CN106882299A - A kind of electronic two-wheeled balance truck control device based on data fusion positioning - Google Patents

A kind of electronic two-wheeled balance truck control device based on data fusion positioning Download PDF

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Publication number
CN106882299A
CN106882299A CN201710120354.3A CN201710120354A CN106882299A CN 106882299 A CN106882299 A CN 106882299A CN 201710120354 A CN201710120354 A CN 201710120354A CN 106882299 A CN106882299 A CN 106882299A
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CN
China
Prior art keywords
module
main controller
circuit
electronic
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710120354.3A
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Chinese (zh)
Inventor
黄国现
李淘
马宗毅
廖志贤
张盛明
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Guangxi Normal University
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Guangxi Normal University
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Priority to CN201710120354.3A priority Critical patent/CN106882299A/en
Publication of CN106882299A publication Critical patent/CN106882299A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/14—Plug-in electric vehicles
    • 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

Abstract

The present invention provides a kind of electronic two-wheeled balance truck control device based on data fusion positioning, belong to balance car control field, including steering angle sensor module, attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module, front camera module, left and right motor module, drive control management module and energy-storage module.Fusion treatment is carried out by the location information of Big Dipper wireless locating module, GPS wireless locating modules and front camera module, balance car positioning precision can be greatly improved, and then ensures the navigation effect of system, improve the usability and stability of balance car.

Description

A kind of electronic two-wheeled balance truck control device based on data fusion positioning
Technical field
The present invention relates to balance car control field, more particularly to a kind of electronic two-wheeled balance based on data fusion positioning Truck control device.
Background technology
With the development of modern intelligent control technology, electronic two-wheeled balance car technology also improves constantly.Electronic two-wheeled Balance car is a kind of new vehicles, with build it is compact, be easy to carry, it is easy to operate the features such as, it and common electric Mode is different in tandem for Bicycles and Motorcycles wheel, but by the way of two-wheeled is fixed side by side.Nowadays the environmental protection of people Consciousness is gradually strengthened, and lives towards intellectuality, and the direction of facilitation is developed, and two-wheel electric Self-Balancing vehicle meets this trend, suitable The trend in epoch is answered, has there is good development prospect.
Have benefited from the progress of artificial intelligence technology, electronic two-wheeled balance car of today has also been gradually injected more artificial intelligence Can element.As people using electronic two-wheeled balance car realize walk, see road, note road, downstairs buy coffee, take express delivery, park assistant With the automatic function such as follow.It is well known that electronic two-wheeled balance car can realize above-mentioned functions, on condition that possessing a powerful nothing Line locating module and high-speed core controller are supported as system.The electronic two-wheeled balance car of tradition is often because of wireless location system Accuracy is not high, causes vehicle navigation effect to reach perfect condition far away.In order to improve electronic two-wheeled balance car practicality and Reliability, is badly in need of a set of high accuracy positioning, the electronic two-wheeled control system of balance car of high safety factor.
The content of the invention
The present invention provides a kind of electronic two-wheeled balance truck control device based on data fusion positioning, solves existing electronic two Wheel balance car system wireless setting accuracy problem not high.
The present invention solves the above problems by the following technical programs：
A kind of electronic two-wheeled balance truck control device based on data fusion positioning, including steering angle sensor module, Attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module, front camera Module, left and right motor module, drive control management module and energy-storage module；
The output end of the steering angle sensor module and attitude transducer module is connected with main controller module；It is described The collection terminal of coder module is connected with left and right motor module；The output end of the coder module connects with main controller module Connect；The human-computer interaction module is connected with main controller module；The output end of the high accuracy positioning module and master controller mould Block is connected；The output end of the front camera module is connected with main controller module；The output end of the energy-storage module is through driving Dynamic control management module is connected with left and right motor module；The output end of the main controller module connects with drive control management module Connect.
In such scheme, preferably high accuracy positioning module includes Big Dipper wireless location circuit and GPS wireless locations electricity The output end of road, the Big Dipper wireless location circuit and GPS wireless location circuits is connected with main controller module.
In such scheme, preferably steering angle sensor module include speed obtain circuit, direction Acquisition Circuit and Direction sensor；The input that the speed obtains circuit is connected with the data terminal of outside automobile master controller；Adopt in the direction The input of collector is connected by direction sensor with the wheel direction rotating shaft of balance car；The direction sensor is arranged on car In wheel direction rotating shaft.
In such scheme, preferably direction sensor uses four direction sensors of model RPI-1031.
In such scheme, preferably drive control management module includes motor-drive circuit and electric power management circuit, institute The control end for stating motor-drive circuit and electric power management circuit is connected with main controller module, the motor-drive circuit it is defeated Go out end to be connected with left and right motor module；The electric power management circuit connection left and right motor module is powered.
In such scheme, preferably optical coupling isolator mould is connected between main controller module and drive control management module Block, main controller module is connected through optical coupling isolator module with drive control management module.
In such scheme, preferably main controller module includes microprocessor and clock circuit, and the microprocessor makes With the singlechip chip of model STM32 series, the output end of clock circuit is connected with microprocessor.
In such scheme, preferably human-computer interaction module position touch display screen.
Advantages of the present invention is with effect：
1st, the present invention is believed by the positioning of Big Dipper wireless locating module, GPS wireless locating modules and front camera module Breath carries out fusion treatment, can greatly improve balance car positioning precision, and then ensures the navigation effect of system, improves balance car Usability and stability；
2nd, the present invention is provided with optical coupling isolator between main controller module and drive control management module such that it is able to subtract Few influence of the forceful electric power to processor in data processing module and main controller module so that security is higher.
Brief description of the drawings
Fig. 1 is structural frames of the present invention.
Specific embodiment
The invention will be further described with reference to embodiments.
A kind of electronic two-wheeled balance truck control device based on data fusion positioning, as shown in figure 1, being passed including steering angle Sensor module, attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module, Front camera module, optical coupling isolator module, left and right motor module, drive control management module and energy-storage module.
The output end of steering angle sensor module and attitude transducer module is connected with main controller module.Steering angle Sensor assembly includes that speed obtains circuit, direction Acquisition Circuit and direction sensor；The speed obtains the input of circuit Data terminal with outside automobile master controller is connected；The input of the direction Acquisition Circuit passes through direction sensor and balance car Wheel direction rotating shaft connection；The direction sensor is arranged in the rotating shaft of wheel direction.Direction sensor uses model Four direction sensors of RPI-1031.
The collection terminal of coder module is connected with left and right motor module, and coder module mainly includes coding circuit, passes through The mode for encoding collection gathers the working order of motor, plays a part of feedback, is then further controlled according to feedback.Compile Code circuit is existing coding circuit.The output end of coder module is connected with main controller module, and the signal of collection is transmitted to Main controller module.
Human-computer interaction module is connected with main controller module, and human-computer interaction module position touch display screen, user can touch Touch display screen and inquire about the destination or the geographical position residing for oneself for oneself needing to reach, so as to preferably carry out out every trade Sail.
The output end of high accuracy positioning module is connected with main controller module.High accuracy positioning module includes that the Big Dipper is wirelessly fixed The output end of position circuit and GPS wireless location circuits, the Big Dipper wireless location circuit and GPS wireless location circuits is and master control Device module connection processed.Big Dipper wireless location circuit and GPS wireless location circuits are existing positioning circuit, wireless by the Big Dipper Positioned while positioning circuit and GPS wireless location circuits, then location information is carried out fusion treatment, can greatly improved Balance car positioning precision, and then ensure the navigation effect of system.
The output end of front camera module is connected with main controller module, and front camera module includes camera sum According to line, the video data of collection is transmitted to main controller module, then human-computer interaction module is transmitted to by main controller module and shown Show, can preferably check the situation in front.
Drive control management module includes motor-drive circuit and electric power management circuit, the motor-drive circuit and power supply The control end for managing circuit is connected with main controller module, and output end and the left and right motor module of the motor-drive circuit connect Connect；The electric power management circuit connection left and right motor module is powered.The driving of motor and the control management of out-put supply are played, is entered Row boosting or step-down etc., are completed by existing booster circuit and reduction voltage circuit.
The output end of energy-storage module is connected through drive control management module with left and right motor module；Main controller module it is defeated Go out end to be connected with drive control management module.It is battery and charging inlet circuit that energy-storage module is precious, the model of battery and defeated The size of the voltage for going out according to user design the need for depending on.Left and right motor module is two the two of driving moment motors, this Two motors are brushless electric machine, are existing motor.
Below the preferred embodiment to the invention is illustrated, but the present invention is not limited to embodiment, Those of ordinary skill in the art can also be made on the premise of without prejudice to the invention spirit a variety of equivalent modification or Replace, these equivalent modifications or replacement are all contained in scope of the present application.

Claims (8)

1. a kind of electronic two-wheeled based on data fusion positioning balances truck control device, it is characterised in that：Passed including steering angle Sensor module, attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module, Front camera module, left and right motor module, drive control management module and energy-storage module；
The output end of the steering angle sensor module and attitude transducer module is connected with main controller module；The coding The collection terminal of device module is connected with left and right motor module；The output end of the coder module is connected with main controller module；Institute Human-computer interaction module is stated to be connected with main controller module；The output end of the high accuracy positioning module connects with main controller module Connect；The output end of the front camera module is connected with main controller module；The output end of the energy-storage module is controlled through driving Management module processed is connected with left and right motor module；The output end of the main controller module is connected with drive control management module.
2. a kind of electronic two-wheeled based on data fusion positioning according to claim 1 balances truck control device, its feature It is：The high accuracy positioning module includes Big Dipper wireless location circuit and GPS wireless location circuits, the Big Dipper wireless location The output end of circuit and GPS wireless location circuits is connected with main controller module.
3. a kind of electronic two-wheeled based on data fusion positioning according to claim 1 balances truck control device, its feature It is：The steering angle sensor module includes that speed obtains circuit, direction Acquisition Circuit and direction sensor；The speed The input for obtaining circuit is connected with the data terminal of outside automobile master controller；The input of the direction Acquisition Circuit is by side It is connected with the wheel direction rotating shaft of balance car to sensor；The direction sensor is arranged in the rotating shaft of wheel direction.
4. a kind of electronic two-wheeled based on data fusion positioning according to claim 3 balances truck control device, its feature It is：The direction sensor uses four direction sensors of model RPI-1031.
5. a kind of electronic two-wheeled based on data fusion positioning according to claim 1 balances truck control device, its feature It is：The drive control management module includes motor-drive circuit and electric power management circuit, the motor-drive circuit and electricity The control end of power management circuits is connected with main controller module, output end and the left and right motor module of the motor-drive circuit Connection；The electric power management circuit connection left and right motor module is powered.
6. a kind of electronic two-wheeled based on data fusion positioning according to claim 1 balances truck control device, its feature It is：Optical coupling isolator module is connected between the main controller module and drive control management module, main controller module is through light Coupling isolator module is connected with drive control management module.
7. a kind of electronic two-wheeled based on data fusion positioning according to claim 1 balances truck control device, its feature It is：The main controller module includes microprocessor and clock circuit, and the microprocessor uses model STM32 series Singlechip chip, the output end of clock circuit is connected with microprocessor.
8. a kind of electronic two-wheeled based on data fusion positioning according to claim 1 balances truck control device, its feature It is：Human-computer interaction module position touch display screen.
CN201710120354.3A 2017-03-02 2017-03-02 A kind of electronic two-wheeled balance truck control device based on data fusion positioning Pending CN106882299A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710120354.3A CN106882299A (en) 2017-03-02 2017-03-02 A kind of electronic two-wheeled balance truck control device based on data fusion positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710120354.3A CN106882299A (en) 2017-03-02 2017-03-02 A kind of electronic two-wheeled balance truck control device based on data fusion positioning

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CN106882299A true CN106882299A (en) 2017-06-23

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108762260A (en) * 2018-05-16 2018-11-06 南京理工大学 Crawler type independent navigation robot based on differential GPS and its air navigation aid
CN108909918A (en) * 2018-05-29 2018-11-30 沈江 A kind of control circuit and its control method of balance car

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108762260A (en) * 2018-05-16 2018-11-06 南京理工大学 Crawler type independent navigation robot based on differential GPS and its air navigation aid
CN108909918A (en) * 2018-05-29 2018-11-30 沈江 A kind of control circuit and its control method of balance car

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Application publication date: 20170623

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