CN105644674A - Master control board of human-machine interactive sports car and control system of human-machine interactive sports car - Google Patents
Master control board of human-machine interactive sports car and control system of human-machine interactive sports car Download PDFInfo
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- CN105644674A CN105644674A CN201610162195.9A CN201610162195A CN105644674A CN 105644674 A CN105644674 A CN 105644674A CN 201610162195 A CN201610162195 A CN 201610162195A CN 105644674 A CN105644674 A CN 105644674A
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- Prior art keywords
- master control
- module
- battery core
- power brick
- control module
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
Abstract
The invention provides a master control board of a human-machine interactive sports car. The master control board comprises a master control module, a power module, an external power interface, a charge and discharge module, a motor driving module and a sensor module. The charge and discharge module is in connection with the external power interface, the power module and the motor driving module. The charge and discharge module is also used for connecting with battery packs. The sensor module comprises a gyroscope, an acceleration sensor and a hall sensor. The gyroscope is used for detecting declination information of a car body; the acceleration sensor is used for detecting acceleration information of the car body; the hall sensor is used for detecting velocity information of the car body. The sensor module is connected with the master control module, the PWM driver interface of the master control module and the motor driver module. The master control module is used for receiving the declination information, the acceleration information and the velocity information, performing data fusion, and outputting a drive signal to the motor driving module, the driving module drives a motor to revolve according to the drive signal, and the safety coefficient is high. The invention also relates to a control system of the human-machine interactive sports car.
Description
Technical field
The invention belongs to human-computer interaction campaign car technical field, particularly relate to the master control board of a kind of human-computer interaction campaign car and the Controlling System of human-computer interaction campaign car.
Background technology
Along with the fast development in the relevant fields such as computer technology, software engineering, microelectronics, the communication technology, material technology, and science and technology and the continuous progress of people's living standard and raising, the modern vehicles are just towards trend development intelligent, small-sized, energy-saving and environmental protection. In recent years, along with Controlling System (taking turns balance scooter also known as two) the deepening continuously of studying of human-computer interaction campaign car, its field applied is more extensive, and the environment faced and task are also more and more complicated. Two take turns balance scooter, and often to run into some narrow; and have the workplace of a lot of big corner; therefore; take turns balance scooter Controlling System to have higher requirement to two; but the two of prior art take turns the Controlling System balancing scooter due to the restriction by cost and technology; its control accuracy is not high and unstable, and the buffeting of system is very big, there is very big potential safety hazard.
Therefore, for the above-mentioned defect existed in currently available technology, it is necessary to study in fact, to provide a kind of scheme, solves in prior art the defect existed.
Summary of the invention
The master control board of a kind of human-computer interaction campaign car that the present invention proposes to overcome prior art.
In order to realize above-mentioned purpose, the master control board of a kind of human-computer interaction campaign car provided by the present invention, comprise master control module, power supply module, external power interface, master control board charge-discharge modules, motor drive module and sensor assembly, described master control board charge-discharge modules and described external power interface, power supply module and motor drive module connect, described master control board charge-discharge modules is also for being connected with power brick, described sensor assembly comprises gyrostat, acceleration transducer and hall sensing device, described gyrostat is for detecting the drift angle information of the car body of human-computer interaction campaign car, described acceleration transducer is for detecting the acceleration information of car body, described hall sensing device is for detecting the speed information of car body, described sensor assembly and described master control model calling, the PWM of described master control module drives interface and described motor drive module, described master control module is for receiving described drift angle information, acceleration information and speed information row data of going forward side by side merges and for exporting PWM drive signal to described motor drive module, described motor drive module rotates according to described PWM drive signal CD-ROM drive motor.
Further, described master control board also comprises the first electronic switch, control end, the input terminus of described first electronic switch are connected with described master control module and described master control board charge-discharge modules respectively, the output terminal of described first electronic switch is connected with described power supply module and described motor drive module, and described master control module is for controlling conducting and the disconnection of described first electronic switch.
Further, described master control board also comprises the 2nd electronic switch, the control end of described 2nd electronic switch, input terminus and output terminal are connected with described master control module, described external power interface and described master control board charge-discharge modules respectively, and described master control module is for controlling conducting and the disconnection of described 2nd electronic switch.
The present invention also provides the Controlling System of a kind of human-computer interaction campaign car, comprise power brick and above-mentioned master control board, described power brick comprises battery core and power brick charge-discharge modules, described battery core is connected with described power brick charge-discharge modules, and described power brick charge-discharge modules is connected with described master control board charge-discharge modules.
Further, also comprise cell information sampling module, described cell information sampling module is for gathering the information of described battery core and is sent to described master control module, described master control board also comprises the first electronic switch and the 2nd electronic switch, the control end of described first electronic switch, input terminus is connected with described master control module and described master control board charge-discharge modules respectively, the output terminal of described first electronic switch is connected with described power supply module and described motor drive module, the control end of described 2nd electronic switch, output terminal and input terminus respectively with described master control module, described master control board charge-discharge modules and external power interface connect, whether the information of the described battery core that described master control module judges receives is abnormal, and when the Information abnormity of described battery core, correspondingly when described battery core is discharged, described first electronic switch is disconnected, when described battery core is charged, described 2nd electronic switch is disconnected.
Further, described power brick also comprises power brick management module, electric discharge switch and charging switch, described power brick charge-discharge modules is connected with described master control board charge-discharge modules, it is connected with described electric discharge switch by described electric discharge switch respectively between described battery core with described power brick charge-discharge modules, the control end of described electric discharge switch, the control end of described charging switch and described cell information sampling module all manage model calling with described power brick, described power brick management module receives the information of described battery core and is sent to described master control module, described power brick management module judges that whether the information of battery core is abnormal simultaneously, and when the Information abnormity of described battery core, described electric discharge switch is correspondingly disconnected when described battery core is discharged, described charging switch is disconnected when described battery core is charged.
Further, described cell information sampling module comprises temperature sampling unit, described temperature sampling unit manages module for gathering the temperature send of described battery core to described power brick, when described battery core is discharged, described master control module and described power brick management module judge that the temperature of described battery core is more than or equal to design temperature, described master control module disconnects described first electronic switch, and described power brick management module disconnects described electric discharge switch; When described battery core is charged, described master control module and described power brick management module judge that the temperature of described battery core is more than or equal to design temperature, and described master control module disconnects described 2nd electronic switch, and described power brick management module disconnects described charging switch.
Further, described master control board also comprises the master control board temperature sampling interface with described master control model calling, described power brick also comprises the power brick temperature sampling interface being connected with described temperature sampling unit, described power brick temperature sampling interface is connected by data line with described master control board temperature sampling interface, and the temperature of the battery core that described temperature sampling unit collects also is sent to described master control module by temperature sampling interface.
Further, described cell information sampling module also comprises voltage sample unit, described voltage sample unit manages module for gathering the voltage send of described battery core to described power brick, when described battery core is discharged, described master control module and described power brick management module (judge that the voltage of described battery core is not in the output voltage range of setting, described master control module disconnects described first electronic switch, and described electric discharge switch is disconnected by described power brick management module; When described battery core is charged, described master control module and described power brick management module judge that the voltage of described battery core is not within the scope of the input voltage of setting, described 2nd electronic switch is disconnected by described master control module, and described charging switch is disconnected by described power brick management module.
Further, described cell information sampling module also comprises current sampling unit, described current sampling unit is for gathering the electric current of described battery core and the electric current of the described battery core collected is sent to described master control module and described power brick management module, when described battery core is discharged, described master control module and described power brick management module judge that the electric current of described battery core is not in the output current scope of setting, described master control module disconnects described first electronic switch, and described electric discharge switch is disconnected by described power brick management module; When described battery core is charged, described master control module and described power brick management module judge that the electric current of described battery core is not within the scope of the received current of setting, described 2nd electronic switch is disconnected by described master control module, and described charging switch is disconnected by described power brick management module.
Due to the utilization of technique scheme, the present invention possesses following advantage:
1, compared with prior art, the master control board of the human-computer interaction campaign car of the present invention acquires angle, acceleration and speed signal simultaneously, thus the speed of human-computer interaction campaign car and angle are influenced each other, when making the inclination angle of human-computer interaction campaign car excessive, automatically return to equilibrium theory of tide, thus ensure the safety and stablization of system, and control accuracy is higher.
2, the Controlling System of the human-computer interaction campaign car of the present invention is when battery core charge or discharge; gather the information of battery core by cell information sampling module and it is passed to master control module; the information of the battery core that master control module collects according to cell information sampling module judges that whether the information of battery core is abnormal; and when the Information abnormity of battery core; corresponding disconnection the first electronic switch and the 2nd electronic switch; battery core is made to stop electric discharge and stop charging; effectively battery core can be formed protection, especially can avoid the problem that battery core causes battery core to be exploded because temperature is too high.
3, the Controlling System of the human-computer interaction campaign car of the present invention is when battery core charge or discharge; gather the information of battery core by cell information sampling module and it is passed to power brick management module; the information of the battery core that power brick management module collects according to cell information sampling module judges that whether the information of battery core is abnormal; and when the Information abnormity of battery core; corresponding disconnection electric discharge switch and charging switch; battery core is made to stop electric discharge and stop charging; effectively battery core can be formed protection, especially can avoid the problem that battery core causes battery core to be exploded because temperature is too high.
4, the Controlling System of the human-computer interaction campaign car of the present invention have employed two-way protection circuit to protect battery core, it is possible to when any road protection circuit damages wherein, another road protection circuit can also available protecting battery core.
5, the temperature of the battery core that temperature sampling unit collects is sent to master control module by power brick management module and temperature sampling interface respectively, and according to the two of battery core groups of temperature datas, master control module judges that whether battery core is overheated, it is to increase protection precision.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the Controlling System of the human-computer interaction campaign car of the embodiment of the present invention.
Fig. 2 is the skeleton diagram of cell information sampling module in Fig. 1.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is further described.
Referring to Fig. 1 and Fig. 2, the Controlling System of the human-computer interaction campaign car that the embodiment of the present invention provides, comprises master control board 1, power brick 2 and cell information sampling module 3.
Wherein, master control board 1 comprises master control module 11, power supply module 12, external power interface 15, master control board charge-discharge modules 16, motor drive module 17 and sensor assembly. Wherein, master control board charge-discharge modules 16 is connected with power supply module 12 and motor drive module 17, master control board charge-discharge modules 16 is also for being connected with power brick 2, so that power brick 2 can by master control board charge-discharge modules 16 for power supply module 12 and motor drive module 17 provide electric energy. Sensor assembly is connected with master control module 11, and the PWM of master control module 11 drives interface and motor drive module 17. Sensor assembly comprises gyrostat, acceleration transducer and hall sensing device, gyrostat is for detecting the car body drift angle information of human-computer interaction campaign car, acceleration transducer is for detecting the acceleration information of car body, and hall sensing device is for detecting the speed information of car body; Master control module 11 for receive described drift angle information, acceleration information and speed information go forward side by side row data merge and for exporting PWM drive signal to motor drive module 17, motor drive module 17 rotates according to PWM drive signal CD-ROM drive motor.
In the present embodiment, master control board 1 also comprises the first electronic switch 13. The control end of the first electronic switch 13, input terminus respectively electric discharge end with master control module 11 and master control board charge-discharge modules 16 be connected, the output terminal of the first electronic switch 13 is connected with power supply module 12 and motor drive module 17. Master control module 11 is for controlling conducting and the disconnection of the first electronic switch 13, and the first electronic switch 13 is when conducting, and power brick 2 can by master control board charge-discharge modules 16 for power supply module 12 and motor drive module 17 provide electric energy.
In the present embodiment, master control board 1 also comprises the control end of the 2nd electronic switch the 14, two electronic switch 14, input terminus and output terminal and charging end with master control module 11, external power interface 15 and master control board charge-discharge modules 16 is connected respectively. Master control module 11 is for controlling conducting and the disconnection of the 2nd electronic switch 14, and external power interface 15, for being connected with external source, is connected with external source and during the 2nd electronic switch 14 conducting, battery core 21 is charged by outside power supply at external power interface 15.
In the present embodiment, power brick 2 comprises battery core 21, power brick charge-discharge modules 22, power brick management module 23, electric discharge switch 25 and charging switch 26. Master control board charge-discharge modules 16 is connected with battery core 21 by power brick charge-discharge modules 22, such as can be connected by data line between master control board charge-discharge modules 16 with power brick charge-discharge modules 22. It is connected by electric discharge switch 25 between battery core 21 and the electric discharge end of power brick charge-discharge modules 22, the control end of electric discharge switch 25 manages module 23 with power brick and is connected, power brick management module 23 is for the conducting of controlled discharge switch 25 and disconnection, when power supply module 12 and motor drive module 17 are discharged by battery core 21, the first electronic switch 13 all keeps conducting state with electric discharge switch 25. Certainly, in other embodiments, the electric discharge end of power brick charge-discharge modules 22 can directly be connected with battery core 21, so only needs master control module 11 to control the first electronic switch 13 conducting and disconnection, and battery core 21 can be made to discharge or stop electric discharge. Further, in other embodiments, master control board 1 does not comprise the first electronic switch 13, power supply module 12 and motor drive module 17 directly can be connected with the electric discharge end of master control board charge-discharge modules 16, it is connected by electric discharge switch 25 between the electric discharge end of power brick charge-discharge modules 22 and battery core 21, so only need the conducting of power brick management module 23 controlled discharge switch 25 with closed, battery core 21 can be made to discharge or stop electric discharge.
In the present embodiment, it is connected by charging switch 26 between the charging end of power brick charge-discharge modules 22 with battery core 21, the control end of charging switch 26 manages module 23 with power brick and is connected, power brick management module 23 is for controlling conducting and the disconnection of charging switch 26, it is understandable that, when battery core 21 is charged, the 2nd electronic switch 14 and charging switch 26 all need to keep conducting state. Certainly, in other embodiments, the charging end of power brick charge-discharge modules 22 can directly be connected with battery core 21, so only needs master control module 11 to control the 2nd electronic switch 14 conducting and disconnection, even if battery core processed 21 is charged or stopped charging. Further, in other embodiments, master control board 1 can not comprise the 2nd electronic switch 14, external power interface 15 directly can be connected with the charging end of master control board charge-discharge modules 16, it is connected by charging switch 26 between the charging end of power brick charge-discharge modules 22 with battery core 21, power brick management module 23 is so only needed to control the conducting of charging switch 26 and close, can so that battery core 21 be charged or is stopped charging.
Cell information sampling module 3 is such as arranged at the inside of power brick 2, for gathering the information of battery core 21, and the information of the battery core 21 collected is sent to master control module 11, the information of the battery core 21 that master control module 11 collects according to cell information sampling module 3 judges that whether the information of battery core 21 is abnormal, and when the Information abnormity of battery core 21, the first electronic switch 13 is correspondingly disconnected when battery core 21 is discharged, the 2nd electronic switch 14 is disconnected when battery core 21 is charged, during to avoid the Information abnormity of battery core 21, the temperature of the battery core 21 caused by battery core 21 continuation is discharged or continuation is charged continues the problem of battery core 21 blast that rising causes.
Specifically, cell information sampling module 3 manages module 23 with power brick and is connected, the information of the battery core 21 collected is sent to power brick management module 23 and manages module 23 by power brick and is sent to master control module 11 by cell information sampling module 3, the information of the battery core 21 that power brick management module 23 collects according to cell information sampling module 3 judges that whether the information of battery core 21 is abnormal simultaneously, and when the Information abnormity of battery core 21, electric discharge switch 25 is correspondingly disconnected when battery core 21 is discharged, the turn off charge switch 26 when battery core 21 is charged, during to avoid the Information abnormity of battery core 21, the temperature of the battery core 21 caused by battery core 21 continuation is discharged or continuation is charged continues the problem of battery core 21 blast that rising causes.
In the present embodiment, cell information sampling module 3 comprises temperature sampling unit 32, temperature sampling unit 32 manages module 23 with power brick and is connected, it is sent to master control module 11 for gathering the temperature of battery core 21 and the temperature of the battery core 21 collected is sent to power brick management module 23 and manages module 23 by power brick, the temperature of the battery core 21 that master control module 11 collects according to temperature sampling unit 32 judges whether the temperature of battery core 21 is more than or equal to design temperature, and when the temperature of battery core 21 is more than or equal to design temperature, the first electronic switch 13 is correspondingly disconnected when battery core 21 is discharged, the 2nd electronic switch 14 is disconnected when battery core 21 is charged, during to avoid the temperature of battery core 21 too high, the temperature of the battery core 21 caused by battery core 21 continuation is discharged or continuation is charged continues the problem of battery core 21 blast that rising causes.
The temperature of the battery core 21 that power brick management module 23 also collects according to temperature sampling unit 32 judges whether the temperature of battery core 21 is more than or equal to design temperature, and when the temperature of battery core 21 is more than or equal to design temperature, electric discharge switch 25 is correspondingly disconnected when battery core 21 is discharged, the turn off charge switch 26 when battery core 21 is charged, during to avoid the temperature of battery core 21 too high, the temperature of the battery core 21 caused by battery core 21 continuation is discharged or continuation is charged continues the problem of battery core 21 blast that rising causes. It should be noted that, design temperature is the temperature that battery core 21 is easily exploded, and this temperature can adjust according to the characteristic of battery core 21 itself, to arrive the normal discharge and recharge being possible to prevent to ensure battery core 21 while that battery core 21 being exploded; Temperature collecting cell 32 is such as contact type temperature sensor, and temperature collecting cell 32 is attached in battery core 21.
At the present embodiment, cell information sampling module 3 also comprises voltage sample unit 34, voltage sample unit 34 manages module 23 with power brick and is connected, it is sent to master control module 11 for gathering the voltage of battery core 21 and the voltage of the battery core 21 collected is sent to power brick management module 23 and manages module 23 by power brick, when battery core 21 is discharged, the voltage of the battery core 21 that voltage sample unit 34 collects is the output voltage of battery core 21, master control module 11 is when judging that the output voltage of battery core 21 is not in the output voltage range set, disconnect the first electronic switch 13, and then make battery core 21 stop electric discharge, effectively can protect when battery core 21 is discharged protect battery core 21 while to master control board 1 formed protection, when battery core 21 is charged, the battery core of the battery core 21 that voltage sample unit 34 collects is the input voltage of battery core 21, master control module 11 is when judging that the input voltage of battery core 21 is not within the scope of the input voltage set, the 2nd electronic switch 14 is filled in disconnection, battery core 21 is made to stop charging, it is possible to while available protecting battery core 21, master control board 1 to be formed protection when battery core 21 is charged.
The voltage of the battery core 21 that power brick management module 23 also collects according to voltage sample unit 34 judges that whether the voltage of battery core 21 is abnormal, specifically, when battery core 21 is discharged, the voltage of the battery core 21 that voltage sample unit 34 collects is the output voltage of battery core 21, power brick management module 23 is when judging that the output voltage of battery core 21 is not in the output voltage range set, disconnect electric discharge switch 25, and then make battery core 21 stop electric discharge, it is possible to effectively protect when battery core 21 is discharged protect battery core 21 while to master control board 1 formed protection; When battery core 21 is charged; the battery core of the battery core 21 that voltage sample unit 34 collects is the input voltage of battery core 21; power brick management module 23 is when judging that the input voltage of battery core 21 is not within the scope of the input voltage set; turn off charge switch 26; battery core 21 is made to stop charging, it is possible to while available protecting battery core 21, master control board 1 to be formed protection when battery core 21 is charged
At the present embodiment, cell information sampling module 3 also comprises current sampling unit 36, current sampling unit 36 manages module 23 with power brick and is connected, it is sent to master control module 11 for gathering the electric current of battery core 21 and the electric current of the battery core 21 collected is sent to power brick management module 23 and manages module 23 by power brick, when battery core 21 is discharged, the electric current of the battery core 21 that current sampling unit 36 collects is the outward current of battery core 21, master control module 11 is when judging that the outward current of battery core 21 is not in the output current scope set, disconnect the first electronic switch 25, battery core 21 is made to stop electric discharge, effectively can protect when battery core 21 is discharged protect battery core 21 while to master control board 1 formed protection, when battery core 21 is charged, the battery core of the battery core 21 that master control module 11 collects is the received current of battery core 21, master control module 11 is when judging that the received current of battery core is not within the scope of the received current set, disconnect the 2nd electronic switch 26, battery core 21 is made to stop charging, it is possible to while available protecting battery core 21, master control board 1 to be formed protection when battery core 21 is charged.
The electric current of the battery core 21 that power brick management module 23 also collects according to current sampling unit 36 judges that whether the electric current of battery core 21 is abnormal, when battery core 21 is discharged, power brick management module 23 is when judging that the outward current of battery core 21 is not in the output current scope set, disconnect electric discharge switch 25, and then make battery core 21 stop electric discharge, it is possible to effectively protect when battery core 21 is discharged protect battery core 21 while to master control board 1 formed protection; When battery core 21 is charged; power brick management module 23 is when judging that the received current of battery core is not within the scope of the received current set; turn off charge switch 26, makes battery core 21 stop charging, it is possible to while available protecting battery core 21, master control board 1 to be formed protection when battery core 21 is charged.
The angle preventing the temperature of battery core 21 too high from the Controlling System of the human-computer interaction campaign car of the present invention below introduces the principle of work of the Controlling System of the human-computer interaction campaign car of the present invention, specific as follows:
When starting the starting switch of human-computer interaction campaign car, namely human-computer interaction campaign car enters running status, now master control module 11 manages module 23 corresponding control first electronic switch 13 and electric discharge switch 25 conducting with power brick, battery core 21 starts to provide electric energy to power supply module 12 and motor drive module 17, power supply module 12 for for whole human-computer interaction campaign truck system with electric device provide electricity voltage. Specifically, battery core 21 is exported by power supply module 12 voltage transitions 12V, the direct voltage output of 5V, 3.3V to whole human-computer interaction campaign truck system use electric device. It should be appreciated that whole human-computer interaction campaign truck system with electric device can be divided into that 12V drives with electric device, 5V drive with electric device, 3.3V drive with electric device, the voltage of correspondence can be exported to by power supply module 12 corresponding uses electric device. Sensor assembly starts to detect car body drift angle information, the acceleration information of human-computer interaction campaign car, and speed information and be sent to master control module 11, drift angle information, acceleration information and speed information are carried out data fusion and export corresponding PWM drive signal to motor drive module 17 by master control module 11, and motor drive module 17 rotates according to PWM drive signal CD-ROM drive motor.
Simultaneously, in battery core 21 discharge process, temperature sampling unit 32 gathers the temperature of battery core 21 in real time and is sent to master control module 11 and power brick management module 23, when battery core 21 causes temperature to raise because of continuous discharge or the quality problems of itself, if the temperature that master control module 11 judges battery core 21 is more than or equal to design temperature, first electronic switch 13 is disconnected by then master control module 11, makes battery core 21 stop electric discharge; If power brick management module 23 judges that the temperature of battery core 21 is more than or equal to design temperature, then electric discharge switch 25 is disconnected by power brick management module 23, makes battery core 21 stop electric discharge. When external power interface 15 is connected with external source by charger, it is corresponding to the 2nd electronic switch 14 and charging switch 26 conducting that master control module 11 manages module 23 with power brick, and now battery core 21 starts charging.
In battery core 21 process of charging, temperature sampling unit 32 gathers the temperature of battery core 21 in real time and is sent to master control module 11 and power brick management module 23, when battery core 21 causes temperature to raise because of lasting charging or the quality problems of itself, if the temperature that master control module 11 judges battery core 21 is more than or equal to design temperature, 2nd electronic switch 14 is disconnected by then master control module 11, makes battery core 21 stop charging; If power brick management module 23 judges that the temperature of battery core 21 is more than or equal to design temperature, then charging switch 26 is disconnected by power brick management module 23, makes battery core 21 stop electric discharge. The Controlling System of human-computer interaction campaign car is substantially identical to the protection principle of battery core 21 in temperature with above-mentioned to the protection principle of battery core 21 in voltage and electric current, does not repeat them here.
In the present embodiment, master control board 1 also comprises the master control board temperature sampling interface 19 being connected with master control module 11, power brick 2 also comprises the power brick temperature sampling interface 29 being connected with cell information sampling module 3, power brick temperature sampling interface 29 is connected by data line with master control board temperature sampling interface 19, directly transmit with the temperature of the battery core 21 that temperature sampling unit 32 is collected and it is passed to master control module 11, master control module 11 also judges the temperature of the battery core 21 come by temperature sampling interface transmission simultaneously, and when the temperature of the battery core 21 that interface transmission of sampling comes is higher than design temperature, first electronic switch 13 or the 2nd electronic switch 14 are disconnected.
In the present embodiment, master control board 1 also comprises the master control board communication module 18 being connected with master control module 11, power brick 2 comprises the power brick communication module 28 managing module 23 with power brick and being connected, power brick communication module 28 is communicated with master control board and is connected by data line between module 18 so that the information of the battery core 21 that cell information sampling module 3 collects manages module 23 by power brick and is sent to master control module 11.
In the above-described embodiments, the quantity of battery core 21 is multiple, temperature sampling unit 32 and voltage sample unit 34 quantity are also multiple, to reach the temperature that can collect each battery core 21, the object of voltage and current information, now master control module 11 will receive temperature and the information of voltage of multiple battery core 21 with power brick management module 23, when master control module 11 judges any one Information abnormity of wherein any one battery core 21, control battery core 21 is stopped charging and electric discharge, when power brick management module 23 judges any one Information abnormity of wherein any one battery core 21, control battery core 21 is stopped charging and electric discharge.
In the present embodiment, master control board 1 also comprises alarm module 4, and alarm module 4 is connected with master control module 11, and master control module 11 is when judging that battery core 21 is abnormal, and master control module 11 controls alarm module 4 and reports to the police, and reminds operator's power brick 2 abnormal. Alarm module 4 is such as buzzing alarm module, to sound a buzzer when reporting to the police, reminds operator's power brick abnormal. It should be noted that, battery core 21 comprises the temperature of battery core 21 extremely higher than design temperature, the input voltage of battery core 21 is not within the scope of the input voltage of setting, the output voltage of battery core 21 is not in the output voltage range of setting, the received current of battery core 21 is not within the scope of the received current of setting, and the outward current of battery core 21 is not in the output current scope of setting.
In the present embodiment, master control board 1 also comprises display module 5, display module 5 is connected with master control module 11, the information of battery core 21 is such as sent to the temperature information of battery core 21 of master control module 11, output/output voltage information and I/O current information shows at display module 5 for power brick manages module 23 by master control board 1, understands the various information of battery core 21 in real time with person easy to use.
In the present embodiment, the first electronic switch 13 and the 2nd electronic switch 14 are such as triode, and the control end of the first electronic switch 13 and the 2nd electronic switch 14, output terminal and input terminus be the base stage of corresponding triode, emtting electrode and collector electrode respectively.
In the present embodiment, the switch 25 of discharging such as discharges respectively with charging switch 26 MOS and charging MOS.
The master control board of the human-computer interaction campaign car of the present invention and the Controlling System of human-computer interaction campaign car have following technique effect:
1, compared with prior art, the master control board of the human-computer interaction campaign car of the present invention acquires angle, acceleration and speed signal simultaneously, thus the speed of human-computer interaction campaign car and angle are influenced each other, when making the inclination angle of human-computer interaction campaign car excessive, automatically return to equilibrium theory of tide, thus ensure the safety and stablization of system, and control accuracy is higher.
2, the Controlling System of the human-computer interaction campaign car of the present invention is when battery core 21 charge or discharge, gather the information of battery core 21 by cell information sampling module 3 and it is passed to master control module 11, the information of the battery core 21 that master control module 11 collects according to cell information sampling module 3 also judges that whether the information of battery core 21 is abnormal, and when the Information abnormity of battery core 21, corresponding disconnection the first electronic switch 13 and the 2nd electronic switch 14, battery core 21 is made to stop electric discharge and stop charging, effectively battery core 21 can be formed protection, especially the problem that battery core 21 causes battery core 21 and explodes because temperature is too high can be avoided.
3, the Controlling System of the human-computer interaction campaign car of the present invention is when battery core 21 charge or discharge, gather the information of battery core 21 by cell information sampling module 3 and it is passed to power brick management module 23, the information of the battery core 21 that power brick management module 23 collects according to cell information sampling module 3 judges that whether the information of battery core 21 is abnormal, and when the Information abnormity of battery core 21, corresponding disconnection electric discharge switch 25 and charging switch 26, battery core 21 is made to stop electric discharge and stop charging, effectively battery core 21 can be formed protection, especially the problem that battery core 21 causes battery core 21 and explodes because temperature is too high can be avoided.
4, the Controlling System of the human-computer interaction campaign car of the present invention have employed two-way protection circuit to protect battery core 21, it is possible to when any road protection circuit damages wherein, another road protection circuit can also available protecting battery core 21.
The temperature of the battery core 21 that 5, temperature sampling unit 32 collects manages module 23 by power brick respectively and temperature sampling interface is sent to master control module 11, and according to the two of battery core 21 groups of temperature datas, master control module 11 judges that whether battery core 21 is overheated, it is to increase protection precision.
Although the present invention is disclosed as above by better embodiment; but and be not used to limit the present invention, any know this those skilled in the art, without departing from the spirit and scope of the present invention; can doing a little change and retouching, therefore protection scope of the present invention is when being as the criterion depending on the scope that claim book is claimed.
Claims (10)
1. the master control board (1) of a human-computer interaction campaign car, it is characterized in that, comprise master control module (11), power supply module (12), external power interface (15), master control board charge-discharge modules (16), motor drive module (17) and sensor assembly, described master control board charge-discharge modules (16) and described external power interface (15), power supply module (12) and motor drive module (17) connect, described master control board charge-discharge modules (16) is also for being connected with power brick (2), described sensor assembly comprises gyrostat, acceleration transducer and hall sensing device, described gyrostat is for detecting the drift angle information of the car body of human-computer interaction campaign car, described acceleration transducer is for detecting the acceleration information of car body, described hall sensing device is for detecting the speed information of car body, described sensor assembly is connected with described master control module (11), the PWM of described master control module (11) drives interface and described motor drive module (17), described master control module (11) is for receiving described drift angle information, acceleration information and speed information row data of going forward side by side merges and for exporting PWM drive signal to described motor drive module (17), described motor drive module (17) rotates according to described PWM drive signal CD-ROM drive motor.
2. the master control board (1) of human-computer interaction campaign car according to claim 1, it is characterized in that, described master control board (1) also comprises the first electronic switch (13), the control end of described first electronic switch (13), input terminus is connected with described master control module (11) and described master control board charge-discharge modules (16) respectively, the output terminal of described first electronic switch (13) is connected with described power supply module (12) and described motor drive module (17), described master control module (11) is for controlling conducting and the disconnection of described first electronic switch (13).
3. the master control board (1) of human-computer interaction campaign car according to claim 1, it is characterized in that, described master control board (1) also comprises the 2nd electronic switch (14), the control end of described 2nd electronic switch (14), input terminus and output terminal are connected with described master control module (11), described external power interface (15) and described master control board charge-discharge modules (16) respectively, and described master control module (11) is for controlling conducting and the disconnection of described 2nd electronic switch (14).
4. the Controlling System of a human-computer interaction campaign car, comprise power brick (2), described power brick (2) comprises battery core (21) and power brick charge-discharge modules (22), described battery core (21) is connected with described power brick charge-discharge modules (22), it is characterized in that, also comprising master control board as claimed in claim 1 (1), described power brick charge-discharge modules (22) is connected with described master control board charge-discharge modules (16).
5. the Controlling System of human-computer interaction campaign car according to claim 4, it is characterized in that, also comprise cell information sampling module (3), described cell information sampling module (3) is for gathering the information of described battery core (21) and is sent to described master control module (11), described master control board (1) also comprises the first electronic switch (13) and the 2nd electronic switch (14), the control end of described first electronic switch (13), input terminus is connected with described master control module (11) and described master control board charge-discharge modules (16) respectively, the output terminal of described first electronic switch (13) is connected with described power supply module (12) and described motor drive module (17), the control end of described 2nd electronic switch (14), output terminal and input terminus respectively with described master control module (11), described master control board charge-discharge modules (16) and external power interface (15) connect, whether the information of the described battery core (21) that the judgement of described master control module (11) receives is abnormal, and when the Information abnormity of described battery core (21), correspondingly when described battery core (21) is discharged, described first electronic switch (13) is disconnected, when described battery core (21) is charged, described 2nd electronic switch (14) is disconnected.
6. the Controlling System of human-computer interaction campaign car according to claim 5, it is characterized in that, described power brick (2) also comprises power brick management module (23), electric discharge switch (25) and charging switch (26), described power brick charge-discharge modules (22) is connected with described master control board charge-discharge modules (16), it is connected with described electric discharge switch (26) by described electric discharge switch (25) respectively between described battery core (21) with described power brick charge-discharge modules (22), the control end of described electric discharge switch (25), the control end of described charging switch (26) and described cell information sampling module (3) all manage module (23) with described power brick and are connected, described power brick management module (23) receives the information of described battery core (21) and is sent to described master control module (13), described power brick management module (23) judges that whether the information of battery core (21) is abnormal simultaneously, and when the Information abnormity of described battery core (21), described electric discharge switch (25) is correspondingly disconnected when described battery core (21) is discharged, described charging switch (26) is disconnected when described battery core (21) is charged.
7. the Controlling System of human-computer interaction campaign car according to claim 6, it is characterized in that, described cell information sampling module (3) comprises temperature sampling unit (32), described temperature sampling unit (32) manages module (23) for gathering the temperature send of described battery core (21) to described power brick, when described battery core (21) is discharged, with described power brick management module (23), described master control module (11) judges that the temperature of described battery core (21) is more than or equal to design temperature, described master control module (11) disconnects described first electronic switch (13), described power brick management module (23) disconnects described electric discharge switch (25), when described battery core (21) is charged, with described power brick management module (23), described master control module (11) judges that the temperature of described battery core (21) is more than or equal to design temperature, described master control module (11) disconnects described 2nd electronic switch (14), and described power brick management module (23) disconnects described charging switch (26).
8. the Controlling System of human-computer interaction campaign car according to claim 6, it is characterized in that, master control board temperature sampling interface (19) that described master control board (1) also comprises with described master control module (11) is connected, power brick temperature sampling interface (29) that described power brick (2) also comprises with described temperature sampling unit (32) is connected, described power brick temperature sampling interface (29) is connected by data line with described master control board temperature sampling interface (19), the temperature of the battery core (21) that described temperature sampling unit (32) collects also is sent to described master control module (11) by temperature sampling interface.
9. the Controlling System of human-computer interaction campaign car according to claim 6, it is characterized in that, described cell information sampling module (3) also comprises voltage sample unit (34), described voltage sample unit (34) manages module (23) for gathering the voltage send of described battery core (21) to described power brick, when described battery core (21) is discharged, (23 judge that the voltage of described battery core (21) is not in the output voltage range of setting for described master control module (11) and described power brick management module, described master control module (11) disconnects described first electronic switch (13), described electric discharge switch (25) is disconnected by described power brick management module (23), when described battery core (21) is charged, described master control module (11) and described power brick management module (23) judge that the voltage of described battery core (21) is not within the scope of the input voltage of setting, described 2nd electronic switch (14) is disconnected by described master control module (11), and described charging switch (26) is disconnected by described power brick management module (23).
10. the Controlling System of human-computer interaction campaign car according to claim 6, it is characterized in that, described cell information sampling module (3) also comprises current sampling unit (36), described current sampling unit (36) is for gathering the electric current of described battery core (21) and the electric current of the described battery core (21) collected is sent to described master control module (11) and described power brick management module (23), when described battery core (21) is discharged, described master control module (11) and described power brick management module (23) judge that the electric current of described battery core (21) is not in the output current scope of setting, described master control module (11) disconnects described first electronic switch (13), described electric discharge switch (25) is disconnected by described power brick management module (23), when described battery core (21) is charged, described master control module (11) and described power brick management module (23) judge that the electric current of described battery core (21) is not within the scope of the received current of setting, described 2nd electronic switch (14) is disconnected by described master control module (11), and described charging switch (26) is disconnected by described power brick management module (23).
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