所述PID速度控制模块连接。3. The electric self-balancing two-wheeled scooter according to claim 2, wherein the acceleration sensor is an inclination sensor, the left rotational speed sensor and the right rotational speed sensor are both photoelectric encoders, and the photoelectric encoder The encoder shafts are connected to the corresponding output shafts of the left motor and the right motor, and the output end of the photoelectric encoder is connected to the PID speed control module through the counter port of the microprocessor.4.根据权利要求3所述电动自平衡双轮滑板车，其特征在于，所述PWM输出接口设有四个，其中两个PWM输出接口与所述左电机连接，一与所述左电机连接的PWM输出接口用于输出控制所述左电机正转的PWM控制信号，另一与所述左电机连接的PWM输出接口用于输出控制所述左电机反转的PWM控制信号；另两个PWM输出接口与所述右电机连接，一与所述右电机连接的PWM输出接口用于输出控制所述右电机正转的PWM控制信号，另一与所述右电机连接的PWM输出接口用于输出控制所述右电机反转的PWM控制信号。4. The electric self-balancing two-wheeled scooter according to claim 3, wherein there are four PWM output interfaces, two of which are connected to the left motor, and one is connected to the left motor The PWM output interface of the left motor is used to output the PWM control signal for controlling the forward rotation of the left motor, and the other PWM output interface connected with the left motor is used for outputting the PWM control signal for controlling the reverse rotation of the left motor; the other two PWM The output interface is connected with the right motor, one PWM output interface connected with the right motor is used to output the PWM control signal for controlling the forward rotation of the right motor, and the other PWM output interface connected with the right motor is used for output A PWM control signal for controlling the reverse rotation of the right motor.5.根据权利要求3或4所述电动自平衡双轮滑板车，其特征在于，所述微处理器内还设有超速保护模块，所述超速保护模块的输入端通过所述微处理器CPU的计数器端口与所述光电编码器的输出端连接，用于接收所述左电机和所述右电机的速度；所述超速保护模块的输出端与所述PID速度控制模块连接，在所述超速保护模块内设有最大保护速度，当检测到接收到的电机速度超过所述最大保护速度时，所述超速保护模块控制所述PID速度控制模块输出用于减速的PWM控制信号，使所述电机驱动电路的输出电压减小。5. According to the described electric self-balancing two-wheeled scooter according to claim 3 or 4, it is characterized in that an overspeed protection module is also provided in the microprocessor, and the input end of the overspeed protection module passes through the microprocessor CPU The counter port of the photoelectric encoder is connected to the output end of the photoelectric encoder for receiving the speeds of the left motor and the right motor; the output end of the overspeed protection module is connected with the PID speed control module. The protection module is provided with a maximum protection speed, and when it is detected that the received motor speed exceeds the maximum protection speed, the overspeed protection module controls the PID speed control module to output a PWM control signal for deceleration, so that the motor The output voltage of the drive circuit decreases.6.根据权利要求5所述电动自平衡双轮滑板车，其特征在于，在所述控制电路板上设有蜂鸣器，所述超速保护模块与所述蜂鸣器连接，当检测到接收到的左、右电机速度超过所述最大保护速度时，所述超速保护模块驱动所述蜂鸣器发声。6. The electric self-balancing two-wheeled scooter according to claim 5, wherein a buzzer is provided on the control circuit board, and the overspeed protection module is connected to the buzzer, and when it is detected that the receiving When the received left and right motor speeds exceed the maximum protection speed, the overspeed protection module drives the buzzer to sound.7.根据权利要求1所述电动自平衡双轮滑板车，其特征在于，还包括一用于调整行驶方向的无线遥控器，所述无线遥控器包括摇杆电位器和红外发送模块，所述转向控制模块还包括一红外接收模块，所述红外接收模块设置在所述控制电路板上，所述红外接收模块与所述电机差动控制单元连接。7. The electric self-balancing two-wheeled scooter according to claim 1, further comprising a wireless remote controller for adjusting the driving direction, said wireless remote controller comprising a rocker potentiometer and an infrared sending module, said The steering control module also includes an infrared receiving module, the infrared receiving module is arranged on the control circuit board, and the infrared receiving module is connected with the motor differential control unit.8.根据权利要求1所述的电动自平衡双轮滑板车，其特征在于，所述滑板车架为长条型滑板车架，所述的左、右车轮安装在所述滑板车架的中央平衡点上。8. The electric self-balancing two-wheeled scooter according to claim 1, wherein the scooter frame is a strip type scooter frame, and the left and right wheels are installed in the center of the scooter frame on balance.

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