CN100559314C - Electric scooter radio remote controller and controller - Google Patents

Electric scooter radio remote controller and controller Download PDF

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Publication number
CN100559314C
CN100559314C CNB2007101318609A CN200710131860A CN100559314C CN 100559314 C CN100559314 C CN 100559314C CN B2007101318609 A CNB2007101318609 A CN B2007101318609A CN 200710131860 A CN200710131860 A CN 200710131860A CN 100559314 C CN100559314 C CN 100559314C
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circuit
control
motor
signal
pin
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CN101131585A (en
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周达左
杨慧中
潘国锋
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Jiangnan University
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Jiangnan University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

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Abstract

The present invention is device, the especially telecontrol engineering device that operation is controlled to scooter that operation is controlled to Segway Human Transporter.According to technical scheme provided by the invention, the present invention includes two parts, first is the remote-control transmitting part, and the emissive power of this part requires than higher, and the emissive power of processor reaches 10 milliwatts, and transmission range is in 10 meters; Second portion is that remote control receives control section, and this part realizes the control to the operation of scooter motor.This remote controllers use radio frequency is transmitted digital control signal scooter is controlled, and realizes the stepless speed regulation control to the scooter motor.Controller is the topworks of telepilot operational order, the running status of its control and monitoring motor, the stepless speed regulation of operating motor and brake.State to motor is monitored, and breaks away from scooter if any driving or people are taken place, and stops the running of scooter, stops to respond the control of remote controller signal.

Description

Electric scooter radio remote controller and controller
Technical field
The present invention is device, the especially telecontrol engineering device that operation is controlled to scooter that operation is controlled to Segway Human Transporter.
Background technology
Segway Human Transporter mainly is to control in wired mode at present, the dirigibility of Segway Human Transporter is greatly limited like this, the people of motion is difficult to arbitrary mode according to oneself in the above and skids off various actions, has so also just lost scooter original enjoyment of moving.Wired control mode makes carries also inconveniently, and lead is involved in flywheel through regular meeting, causes great life security incident.Also occurred telepilot control Segway Human Transporter now on the market, but also had a lot of defectives at aspects such as power consumption, safety, distance, pollutions.Also there are a lot of defectives in the electric return board vehicle controller at the aspects such as power consumption of motor start-up electric current, motor noise, control circuit.As: require motor start-up very fast, toggle speed will be limited in the regular hour to maximal value from zero, but very big at the required starting current of so short time the inside actuating motor, battery damages more serious.
Summary of the invention
The telepilot and the controller that the purpose of this invention is to provide Segway Human Transporter, this remote controllers use radio frequency transmit digital control signal to be controlled scooter, realizes the stepless speed regulation control to the scooter motor.Controller is the topworks of telepilot operational order, the running status of its control and monitoring motor, the stepless speed regulation of operating motor and brake.State to motor is monitored, and breaks away from scooter if any driving or people are taken place, and stops the running of scooter, stops to respond the control of remote controller signal.
According to technical scheme provided by the invention, the present invention includes two parts, first is the remote-control transmitting part, and the emissive power of this part requires than higher, and the emissive power of processor reaches 10 milliwatts, and transmission range is in 10 meters; Second portion is that remote control receives control section, and this part realizes the control to the operation of scooter motor.
The remote-control transmitting of this controller partly comprises MCU processor, AD and shift circuit, radiofrequency emitting module; Wherein Shu Ru signal is handled in conjunction with AD and shift circuit by the MCU processor, becomes the binary signal that can transmit that has control information and encrypted message; Binary signal directly drives radiofrequency emitting module by the serial ports output of MCU processor; Control information and encrypted message are launched by radiofrequency emitting module;
Remote control receives control section and comprises radio frequency receiver, MCU controller, motor speed control circuit, driving protection and electric source monitoring circuit, charge pump circuit, brake and holding circuit; Wherein receiver, MCU controller are connected in series in proper order, the serial ports of receiver output termination MCU controller, and the information that receives is exported control signal after the MCU controller is handled; The MCU controller connects the input end of motor speed control circuit, driving protection and electric source monitoring circuit, battery under-voltage protection circuit, battery electric quantity display circuit, charging and charge protector, brake and holding circuit, and the MCU controller is carried treated control signal to motor speed control circuit, driving protection and electric source monitoring circuit, battery under-voltage protection circuit, battery electric quantity display circuit, charging and charge protector, brake and holding circuit; Charge pump circuit provides high pressure for the brake circuit; The output termination LED of battery electric quantity display circuit.
The remote-control transmitting part also comprises: signal source, A/D circuit, voltage detection circuit, power circuit; Wherein the output terminal of signal source inserts the IO interface of MCU processor, the MCU processor carries out overall treatment realization A/D conversion according to input voltage and A/D circuit, convert the back password of the A/D data of gained and setting is carried out packing data, output to radiofrequency emitting module by serial ports at last; Radiofrequency emitting module produces the carrier frequency of 315MHz or 413M, and the signal of MCU processor input is modulated carrier frequency, output after modulation is finished.
Remote control receives control section and also comprises: power circuit, overcurrent and rotation-clogging protection circuit, charge pump circuit; Wherein radio frequency receiver is sent the packet that demodulates into the processing of MCU controller, the MCU controller carries out verification to the packet that receives, if wrongly just carry out wrong error correction, verification once more after error correction is intact, as wrong this packet of then abandoning again, wait for and accept next packet;
If errorless then unpack processing, isolate data message and encrypted message, the encrypted message and the password that prestores are compared; As difference, then forgo data information is waited for the arriving of next packet; Identically then make various logic to Motor Control according to data message; The MCU controller is sent various logic into motor speed control circuit, charge pump circuit, brake and holding circuit respectively, the state of control motor; The output of driving protection and electric source monitoring circuit, overcurrent and rotation-clogging protection circuit inserts the MCU controller respectively, and the MCU controller is made feedback according to these states, and the control motor is operated in the stability and safety state.
The remote-control transmitting part also comprises signal source, and the output termination MCU processor of signal source, and the signal of signal source is handled in conjunction with AD and shift circuit by the MCU processor, becomes the binary signal that can transmit that has control information and encrypted message;
Remote control receives control section and also comprises battery under-voltage protection circuit, battery electric quantity display circuit, charging and charge protector and motor; The MCU controller connects the input end of battery under-voltage protection circuit, battery electric quantity display circuit, charging and charge protector, and the MCU controller is carried treated control signal to battery under-voltage protection circuit, battery electric quantity display circuit, charging and charge protector; The input end of the output termination LED of battery electric quantity display circuit is to show electric weight; The input end of the output termination motor of motor speed control circuit.
The present invention adopts automatically to the sign indicating number technology, promptly after the start, when arbitrary telepilot is controlled scooter, at first carry out automatically to sign indicating number between telepilot and the scooter controller, automatically to behind the sign indicating number, the telepilot that this scooter is controlled is unique, and when controller did not restart, other telepilot does not start to control to make to this scooter to be used.
The present invention realizes the stepless speed regulation of motor, and the user can be according to individual's custom and hobby governing speed, and system has the function of brake and runaway, has guaranteed the safe reliability of slide plate at motion process.The invention enables the control of Segway Human Transporter more flexible, play to get up can more follow one's bent, it is more permanent that the life-span of controller and battery becomes.
Beneficial effect: this controller adopts the radio frequency transmission control signal, and transmission contains much information, and effectively overcomes the interference of external electromagnetic ripple and the powerful interference of motor itself, makes the signal transmission error rates significantly reduce.Adopted the CRC check principle at signal receiving end, avoided the random controlled motor state of error code, made scooter safer, more stable.Realize the stepless speed regulation of motor, the user can be according to individual's custom and hobby governing speed, and system has the function of brake and runaway, has guaranteed the safe reliability of slide plate at motion process.Really realize between telepilot and the scooter automatically to code function, avoided the drawback of many scooters of a telepilot control.
Description of drawings
Fig. 1 is a remote-control transmitting partial circuit block diagram of the present invention.
Fig. 2 is that remote control of the present invention receives the control section circuit block diagram.
Fig. 3 is the circuit theory diagrams of remote-control transmitting part.
Fig. 4 is the circuit theory diagrams of receiving unit and controller MCU.
Fig. 5 is Motor Control and each holding circuit schematic diagram.
Fig. 6 is a battery electric quantity display circuit schematic diagram.
Have among the above figure: signal source 1, MCU processor 2, A/D circuit 3, power supply detection and warning circuit 4, power circuit 5, radiofrequency emitting module 6, radio frequency are accepted module 7, MCU controller 8, power circuit 9, charging circuit 10, charging and charge protector 10, brake and holding circuit 11, driving protection and electric source monitoring circuit 12, motor speed control circuit 13, overcurrent and rotation-clogging protection circuit 14, charge pump circuit 15, battery electric quantity demonstration 16, LED17, motor 18.
Embodiment
As shown in the figure: the present invention includes remote-control transmitting part and remote control and receive control section, remote-control transmitting wherein partly comprises signal source 1, MCU processor 2, radiofrequency emitting module 6; The output termination MCU processor 2 of signal source 1 wherein, the signal of signal source 1 is handled through MCU processor 2, becomes the binary signal that can transmit that has control information and encrypted message; Binary signal directly drives radiofrequency emitting module 6 by the serial ports output of MCU processor 2; Control information and encrypted message are launched by radiofrequency emitting module 6;
Remote control receives control section and comprises radio frequency receiver 7, MCU controller 8, motor speed control circuit 13, driving protection and electric source monitoring circuit 12, battery under-voltage protection circuit, battery electric quantity display circuit 16, charging and charge protector 10, motor, LED, brake and holding circuit 11; Wherein receiver, MCU controller are connected in series in proper order, the serial ports of receiver output termination MCU controller 8, and the information that receives is exported control signal after MCU controller 8 is handled; MCU controller 8 connects the input end of motor speed control circuit 13, driving protection and electric source monitoring circuit 12, battery under-voltage protection circuit, battery electric quantity display circuit 16, charging and charge protector 10, brake and holding circuit 11, and MCU controller 8 is carried treated control signal to motor speed control circuit 13, driving protection and electric source monitoring circuit 12, battery under-voltage protection circuit, battery electric quantity display circuit 16, charging and charge protector 10, brake and holding circuit 11; The input end of the output termination motor of motor speed control circuit 13, the output termination LED of battery electric quantity display circuit 16.
The remote-control transmitting part also comprises: signal source 1, A/D circuit 3, voltage detection circuit 4, power circuit 5; Wherein the output terminal of signal source 1 inserts the IO interface of MCU processor 2, MCU processor 2 carries out overall treatment realization A/D conversion according to input voltage and A/D circuit 3, convert the back password of the A/D data of gained and setting is carried out packing data, output to radiofrequency emitting module 6 by serial ports at last; Radiofrequency emitting module 6 produces the carrier frequency of 315MHz or 413M, and the signal of MCU processor 2 inputs is modulated carrier frequency, output after modulation is finished.
Remote control receives control section and comprises: power circuit 9, overcurrent and rotation-clogging protection circuit 14, charge pump circuit 15; Wherein radio frequency receiver 7 is sent the packet that demodulates into 8 processing of MCU controller, 8 pairs of packets that receive of MCU controller carry out verification, if wrongly just carry out wrong error correction, verification once more after error correction is intact, as wrong this packet of then abandoning again, wait for and accept next packet;
If errorless then unpack processing, isolate data message and encrypted message, the encrypted message and the password that prestores are compared; As difference, then forgo data information is waited for the arriving of next packet; Identically then make various logic to Motor Control according to data message; MCU controller 8 is sent various logic into motor speed control circuit 13, charge pump circuit 15, brake and holding circuit 11 respectively, the state of control motor; The output of charging and charge protector 10, driving protection and electric source monitoring circuit 12, overcurrent and rotation-clogging protection circuit 14 inserts MCU controller 8 respectively, and MCU controller 8 is made feedback according to these states, and the control motor is operated in the stability and safety state; The input end of the output termination LED of battery electric quantity display circuit 16 is to show electric weight.
MCU processor 2 has been formed A/D converter jointly with A/D circuit 3, has added electric source monitoring circuit, prevents to cross the low controlled motor that misses because of cell voltage, introduces 315M or 413M radiofrequency emitting module, has improved anti-interference, has reduced power consumption.
The brake of motor and stepless speed regulation can not take place simultaneously, have ensured the safety of scooter.Introduce simple charge pump circuit, saved resource.Motor is realized overcurrent and rotation-clogging protection, added driving protection and battery monitoring circuit, further ensured the security performance of slide plate operation.Truly realized automatically code function, needn't worry that scooter is subjected to the situation of other telepilots controls, can generally can disorderly not control telepilot again.Needn't change hardware and software when automatically sign indicating number being made the batch process of telepilot again, for batch process brings great convenience.
Segway Human Transporter telepilot and controller comprise that remote-control transmitting part, remote control receive control section two parts and partly form, and the scooter motor is carried out stepless speed regulation control, electrical brake control, runaway control etc.
The remote-control transmitting part: because radio frequency band has strong interference immunity, characteristics such as degree of distortion is little, native system adopts the frequency of 315MHz or 413MHz to realize the transmission of control signal as carrier.The course of work of remote-control transmitting part is for behind the trigger of pulling telepilot, and the resistance value that connects the potentiometer of trigger changes, and the MCU controller carries out the A/D conversion according to the difference of the resistance value of potentiometer, carries out packing data according to different A/D values then.The packing value is sent by serial mode, and serial ports directly drives 315MHz or 413M radiofrequency emitting module, and packing data is launched.
Remote control receives control section: after radiofrequency signal was received, the information that Receiver Module demodulates packing was sent into the MCU controller and is handled.The MCU controller unpacks receiving the packet that comes, and isolate password and control data, with the password that solves and original password relatively, if meet, then control data is converted into control signal drive motor driving circuit, the operating condition of control motor is carried out stepless speed regulation control, electrical brake control, runaway control etc. to the scooter motor.If be not inconsistent, then abandon control data, turn to the acceptance of next packet.
The design's remote-control transmitting partly comprises: signal source 1, MCU processor 2, A/D circuit 3, supply voltage detection and warning circuit 4, power circuit 5, radiofrequency emitting module 6; Wherein the output terminal of signal source 1 inserts the IO mouth of MCU processor 2, MCU processor 2 carries out overall treatment realization A/D conversion according to input voltage and A/D circuit, convert the back password of the A/D data of gained and setting is carried out packing data, output to radiofrequency emitting module by serial ports at last.Radiofrequency emitting module produces the carrier frequency of 315MHz or 413M, and the signal of MCU processor 2 inputs is modulated it, has modulated back output.
Potentiometer R1 is as signal source 1, the person's that is used for the transmitting movement control signal, and its signal value is sent into U1 and is handled.1,2 pin connect power supply, and 3 pin meet the 12 pin P1.0 of U1AT89C2051 in the MCU processor 2.Potentiometer has constituted a bleeder circuit, during the potentiometer rotation, and the voltage signal that the output of 3 pin is different.
MCU processor 2 is finished the control signal collection and is carried out work such as AD conversion, battery voltage detection, packing data transmission, warning.MCU processor 2 comprises integrated circuit U1, capacitor C 2～4, resistance R 2 and crystal oscillator Y1; Wherein, the end of R2 and the negative pole of C4 together insert the 1 pin RST of U1, form reset circuit.In the moment of energized, by the principle that electric capacity two polygonal voltages can not be suddenlyd change, the electric capacity negative pole is pulled to power supply ground for just by resistance R 2, produces momentary pulse and finishes reset function.The two ends of Y1 join with the end of C2, C3 respectively and insert 4,5 pin XTAL2, the XTAL1 of U1.C2, C3 make the Y1 starting of oscillation, and the clock signal of 11.0592MHz is provided for U1.The 10 pin GND of U1 connect power supply ground, and 20 pin VCC connect positive source, 20 pin of C8 one termination U1, other end ground connection.The C8 filtering high-frequency signal of carrying secretly in the power supply, make its working stability.
AD circuit and shift circuit 3 are accomplished for the AD conversion that the AD conversion provides reference signal allow U1, and shift circuit makes U1 select suitable agreement to carry out packing data according to gear, finishes speed stage control.A/D circuit 3 is the RC charge-discharge circuit, comprises diode D5, resistance R 2, capacitor C 5 and switch SW.Wherein R3 one end links to each other with C5 is anodal, and the C5 negative pole inserts power cathode, and the R3 other end is received positive source.The common point that R3 is connected with C5 divides two-way, and one the tunnel enters the 13 pin P1.1 of U1 in the MCU processor 2, and 14 pin P1.2 are inserted by D5 in another road.R3, C5, D5 form the RC oscillatory circuit, and power supply charges to C5 by R3, when the voltage on the C5 is charged to 3 pin voltages with R1 when identical, immediately by the 14 pin discharge of D5 to U1.The RC charging circuit influences the duration of charging according to the voltage swing of potentiometer 3 pin inputs, and the length in duration of charging be the AD value of correspondence by the U1 reading and converting, the AD value subsequently by U1 according to certain protocol packing, 3 pin P3.1 serial ports by U1 send out then.Go round and begin again, constitute the AD circuit.2,3 pin of change-over switch S1 insert 16,17 pin P1.4, the P1.5 of U1, and 1 pin of S1 inserts power cathode, has constituted shift circuit.U1 selects different packing agreements according to the moving some placement location of S1, constitutes the packet of three class speed.
Power supply detects and warning circuit 4 crosses at start or battery electric quantity that the alarm sporter notes when low.Voltage detection circuit 4 comprises triode Q1, integrated circuit U2, U3A, resistance R 5, R6 and switch SW; Wherein, 1 pin of pushbutton switch S2 is connected with the positive pole of 9V battery, and 2 pin link to each other with the end of R5, the positive pole of C7, the input end of IC5.The other end of R5 links to each other with the end of R6,3 pin of U3A, and the other end of R6 inserts power cathode.2 pin of U3A connect positive source, and 4 pin connect negative pole, and 1 pin inserts 18 pin of U1, constitute the battery detection circuit.R5, R6 constitute bleeder circuit, and when supply voltage drops to certain value, the voltage that R6 is gone up divide is during less than 5V, and the 1 pin output low level of U3 is input to U1 and handles.The positive pole of hummer U2 is connected with positive source, and negative pole links to each other with the collector of Q1, and the emitter of Q1 links to each other with power cathode, and base stage constitutes warning circuit by the 19 pin P1.6 of resistance R 4 access U1.When the base stage of Q1 is high level, the Q1 conducting, the negative pole of hummer U2 is equivalent to ground connection, buzzer warning.Just started shooting or detected supply voltage at U1 and crossed when low, warning circuit is reported to the police.The start time of fire alarming is 0.5S, and the low time of fire alarming of cell voltage is 2S.
Power circuit 5 provides 5V power supply for entire circuit.Power circuit 5 comprises integrated circuit (IC) 5, capacitor C 6, C7; Wherein the positive pole of C7 is connected with the input end of Voltage stabilizing module IC5, and the negative pole of C7 connects power cathode.The positive pole of C6 is connected with the output terminal of IC5, and negative pole connects power cathode.
The packet that radiofrequency emitting module 6 will be input to 2 pin is modulated to the radio band of 315MHz, and data are sent, and finishes the wireless transmit function.Radiofrequency emitting module 6 is JP1; Wherein 1 pin of JP1 connects antenna, and 2 pin insert 3 pin of U1, and 3 pin connect positive source, and 4 pin connect power cathode.When 2 pin received the signal of U1, signal was modulated to by JP1 on the carrier frequency of 315MHz, and the antenna transmission that connects by 1 pin is in the space.
Remote control receives control section and comprises: radio frequency receiver 7, MCU controller 8, power circuit 9, charging and charge protector 10, brake and holding circuit 11, driving protection and electric source monitoring circuit 12, motor speed control circuit 13, overcurrent and rotation-clogging protection circuit 14, charge pump circuit 15, battery display circuit 16, LED17;
Receiver Module 7 is finished the receiving demodulation of radiofrequency signal, and the signal that demodulates is input in the MCU controller 8.1 of JP1,4 pin connect the both positive and negative polarity of power supply in the radio frequency receiver 7, and 2,3 pin insert the 18 pin RC7 of U1 in the MCU controller 8.2, the packet after the 3 pin output demodulation, U1 unpacks processing after receiving packet.
MCU controller 8 is finished restituted signal reception, battery voltage detection, the detection of overcurrent locked rotor current, charging detection, according to detected signal, makes control corresponding then.Its control has: motor speed adjustment, motor brake, the protection of motor driving, cell charge protection, cell voltage are crossed low protection, overcurrent and rotation-clogging protection, LED shows.1 of U1,2 pin VPP, RA0 connect power supply in the MCU controller 8, on a termination 1,2 pin of C1, and filter out power medium-high frequency signal, the antijamming capability of raising MCU controller 8.8 pin VSS connect the end of capacitor C 2, C3, and 9 pin OSC1 connect the end of crystal oscillator XTAL1 and C3, and the end of the crystal oscillator other end and C2 meets the 10 pin OSC2 of U1 simultaneously.The other end of C2, C3 inserts power supply ground.Crystal oscillator XTAL1, C2, C3 have constituted crystal oscillating circuit, for MCU controller 8 provides clock signal.The 12 pin RC1 of U1 connect the end of R30, R32 in the charge pump circuit 15.The 13 pin RC2 of U1 connect the end of R28, R27 in the motor speed control circuit 13.The 21 pin RB0 of U1 connect the end of R9, S1, C9, another termination positive source of R9, and another termination power cathode of S1 and C9, R9, S1, C9 have constituted the single-chip microcomputer wake-up circuit jointly.The S1 button presses that 21 pin RB0 for U1 provide a negative edge pulse when decontroling again, and this pulse wakes single-chip microcomputer up or makes its sleep.The 20 pin VDD of U1 connect positive source, 19 pin VSS connect power cathode, constitute electric power loop.C10 one termination is gone into the 20 pin other ends and is inserted 19 pin, filtering high frequency noise signal.The 16 pin RC5 of U1 connect R10 one end, the negative pole of another termination of R10 D6, and the positive pole of D6 connects power supply, constitutes the battery charging state display circuit.When RC5 was low level, power supply formed the loop by D6, R10, makes D6 luminous.The 15 pin RC4 of U1 receive the end of R11, the negative pole of another termination D7 of R11, and the positive pole of D7 connects power supply, constitutes the controller switches status display circuit.When RC4 was low level, power supply constitutes the loop by D7, R11 made D7 luminous.
Power circuit 9 output 5V and 15V power supplys.The end of R5 connects the positive pole of D13 in the power circuit 9, another termination general supply 36V positive pole of R5, and the D13 negative pole connects the negative pole of Z1, and the positive pole of Z1 connects 1 pin of V17815 and the positive pole of C1.D13 has the forward conduction function and prevents that power supply from connecing instead, and R5, Z1 finish elementary buck functionality, polar circuit 7815 both sides, back is pressed will be no more than 10V, prevents that 7815 cross cause thermal damage.2 pin of the negative pole of C1 and regulator block V17815 connect power cathode, and C1 finishes the energy storage filter action.3 pin of V1 connect 1 pin of regulator block V27805, and the positive pole of E1 connects 3 pin of V1 and 1 pin of V2, and negative pole connects power cathode, finishes the energy storage filter action.Output terminal 3 pin of V2 provide 5V power supply for whole operating circuit.The positive pole of E2 connects 3 pin of V2, and another termination power cathode is finished the energy storage filter function.
Charging and charge protector 10 provide the scooter charging signals for U1.The termination power negative pole of C2 in charging and the charge protector 10, the 4 pin RA2 of U1 in the end of another termination R1 and the MCU controller.Another termination R2 of R1, the end of R3.The positive pole of another termination D2 of R3 and 1 pin of charge port char1,2 pin of the other end of R2 and char1 connect power cathode.The negative pole of D2 connects the positive pole of general supply 36V.R1, R2, R3, C2, D2 constitute charging and charge protector jointly.R3, R2 constitute bleeder circuit, and when charging, the last voltage that divides of R2 is handled by U1 by 4 pin that R1 outputs to U1 in the MCU controller 8.
Brake and holding circuit 11 are when receiving brake signal, and driving motor M brakes.One of the R17 base stage that terminates to N2 in brake and the holding circuit 11, another termination positive source.The emitter of N2 is received the end of R16, and collector is received the end of R15 and the base stage of P3.Power supply provides switching voltage by the base stage that R17 enters N2.The emitter of N2 is received the 14 pin RC3 of U1 in the MCU controller 8 by R16, whether conducting of the state decision N2 of 14 pin.The emitter of P3 connects the negative pole of D12 in the charge pump 16, and R15 connects and constitutes biasing between the emitter of P3 and the base stage.The collector of P3 is received the emitter of P1 and the grid of M3 by R14, D7.The base stage of P1 is received the positive pole of D7, and collector and base stage that R12 receives P1 form biasing.Between the grid of C7 two termination M3 and M1 and the drain electrode, for its grid provides enough energy-bias.The drain electrode of M3, M1 connects the source electrode of M2, M4 in motor M negative pole and the motor speed control circuit 13, and the source electrode of M3, M1 connects motor M positive pole.P3 conducting when the BRK of R16 end is low-voltage, the G point voltage provides switching voltage to make and M1, M3 conducting reaches the brake purpose by the grid that R14, D7 are transferred to M3, M1.When the BRK of R16 end when high, P3 ends, the P1 conducting, M3, M1 grid voltage discharge by P1, grid voltage is dragged down, M3, M1 end.
Driving and power supply monitoring 12 detect supply voltage, and detectable voltage signals is sent into U1.The driving circuit disconnects motor M power supply at M2, automatic cutout relay when M4 burns, the protection sporter.The 36V positive source connects the end of R4, R6 in driving protection and the electric source monitoring circuit 12, and the other end of R4, R6 connects the end of R7 and the positive pole of E3, and the other end of R7 and the negative pole of E3 connect power cathode.The end common junction ADV of R4, R5, R7, E3 meets the 5 pin RA3 of U1 in the MCU controller 8, and the voltage variety at ADV place will be read by U1, and deal with.The termination 36V positive source of R8,2 pin of another relay termination J1,4 pin of J1 connect the collector of T1, and the D3 positive pole connects 2 pin of J1, and negative pole connects 4 pin of J1.When J1 disconnected, the D3 conducting consumed the inductance energy stored.The emitter of T1 connects power cathode, and base stage connects the D8 negative pole, and the D8 positive pole connects the D5 negative pole, the D5 positive pole connects the D4 negative pole, and the D4 positive pole connects R9 one end, and R9 other end RDY meets the 28 pin RB7 of U1 in the MCU controller, the level of RDY is controlled its conducting state by the base stage of R9, D4, D5, D8 dividing potential drop rear drive T1.When RDY is high, T1 conducting, J1 adhesive, main circuit energising.RDY is low, and T1 ends, and J1 disconnects, and main circuit is stopped power supply.The positive pole of D4 connects the collector of T2 again, and the emitter of T2 connects the D6 positive pole, and the D6 negative pole connects the drain electrode of M1, M3, collector and base stage that R10 meets T2 form biasing, the base stage of T2 connects the collector of N1 again, and the base stage of N1 connects the end of R20, and the other end RUN of R20 meets the 27 pin RB6 of U1 in the MCU controller 8.RUN is high level N1 conducting, and T2 ends during the N1 conducting, T1 conducting when T2 ends, main circuit power supply.RUN ends for low level N1.T2 conducting when N1 ends, T1 ends during the T2 conducting, and main circuit is stopped power supply.Circuit is finished the driving defencive function thus.The positive pole of C4, C5, C6 is succeeded 5 pin of electrical equipment J1, and negative pole connects power cathode.When the J1 adhesive, energy storage, filter action are finished in C4, C5, C6 charging.The drain electrode that fly-wheel diode F1, F2 positive pole are received M1, M3, negative pole connects the source electrode of M1, M3, and motor M reverse potential is released by F1, F2.
Motor speed control circuit 13 provides driving circuit for the motor speed adjusting running.The emitter of R28 one termination T3 in the motor speed control circuit 13, other end PWM meet the 13 pin RC2 of U1 in the MCU controller.The base stage BRK of T3 meets the 14 pin RC3 of U1 in the MCU controller.Have only when BRK is high level, PWM just works to T3.The collector of T3 connects the base stage of P2, and emitter and the base stage of the two termination P2 of R13 provide biasing.The collector of P2 connects the grid of M4, M2 by R26, and grid and the drain electrode of C13 two termination M2, M4 are for it provides enough conducts energy.The collector of N3 connects the grid of M4, M2, and the base stage of N3 inserts the RC2 of U1 in the MCU controller by resistance R 27.R23 one termination power ground, the end of R21 in another termination M2, M4 drain electrode and overcurrent and the rotation-clogging protection circuit 15, monitoring current size.At BRK is under the situation of high level, and when PWM was low level, the T3 conducting made also conducting of P2, and then 15V voltage is input to the grid of M4, M2 by P2, R26, for M4, M2 provide switching voltage.T3 ends when PWM is high level, and the N3 conducting makes M2, M4 end.
Overcurrent and rotation-clogging protection circuit 14 are sent the signal of big electric current into U1 at motor current during excessive or stall, make U1 make corresponding judgment.In overcurrent and the rotation-clogging protection circuit 14, the termination M2 of R21, R24, the drain electrode of M4,6 pin of another termination L1 of R21,2 pin of another termination L1 of R24.3 pin of the end of R25 and R37 one termination L1, the R25 other end inserts positive source, and the R37 other end inserts power cathode, and R25, R37 form bleeder circuit, and the 2 pin voltages of getting voltage and L1 compare, the output level of the 1 pin OC of control L1.R29 one termination power positive pole, the 1 pin OC of another termination L1.R29 is the resistance of drawing high of OC.6 pin of C12 one termination L1, other end ground connection, filtering high fdrequency component.The end of the end of R22, the end of R36, C17 links to each other with 5 pin of L1, and the R22 other end inserts power cathode, and the other end of R36, C17 links to each other with 7 pin of L1.The resistance decision signal amplification factor of R22, R36, the signal after the 7 pin output of L1 is amplified, 7 pin of the termination L1 of R35, other end ADI meet the 3 pin RA1 of U1 in the MCU controller, handle for controller.
Charge pump circuit 15 provides the high pressure of 48V, drives M1, M3 work.End PWM1 that R30, R32 link to each other in the charge pump circuit 15 and the 12 pin RC1 of MCU controller U1 join.The emitter of another termination T4 of R30, the base stage of T4 connects the 5V positive source.The collector of T4 connects the base stage of P4, and the emitter of P4 connects power supply 15V positive source, and the P4 collector connects the collector of N4.R31 connects emitter and the base stage of P4, for it provides biasing.The base stage of another termination N4 of R32, the emitter of N4 connects power cathode.The collector of C14 one termination N4, the negative pole of another termination D11 and the positive pole of D12.The anodal zj of D11 connects the source electrode of M3, M1.The end of the negative pole of D12 and C15 joins, and contact G outputs to the emitter of P3 in brake and the holding circuit 11.When PWM1 was output as the square wave of 20KHz, the voltage of D12 output terminal was thus lifted to the voltage than the high 15V in zj place, finished voltage and promoted task.
Battery electric quantity display circuit 16 display power supply electric weight are divided into 5 class, and full lattice represent that electric weight is full, and surplus lattice are represented the electric weight deficiency, need charging.An end and the positive source of R2 joins in the battery display circuit 16, the end of the other end and R3 joins, the end of the other end of R3 and R4 joins, the end of the other end of R4 and R5 joins, the end of the other end of R5 and R6 joins, the end of the other end of R6 and R7 joins, another termination power cathode of R7.The connecting place of R2 and R3 connects 5 pin of lm339, and the connecting place of R3 and R4 connects 7 pin of lm339, and the joint of R4 and R5 connects 9 pin of lm339, and R5 and R6 joint connect 11 pin of lm339, constitutes bleeder circuit.4,6,8,10 pin of Lm339 meet ADV point place in driving and the power supply monitoring 12.The lm3393 pin connects positive source, and 12 pin connect power cathode.The termination power positive pole of R8, the positive pole of another termination D1, the negative pole of D1 connects the positive pole of D2, and the negative pole of D2 connects the positive pole of D3, and the negative pole of D3 connects the positive pole of D4, and the negative pole of D4 connects the positive pole of D5, and the negative pole of D5 connects power cathode.The connecting place of D1 and D2 connects 2 pin of lm339, and the connecting place of D2 and D3 connects 1 pin of lm339, and D3 and D4 connecting place connect 14 pin of lm339, and D4 and D5 connecting place connect 13 pin of lm339, constitutes the LED display circuit.
Wherein radio frequency receiver 7 is sent the packet that demodulates into 8 processing of MCU controller, 8 pairs of packets that receive of MCU controller carry out verification, if wrongly just carry out wrong error correction, verification once more after error correction is intact, as wrong this packet of then abandoning again, wait for and accept next packet.If errorless then unpack processing, isolate data message and encrypted message, the encrypted message and the password that prestores are compared, as difference, then forgo data information is waited for the arriving of next packet; If identically then make various logic to Motor Control according to data message.MCU controller 8 is sent various logic into motor speed control circuit 13, charge pump circuit 15, brake and holding circuit 11 respectively, the control electric motor state.The output of charging and charge protector 10, driving protection and electric source monitoring circuit 12, overcurrent and rotation-clogging protection circuit 14 inserts MCU controller 8 respectively, and MCU controller 8 is made feedback according to these states, and the control motor is operated in the stability and safety state.How many battery electric quantity display circuits 16 shows electric weight.
The tabulation of the main components and parts of remote-control transmitting part:
Code name title model
U1 MCU processor A T89C2051
The R1 potentiometer
U3 comparer LM393
The U2 hummer
IC5 integrated package of pressure-stabilizing 78L05 I＞=20mA
JP1 radiofrequency emitting module CDT402-AB.1 315M
Remote control receives the tabulation of the main components and parts of control section:
U1 MCU controller PIC16F73
JP1 Receiver Module PCR1A 315M
J1 relay NVF4-3C-Z80b
V1 integrated package of pressure-stabilizing 7815
V2 integrated package of pressure-stabilizing 7805
M4 motor drive block 75NF75
F1 sequence diode F1010M
L1 amplifier LM358
The emitter of the transistor T 3 of " PWM " termination motor speed control circuit 13 of MCU controller 8; the emitter of transistor " N2 " in brake of " BRK " termination and the holding circuit 11; " RED " connects the end of R9 in driving and the power supply monitoring 12; the base stage of transistor " N1 " in protection of " RUN " termination driving and the electric source monitoring circuit 12, " CHRG " " ADI " " ADV " end inserts the input port of charging and charge protector 10, overcurrent and rotation-clogging protection circuit 14, driving protection and electric source monitoring circuit 12 respectively.
The present invention controls Segway Human Transporter by hand-held remote controller, motor is had the function of 15 utmost point speed governing and brake.When the sporter holds telepilot, forefinger is pulled the cursor slide of R1 in the potentiometer signal source 1, and cursor slide changes changes the 3 pin output voltages of R1.3 pin voltages are greater than 2.5V during acceleration, and voltage is lower than 2.5V during brake.The voltage of 3 pin imports the 22 pin P1.0 of U1 in the MCU processor 2 into, and MCU controller 2 is finished the AD conversion according to input voltage in conjunction with the AD circuit.AD value and code signal after converting carry out packing data by certain agreement, and the data after the packing are by the 3 pin P3.1 serial ports output of U1 in the MCU controller 2.Serial ports output directly drives 2 pin of JP1 in the radiofrequency emitting module 6, and radio-frequency module to the 315M carrier frequency, passes through 1 pin antenna transmission to the data-modulated that receives in the space then.Receiver Module 7 receives this signal in the controller, demodulates the packet of telepilot emission, and packet is sent into the 18 pin RC7 of U1 in the MCU controller 8.U1 unpacks after receiving packet, the data that unpack are separated code signal and control data signal, U1 stores the code signal that receives for the first time, abandon the data-signal that receives for the first time, wait for the signal that receives afterwards, the password of the password of acquisition and storage is for the first time compared.If conform to, processing controls data-signal then, as do not meet then and abandon, change circulation next time over to.After control data signal is adopted by U1, make control to motor according to control data signal.If signal for faster,, make the dutycycle of RC2 output PWM of U1 corresponding with it then according to the grade of quickening.PWM drives R28, the R27 in the input motor speed control circuit 13.When PWM was in low level, the T3 conducting made R13 produce pressure drop, for P2 provides biasing, makes the P2 conducting, and 15V voltage makes its conducting by the grid that P2, R26 are sent to M4, M2.M4, M2 conducting make motor M energized, motor M work.When PWM was in high level, by, N3 conducting, the grid stored charge of M4, M2 discharged by N3 T3 by, P2, and the grid voltage of M4, M2 is 0, and motor M quits work.The size of dutycycle has determined motor M turn-on time, has determined the size of its speed.If brake signal; the RC3 output low level of U1; by R16 driving N 2 in brake and the holding circuit 11; make the N2 conducting; the N2 conducting makes R15 produce pressure drop, makes the P3 conducting, and the 48V voltage transmission that charge pump circuit 15 produces is to the grid of M1, M3; make M1, M3 conducting short circuit motor M two ends, make its brake.In motor M operation process, the voltage of R23 end is sent into 2 pin, 6 pin of the L1 in overcurrent and the rotation-clogging protection circuit 14 by R21, R24.Enter the voltage of 2 pin and 3 pin voltage ratios, if 2 pin voltages greater than 3 pin voltages then 1 pin output low level informs that stall takes place U1 motor M, stop operating its control motor M.The voltage that enters 6 pin is exaggerated, the voltage after the output of 7 pin is amplified.Voltage after the amplification is input to U1 through R35, and U1 regulates the speed of motor M speedup according to the size of voltage.When scooter in when charging, charging and charge protector 10 are at the 4 pin RA2s of the output terminal CHRG of R1 output high level to U1, U1 quits work the The whole control circuit according to receiving next high level signal.

Claims (5)

1, a kind of Segway Human Transporter telepilot comprises that remote-control transmitting part and remote control receive control section, is characterized in that the remote-control transmitting of this controller partly comprises MCU processor (2), AD and shift circuit (3), radiofrequency emitting module (6); Wherein Shu Ru signal is handled in conjunction with AD and shift circuit (3) by MCU processor (2), becomes the binary signal that can transmit that has control information and encrypted message; Binary signal directly drives radiofrequency emitting module (6) by the serial ports output of MCU processor (2); Control information and encrypted message are launched by radiofrequency emitting module (6);
Remote control receives control section and comprises radio frequency receiver (7), MCU controller (8), motor speed control circuit (13), driving protection and electric source monitoring circuit (12), charge pump circuit (15), brake and holding circuit (11); Wherein receiver, MCU controller are connected in series in proper order, the serial ports of receiver output termination MCU controller (8), and the information that receives is exported control signal after MCU controller (8) is handled; MCU controller (8) connects the input end of motor speed control circuit (13), driving protection and electric source monitoring circuit (12), battery under-voltage protection circuit, battery electric quantity display circuit (16), charging and charge protector (10), brake and holding circuit (11), and MCU controller (8) is carried treated control signal to motor speed control circuit (13), driving protection and electric source monitoring circuit (12), battery under-voltage protection circuit, battery electric quantity display circuit (16), charging and charge protector (10), brake and holding circuit (11); Charge pump circuit (15) provides high pressure for the brake circuit; The output termination LED of battery electric quantity display circuit (16).
2, Segway Human Transporter telepilot as claimed in claim 1 is characterized in that, the remote-control transmitting part also comprises: signal source (1), AD and shift circuit (3), voltage detection circuit (4), power circuit (5); Wherein the output terminal of signal source (1) inserts the IO interface of MCU processor (2), MCU processor (2) carries out overall treatment according to input voltage and AD and shift circuit (3) and realizes the A/D conversion, convert the back password of the A/D data of gained and setting is carried out packing data, output to radiofrequency emitting module (6) by serial ports at last; Radiofrequency emitting module (6) produces the carrier frequency of 315MHz or 413M, and the signal of MCU processor (2) input is modulated carrier frequency, output after modulation is finished.
3, Segway Human Transporter telepilot as claimed in claim 1 is characterized in that, remote control receives control section and also comprises: power circuit (9), overcurrent and rotation-clogging protection circuit (14), charge pump circuit (15); Wherein radio frequency receiver (7) is sent the packet that demodulates into MCU controller (8) processing, MCU controller (8) carries out verification to the packet that receives, if wrongly just carry out wrong error correction, verification once more after error correction is intact, as wrong this packet of then abandoning again, wait for and accept next packet;
If errorless then unpack processing, isolate data message and encrypted message, the encrypted message and the password that prestores are compared; As difference, then forgo data information is waited for the arriving of next packet; Identically then make various logic to Motor Control according to data message; MCU controller (8) is sent various logic into motor speed control circuit (13), charge pump circuit (15), brake and holding circuit (11) respectively, the state of control motor; The output of driving protection and electric source monitoring circuit (12), overcurrent and rotation-clogging protection circuit (14) inserts MCU controller (8) respectively, and MCU controller (8) is made feedback according to these states, and the control motor is operated in the stability and safety state.
4, Segway Human Transporter telepilot as claimed in claim 1, it is characterized in that, the remote-control transmitting part also comprises signal source (1), and the output termination MCU processor (2) of signal source (1), the signal of signal source (1) is handled in conjunction with AD and shift circuit (3) by MCU processor (2), becomes the binary signal that can transmit that has control information and encrypted message;
5, Segway Human Transporter telepilot as claimed in claim 1 is characterized in that, remote control receives control section and also comprises battery under-voltage protection circuit, battery electric quantity display circuit (16), charging and charge protector (10) and motor; MCU controller (8) connects the input end of battery under-voltage protection circuit, battery electric quantity display circuit (16), charging and charge protector (10), and MCU controller (8) is carried treated control signal to battery under-voltage protection circuit, battery electric quantity display circuit (16), charging and charge protector (10); The input end of the output termination LED of battery electric quantity display circuit (16) is to show electric weight; The input end of the output termination motor of motor speed control circuit (13).
CNB2007101318609A 2007-09-06 2007-09-06 Electric scooter radio remote controller and controller Expired - Fee Related CN100559314C (en)

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Application Number Priority Date Filing Date Title
CNB2007101318609A CN100559314C (en) 2007-09-06 2007-09-06 Electric scooter radio remote controller and controller

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Assignee: Wuxi Flang Forging Co., Ltd.

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