CN108021384A - The repeatable control system of balance car and its software overloaded method for being loaded into control software - Google Patents
The repeatable control system of balance car and its software overloaded method for being loaded into control software Download PDFInfo
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- CN108021384A CN108021384A CN201711328679.7A CN201711328679A CN108021384A CN 108021384 A CN108021384 A CN 108021384A CN 201711328679 A CN201711328679 A CN 201711328679A CN 108021384 A CN108021384 A CN 108021384A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0706—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment
- G06F11/0736—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function
- G06F11/0739—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function in a data processing system embedded in automotive or aircraft systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0793—Remedial or corrective actions
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Abstract
The invention discloses a kind of repeatable control system of balance car and its software overloaded method for being loaded into control software, balance car control subsystem includes hardware layer, interface layer, application layer；Hardware layer includes configuration of H bridge module, steering gear configuration module, display drive module, storage drive module, bluetooth drive module, voltammeter configuration module, encoder configuration module, inclinator configuration module, system clock configuration module, IAP configuration modules；Interface layer includes rate control module, course changing control module, communication module, electric power detection module, Bus- Speed Monitoring module, inclination angle detection module, and application layer includes balance control module, mode control module, human-computer interaction module, exception processing module；BOOT roots system includes hardware configuration module, burning module, communication module.The present invention in the case where being changed without whole hardware circuits, can realize the renewal upgrading or maintenance of software balance car system, reduce service of goods cost.
Description
Technical field
The present invention relates to control system of balance car, is specifically a kind of repeatable control system of balance car for being loaded into control software
And its software overloaded method.
Background technology
Balance car, also known as body-sensing car, are the new traffic tools with interest a kind of in recent years, because it being capable of original place
The characteristic such as turn to, take up little area, is energy saving to enjoy great popularity, being usually used in the short distance of the occasions such as park, stadium, cell, campus, supermarket
From riding instead of walk.In 20th century in the eighties, advanced an idea by mountain professor Teng hair, then, by the research of associated mechanisms, in 20th century
The nineties, the U.S. by inventor Dean toll bar succeeded in developing a balance car having use value, and formally pushed to 2003
Market.
Balance car is mainly made of three parts, i.e. mechanical system, electrical system and software systems.Its concrete operations is：It is first
First, software program storage will be write into electrical system；Then, electrical system is according to each electrically member of software logic operation
Part；Finally, electric software gives the posture of balance car and command information to software, and the mechanical organs such as wheel are operated,
And then realize the functions such as the self-balancing of car body, steering, delivery.It follows that can software systems are balance cars realize itself work(
The critical component of energy, is that self-balancing control algolithm mainly realizes carrier with function control logic.
At present, on the market existing balance car software systems be mostly direct burning into control chip, for regent,
Often control coremaking piece locks for manufacturer, causes software not change.When program storaging part breaks down, it is necessary to right
Whole circuit board, which is replaced, can just solve.If in addition, because system structure change need to be improved control algolithm when,
Need with changing circuit board, such a mode wastes electronic component significantly.For a product, that is, it is effective to be unfavorable for resource
Utilize, and improve the cost of after-sale service.Therefore, it is necessary to a kind of software configuration to solve the above problems.
The IAP functions being had based on background above, the present invention based on most of Advanced Single machine, are established a kind of based on balance
The software configuration of car, the structural support balance car control software automatically update.Relevant patent solves the problems, such as
The problem of other side, a kind of control method of two-wheeled balance car of the disclosure of the invention of publication number CN105270525A, this method
Enable to balance car to identify various barriers, and different reactions is made according to different barriers；Publication number
The disclosure of the invention of CN106200642A is a kind of being capable of realizing route automatic Memory and the balance car control method reappeared；Publication number
A kind of forward method of the disclosure of the invention of CN105365964A, the hand handle mode before being replaced using wireless remote sensing, improving can
Operability；The disclosure of the invention of publication number CN205769819U it is a kind of can automatic charging two-wheeled balance car.It follows that balance
The related patents of car have very much, and still, above patent is directed to greatly balance car function and balance vehicle device tool structure, does not relate to
And in terms of balance car software system structure.At present, there is not yet the patent records similar to the present invention.
The content of the invention
The technical problem to be solved in the present invention is to provide it is a kind of it is repeatable be loaded into control software control system of balance car and
Its software overloaded method, in the case where being changed without whole hardware circuits, can realize the renewal upgrading of software balance car system
Or maintenance, reduce after services of product cost.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of repeatable control system of balance car for being loaded into control software, including balance car control subsystem, BOOT root systems,
The balance car control subsystem includes hardware layer, interface layer, application layer；
Hardware layer includes configuration of H bridge module, steering gear configuration module, display drive module, storage drive module, bluetooth and drives
Dynamic model block, voltammeter configuration module, encoder configuration module, system clock configuration module, IAP configuration modules；
Interface layer includes rate control module, course changing control module, communication module, electric power detection module, Bus- Speed Monitoring module, inclines
Angle detection module, application layer include balance control module, mode control module, human-computer interaction module, exception processing module；
BOOT roots system includes hardware configuration module, burning module, communication module；
Configuration of H bridge module is used to configure STM32 generation PWM ripples；Steering gear configuration module is used for the STM32 for steering gear link
Analog-to-digital conversion peripheral hardware and IO are configured；Display drive module is used for pair display linked with STM32 a initialization；Memory
The spi bus peripheral hardware and IO that drive module configuration is connected with Flash；Bluetooth drive module is used to initialize Bluetooth communication；Electricity
Piezoelectricity flowmeter configuration module initializes the STM32 analog-to-digital conversions peripheral hardware and IO that are attached thereto；Encoder configuration module is used
Come configure be attached thereto catch ripple peripheral hardware and IO；System clock configuration module is used for configuring sampling time and cycle, passes through STM32
Timer interruption is realized；IAP configuration modules are used for configuring the register with the IAP functions of STM32, and balance car is realized for IAP
Switching between control subsystem and BOOT root systems；
Rate control module is by controlling the Duty ratio control motor speed of PWM；Course changing control module is by reading analog-to-digital conversion
The speed difference of value two wheels of control, realizes rotating speed；The instruction that communication module parsing is received by bluetooth；Electric power detection module
Electricity is calculated by measuring cell voltage；Bus- Speed Monitoring module catches ripple amount acquisition motor speed by reading STM32；Inclination angle detection
Module is used to obtain balance car obliquity information；
Balance the self-balancing control that control module obtains the information realization balance car of Bus- Speed Monitoring module and dip module；Pattern control
Molding block is used to be controlled balance car state；Human-computer interaction module realizes interacting for driver and balance car；Abnormality processing
Module is used to handle emergency case；
The hardware configuration module of BOOT root systems is used for configure and download relevant IO and peripheral hardware, includes the IAP of STM32
Function setting, Bluetooth communication are set and timer is set；The burning module of BOOT root systems by by bluetooth receive from
Balance control subsystem code is burnt in the program storage of STM32, and is redirected automatically；The communication module of BOOT root systems
Code for the self-balancing control subsystem for receiving user's transmission, and be saved in RAM.
The subsystem work flow is as follows：During start, hardware layer configures each interface；When in a certain application of execution
During layer module, hardware layer obtains original data from each input interface before this, and interface accesses the data, and uses corresponding mould
Block handles it current information for being balanced car, and then the corresponding function module of application layer accesses the information, is patrolled according to function
Volume algorithm handles it to obtain control instruction, which is sent to interface layer, and interface layer is by its " translation " into " being managed by hardware
The order of solution ", is sent to hardware layer, hardware layer controls related hardware structure according to order, and then completes a certain application level function.
BOOT roots system by the serial ports 1 or debugging interface of STM32 by direct burning into control chip, can not be by
Again change, but the subsystem is one section of open program unrelated with hardware, does not interfere with hardware reuse, is only powering on
Used during with renewal balance car control subsystem, be mainly used for realizing loading and the bursting tube of software of balance car control subsystem
Reason, its reliability are higher than conventional system.Mainly it is made of three modules, i.e. hardware configuration module, communication module, burning module.
Hardware configuration module, which is realized, sets the register of STM32, mainly including timer, serial ports, IAP etc.；Communication module, its hardware
Basis is bluetooth serial ports, for receiving order, code bag, and sends system status information；Burning module, examines code bag
Test, STM32 chips are burnt to by IAP functions if reliable, otherwise stop burning, and give a warning.
The software overloaded method of the above-mentioned repeatable control system of balance car for being loaded into control software, comprises the steps of：
（1）Prepare, developer has downloaded BOOT subsystems to STM32 microcontrollers；
（2）Event description, balance car control subsystem renewal trigger event, more fresh code when following event occurs：A, in system
The equilibrium code that not can perform and there is code to be inputted by communication module；B, it is abnormal, jumps in balance car control subprogram
It is abnormal to go to the life of BOOT roots system concurrency；C, before balance car control subprogram is jumped to, have and bluetooth is passed through by code；
（3）Balance system is abnormal and judges：Balance system includes following several situations extremely：A, the more new command of user is received；
B, code error is found during System self-test；C, System self-test is by the way that balance car self-balancing control effect is very poor；D, system crash;
After power on, the bottom configuration module of BOOT root systems is first run, followed by communication module；Then, burning module judges
Balance system needs to update with the presence or absence of above-mentioned abnormal extremely, if there is trigger update event, examines in code
Whether the password contained is correct, enters renewal process if correct, otherwise, sends prompting and requires to re-enter code or abandon
Renewal；Whether have executable new balance car self-balancing control, if so, then entering balance system, start normal if then verifying that
Balance car operation, otherwise, send prompting " balance system can not be used, code please be loaded into ".
Using the present invention of above-mentioned technical proposal, compared with prior art, beneficial effect is：
The present invention proposes control system of balance car software configuration, using BOOT roots system using STM32 control chips as hardware foundation
System is updated balance control subsystem by blue tooth interface, can improve the utilization rate of hardware, reduce balance car product manufacturer
After cost；BOOT root systems are one section of versatility codes, are easy to implement；Balance cart subsystem uses hierarchy, facilitates work
The modularization of journey, reduces the complexity of software systems.
Brief description of the drawings
Fig. 1 is control system of balance car software configuration overall pattern；
Fig. 2 is balance car control subsystem overall construction drawing；
Fig. 3 is BOOT root system global structure figures；
Fig. 4 is renewal mechanism demonstration graph.
Embodiment
The present invention will be described in detail with reference to the accompanying drawings and embodiments, so that advantages and features of the invention are easier to
It is readily appreciated by one skilled in the art, so as to make apparent define to protection scope of the present invention.
Referring to Fig. 1, it is a kind of can heavy duty enter balance car control software system, using STM32 control chips as hardware foundation, by
Balance car control subsystem and BOOT roots system composition, wherein, the former use layer structure, by application layer, interface layer and firmly
Part layer forms.
Referring to Fig. 2, the hardware layer of balance car control subsystem, by configuration of H bridge module, steering gear configuration module, display
When drive module, storage drive module, bluetooth drive module, voltammeter configuration module, encoder configuration module, system
Clock configuration module and IAP configuration modules composition.Interface layer is examined by rate control module, course changing control module, communication module, electricity
Survey module, Bus- Speed Monitoring module and inclination angle detection module composition.Application layer, by balance control module, mode control module, man-machine
The function modules such as interactive module, exception processing module form, which is not only limited to these modules, can be according to same function
It is extended.Between layer independently of each other, each module is separate in layer, facilitates the modularization of engineering for the subsystem layer, reduces
The complexity of software systems, makes it easier to renewal modification, provides more preferable service to the user.
Referring to Fig. 3, the BOOT roots system, is made of hardware configuration module, burning module and communication module.Wherein,
Hardware configuration module is made of units such as the timer clock of control chip, bluetooth serial ports, IAP peripheral hardwares, program storages；Burning
Module, is made of verification discrimination unit, IAP units and program storage unit (PSU) etc.；Communication module, by bluetooth serial ports unit, transmitting-receiving
Buf units, communication protocol unit and storage unit etc. form.
Configuration of H bridge module is used to configure STM32 generation PWM ripples；Steering gear configuration module is used for for steering gear link
STM32 analog-to-digital conversions peripheral hardware and IO are configured；Display drive module is used for pair display linked with STM32 a initialization；
The spi bus peripheral hardware and IO that the configuration of storage drive module is connected with Flash；Bluetooth drive module is led to for initializing bluetooth
Letter；Voltammeter configuration module initializes the STM32 analog-to-digital conversions peripheral hardware and IO that are attached thereto；Encoder configures mould
Block be used for configure be attached thereto catch ripple peripheral hardware and IO；System clock configuration module is used for configuring sampling time and cycle, passes through
STM32 timer interruptions are realized；IAP configuration modules are used for configuring the register with the IAP functions of STM32, are used for for IAP real
Existing switching between balance car control subsystem and BOOT root systems；
Rate control module is by controlling the Duty ratio control motor speed of PWM；Course changing control module is by reading analog-to-digital conversion
The speed difference of value two wheels of control, realizes rotating speed；The instruction that communication module parsing is received by bluetooth；Electric power detection module
Electricity is calculated by measuring cell voltage；Bus- Speed Monitoring module catches ripple amount acquisition motor speed by reading STM32；Inclination angle detection
Module is used to obtain balance car obliquity information；
Balance control module obtains the information of Bus- Speed Monitoring module and dip module to realize that the self-balancing of balance car controls；Pattern
Control module is used to be controlled balance car state, such as walking or delivery state；Human-computer interaction module realizes driver
With interacting for balance car；Exception processing module is used to handle emergency case, such as topples over suddenly or not enough power supply.
The hardware configuration module of BOOT root systems is used for configure and download relevant IO and peripheral hardware, including STM32
IAP function settings, Bluetooth communication set and timer set；The burning module of BOOT root systems will be received by bluetooth
Self-balancing control subsystem code be burnt in the program storage of STM32, and redirect automatically；The communication of BOOT root systems
Module is used for the code for receiving the self-balancing control subsystem of user's transmission, and is saved in RAM.
Referring to Fig. 4, it is known that program updates mechanism：BOOT roots system carries out bottom, with postponing, to open communication function,
Program update event generation is checked whether there is, code data bag is verified if having, it is otherwise executable to having checked whether
Program；If the bag verification of renewal code data passes through, the burning program to be updated, and to the enforceability of code after the completion of burning
Examine, otherwise, return to previous step and check whether to need more new procedures, and send prompting；If enforceability is upchecked, run
The code, i.e. balance car control subprogram, if implementation procedure into being abnormal, into abnormality processing process.
Described program update event is：First, the equilibrium code that not can perform in system and code passes through communication module
Input；2nd, it is abnormal in balance car control subprogram, it is abnormal jumps to the life of BOOT roots system concurrency；3rd, jump to it is flat
Weigh before car control subprogram, have and bluetooth is passed through by code.
The balance system is extremely：First, the more new command of user is received；2nd, code error is found during System self-test；
3rd, System self-test is by the way that balance car self-balancing control effect is very poor；4th, system crash.
The foregoing is merely preferably feasible example is invented, not thereby limit to the interest field of invention, all utilizations
The equivalent structure change that description of the invention and accompanying drawing content are done, is both contained in the interest field of invention.
Claims (2)
1. a kind of repeatable control system of balance car for being loaded into control software, including balance car control subsystem, BOOT roots system
System, it is characterised in that：
The balance car control subsystem includes hardware layer, interface layer, application layer；
Hardware layer includes configuration of H bridge module, steering gear configuration module, display drive module, storage drive module, bluetooth and drives
Dynamic model block, voltammeter configuration module, encoder configuration module, system clock configuration module, IAP configuration modules；
Interface layer includes rate control module, course changing control module, communication module, electric power detection module, Bus- Speed Monitoring module, inclines
Angle detection module, application layer include balance control module, mode control module, human-computer interaction module, exception processing module；
BOOT roots system includes hardware configuration module, burning module, communication module；
Configuration of H bridge module is used to configure STM32 generation PWM ripples；Steering gear configuration module is used for the STM32 for steering gear link
Analog-to-digital conversion peripheral hardware and IO are configured；Display drive module is used for pair display linked with STM32 a initialization；Memory
The spi bus peripheral hardware and IO that drive module configuration is connected with Flash；Bluetooth drive module is used to initialize Bluetooth communication；Electricity
Piezoelectricity flowmeter configuration module initializes the STM32 analog-to-digital conversions peripheral hardware and IO that are attached thereto；Encoder configuration module is used
Come configure be attached thereto catch ripple peripheral hardware and IO；System clock configuration module is used for configuring sampling time and cycle, passes through STM32
Timer interruption is realized；IAP configuration modules are used for configuring the register with the IAP functions of STM32, and balance car is realized for IAP
Switching between control subsystem and BOOT root systems；
Rate control module is by controlling the Duty ratio control motor speed of PWM；Course changing control module is by reading analog-to-digital conversion
The speed difference of value two wheels of control, realizes rotating speed；The instruction that communication module parsing is received by bluetooth；Electric power detection module
Electricity is calculated by measuring cell voltage；Bus- Speed Monitoring module catches ripple amount acquisition motor speed by reading STM32；Inclination angle detection
Module is used to obtain balance car obliquity information；
Balance the self-balancing control that control module obtains the information realization balance car of Bus- Speed Monitoring module and dip module；Pattern control
Molding block is used to be controlled balance car state；Human-computer interaction module realizes interacting for driver and balance car；Abnormality processing
Module is used to handle emergency case；
The hardware configuration module of BOOT root systems is used for configure and download relevant IO and peripheral hardware, includes the IAP of STM32
Function setting, Bluetooth communication are set and timer is set；The burning module of BOOT root systems by by bluetooth receive from
Balance control subsystem code is burnt in the program storage of STM32, and is redirected automatically；The communication module of BOOT root systems
Code for the self-balancing control subsystem for receiving user's transmission, and be saved in RAM.
2. the software overloaded method of the repeatable control system of balance car for being loaded into control software according to claim 1, its
It is characterized in that, comprises the steps of：
（1）Prepare, developer has downloaded BOOT subsystems to STM32 microcontrollers；
（2）Event description, balance car control subsystem renewal trigger event, more fresh code when following event occurs：A, in system
The equilibrium code that not can perform and there is code to be inputted by communication module；B, it is abnormal, jumps in balance car control subprogram
It is abnormal to go to the life of BOOT roots system concurrency；C, before balance car control subprogram is jumped to, have and bluetooth is passed through by code；
（3）Balance system is abnormal and judges：Balance system includes following several situations extremely：A, the more new command of user is received；
B, code error is found during System self-test；C, System self-test is by the way that balance car self-balancing control effect is very poor；D, system crash；
After power on, the bottom configuration module of BOOT root systems is first run, followed by communication module；Then, burning module judges
Balance system needs to update with the presence or absence of above-mentioned abnormal extremely, if there is trigger update event, examines in code
Whether the password contained is correct, enters renewal process if correct, otherwise, sends prompting and requires to re-enter code or abandon
Renewal；Whether have executable new balance car self-balancing control, if so, then entering balance system, start normal if then verifying that
Balance car operation, otherwise, send prompting " balance system can not be used, code please be loaded into ".
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| CN201711328679.7A CN108021384B (en) | 2017-12-13 | 2017-12-13 | Balance car control system capable of repeatedly loading control software and software reloading method thereof |
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| CN201711328679.7A CN108021384B (en) | 2017-12-13 | 2017-12-13 | Balance car control system capable of repeatedly loading control software and software reloading method thereof |
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| CN108021384B (en) | 2023-04-25 |
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