CN108021384B - Balance car control system capable of repeatedly loading control software and software reloading method thereof - Google Patents

Abstract

The invention discloses a balance car control system capable of repeatedly loading control software and a software reloading method thereof, wherein the balance car control subsystem comprises a hardware layer, an interface layer and an application layer; the hardware layer comprises an H-bridge configuration module, a diverter configuration module, a display driving module, a memory driving module, a Bluetooth driving module, a voltmeter configuration module, an encoder configuration module, an inclinometer configuration module, a system clock configuration module and an IAP configuration module; the interface layer comprises a speed control module, a steering control module, a communication module, an electric quantity detection module, a vehicle speed detection module and an inclination angle detection module, and the application layer comprises a balance control module, a mode control module, a man-machine interaction module and an abnormality processing module; the BOOT root subsystem comprises a hardware configuration module, a burning module and a communication module. The invention can realize the update and upgrade or maintenance of the software balance car system without replacing all hardware circuits, and reduce the service cost of products.

Description

Balance car control system capable of repeatedly loading control software and software reloading method thereof

Technical Field

The invention relates to a balance car control system, in particular to a balance car control system capable of repeatedly loading control software and a software reloading method thereof.

Background

Balance car, also known as somatosensory car, is a new type of transportation means with interest in recent years, because of its characteristics such as can turn to in situ, take up an area of little, energy-conserving welcome, is often used in park, sports stadium, district, campus, short distance of occasion such as supermarket to take the place of walk. In the 80 s of the 20 th century, ideas were developed by mountain professors, and then, through research of related institutions, a balance car with use value was developed in the united states of the 90 s of the 20 th century by the inventor's dean kart and formally brought to market in 2003.

The balance car mainly comprises three parts, namely a mechanical system, an electrical system and a software system. The specific operation is as follows: firstly, storing a written software program into an electrical system; the electrical system then operates the individual electrical components according to the software logic; finally, the electric software sends the gesture and instruction information of the balance car to the software and operates mechanical elements such as wheels, and further, the functions of self-balancing, steering, consignment and the like of the car body are achieved. Therefore, the software system is a key component for realizing the self functions of the balance car, and is a carrier for mainly realizing a self-balance control algorithm and a function control logic.

At present, most of balance car software systems existing in the market are directly burnt into a control chip, so that manufacturers often lock the control chip for confidentiality, and software cannot be changed. When the program storage component fails, the whole circuit board needs to be replaced to be solved. In addition, if the control algorithm needs to be improved due to the structural change of the system, the circuit board needs to be replaced, and electronic components are wasted greatly in the mode. For one product, the method is not beneficial to the effective utilization of resources, and the cost of after-sales service is increased. Therefore, a software architecture is needed to solve the above-mentioned problems.

Based on the background, the invention establishes a software structure based on the balance car based on the IAP function of most advanced single-chip microcomputer, and the structure supports the automatic update of the control software of the balance car. The problems solved by the related patents are mainly problems in other aspects, and the invention of publication No. CN105270525A discloses a control method of a two-wheeled balance car, which can enable the balance car to identify various obstacles and make different reactions according to different obstacles; the invention of publication number CN106200642A discloses a balance car control method capable of realizing automatic memory and reproduction of paths; the invention of publication No. CN105365964A discloses a steering method, which adopts wireless remote sensing to replace the previous handle mode, thereby improving the operability; the invention of publication number CN205769819U discloses a two-wheeled balance car capable of being automatically charged. As can be seen, there are many related patents of balance cars, but most of the above patents relate to the functions of the balance car and the mechanical structure of the balance car, and do not relate to the software system structure of the balance car. At present, no patent records similar to the present invention are seen.

Disclosure of Invention

The invention aims to solve the technical problem of providing a balance car control system capable of repeatedly loading control software and a software reloading method thereof, which can realize the update and upgrade or maintenance of the software balance car system without replacing all hardware circuits and reduce the after-sale service cost of products.

In order to solve the technical problems, the invention adopts the following technical scheme:

a balance car control system capable of repeatedly loading control software comprises a balance car control subsystem and a BOOT root subsystem,

the balance car control subsystem comprises a hardware layer, an interface layer and an application layer;

the hardware layer comprises an H-bridge configuration module, a diverter configuration module, a display driving module, a memory driving module, a Bluetooth driving module, a voltmeter configuration module, an encoder configuration module, a system clock configuration module and an IAP configuration module;

the interface layer comprises a speed control module, a steering control module, a communication module, an electric quantity detection module, a vehicle speed detection module and an inclination angle detection module, and the application layer comprises a balance control module, a mode control module, a man-machine interaction module and an abnormality processing module;

the BOOT root subsystem comprises a hardware configuration module, a burning module and a communication module;

the H-bridge configuration module is used for configuring the STM32 to generate PWM waves; the diverter configuration module is used for configuring STM32 analog-to-digital conversion peripheral equipment and IO of diverter links; the display driving module is used for initializing a display linked with the STM 32; the memory driving module configures SPI bus peripheral equipment and IO connected with the Flash; the Bluetooth driving module is used for initializing Bluetooth communication; the voltmeter configuration module initializes STM32 analog-to-digital conversion peripheral equipment and IO connected with the voltmeter configuration module; the encoder configuration module is used for configuring the wave-capturing peripheral and IO connected with the encoder configuration module; the system clock configuration module is used for configuring sampling time and period, and is realized through STM32 timer interrupt; the IAP configuration module is used for configuring a register of an IAP function of the STM32 and is used for switching between the balance car control subsystem and the BOOT root subsystem by the IAP;

the speed control module controls the rotating speed of the motor by controlling the duty ratio of PWM; the steering control module controls the speed difference of the two wheels by reading the analog-to-digital conversion value to realize the rotating speed; the communication module analyzes the instruction received through Bluetooth; the electric quantity detection module calculates electric quantity by measuring battery voltage; the speed detection module acquires the motor rotation speed by reading STM32 wave-capturing quantity; the inclination angle detection module is used for acquiring inclination angle information of the balance car;

the balance control module obtains the information of the vehicle speed detection module and the inclination angle module to realize the self-balance control of the balance vehicle; the mode control module is used for controlling the state of the balance car; the man-machine interaction module is used for realizing interaction between a driver and the balance car; the exception handling module is used for handling emergency;

the hardware configuration module of the BOOT root subsystem is used for configuring IO and peripheral equipment related to a downloaded program, and comprises IAP function setting, bluetooth communication setting and timer setting of STM 32; the programming module of the BOOT root subsystem is used for programming the self-balancing control subsystem code received through Bluetooth into a program memory of the STM32 and automatically jumping; the communication module of the BOOT root subsystem is used for receiving codes of the self-balancing control subsystem sent by a user and storing the codes into the RAM.

The subsystem workflow is as follows: when the power-on is started, the hardware layer configures each interface; when executing a certain application layer module, the hardware layer firstly acquires original data from each input interface, the interfaces access the data, processes the data by adopting corresponding modules to obtain the current information of the balance car, then the corresponding function modules of the application layer access the information, processes the information according to a functional logic algorithm to obtain a control instruction, the instruction is sent to the interface layer, the interface layer translates the instruction into a command which can be understood by hardware, the command is sent to the hardware layer, and the hardware layer controls related hardware structures according to the command, so that the function of the certain application layer is completed.

The BOOT root subsystem is directly burnt into the control chip through the serial port 1 or the debugging interface of the STM32 and cannot be changed again, but the subsystem is an open type program which is irrelevant to hardware, the repeated use of the hardware cannot be influenced, the BOOT root subsystem is only used when the balance car control subsystem is electrified and updated, and the BOOT root subsystem is mainly used for realizing the loading of the balance car control subsystem and the safety management of software, and the reliability of the BOOT root subsystem is higher than that of a conventional system. The system mainly comprises three modules, namely a hardware configuration module, a communication module and a burning module. The hardware configuration module realizes register setting of STM32 and mainly comprises a timer, a serial port, an IAP and the like; the communication module is based on Bluetooth serial ports and is used for receiving commands, code packets and sending system state information; and the burning module is used for checking the code packet, if the code packet is reliable, burning the code packet to the STM32 chip through the IAP function, otherwise, stopping burning and giving out a warning.

The software reloading method of the balance car control system capable of repeatedly loading control software comprises the following steps:

(1) Preparing, wherein a developer downloads a BOOT subsystem to an STM32 singlechip;

(2) Event description, the balance car control subsystem updates the trigger event, and the code is updated when the following events occur: a. no executable balance program exists in the system and codes are input through the communication module; b. an abnormality occurs in the balance car control subprogram, and the balance car control subprogram jumps to a BOOT root subsystem and is abnormal; c. before jumping to the balance car control subprogram, a pass code passes through Bluetooth;

(3) Balancing system abnormality and judgment: balance system anomalies include the following: a. receiving an update instruction of a user; b. finding out code errors during system self-checking; c. the system self-checking passes, and the self-balancing control effect of the balance car is extremely poor; d. after the power is turned on, the bottom layer configuration module of the BOOT root subsystem is operated firstly, and then the communication module is arranged; then, the burning module judges whether the balance system abnormality exists in the abnormality and needs to be updated, if the abnormality exists in the balance system abnormality, a trigger program updating event occurs, whether a password contained in a code is correct is checked, if the password is correct, an updating process is entered, otherwise, a prompt is sent out and the code is required to be input again or updating is abandoned; and then checking whether a new balance car self-balancing control can be executed, if so, entering a balance system, starting normal balance car operation, otherwise, sending a prompt of 'no available balance system, and requesting to load codes'.

Compared with the prior art, the invention adopting the technical scheme has the beneficial effects that:

according to the invention, an STM32 control chip is used as a hardware basis, a software structure of a balance car control system is provided, and a BOOT root subsystem is adopted to update the balance control subsystem through a Bluetooth interface, so that the utilization rate of hardware can be improved, and the after-sale cost of a balance car product manufacturer is reduced; the BOOT root subsystem is a section of universal code, and is convenient to realize; the balance car subsystem adopts a layered structure, so that engineering modularization is facilitated, and the complexity of a software system is reduced.

Drawings

FIG. 1 is a general diagram of a balance car control system software architecture;

FIG. 2 is an overall block diagram of the balance car control subsystem;

FIG. 3 is a block diagram of the overall system of the BOOT root subsystem;

fig. 4 is an update mechanism demonstration diagram.

Detailed Description

The present invention will be described in detail below with reference to the drawings and examples so that advantages and features of the present invention will be more readily understood by those skilled in the art, thereby more clearly defining the scope of the present invention.

Referring to fig. 1, a reloadable balance car control software system uses an STM32 control chip as a hardware base, and is composed of a balance car control subsystem and a BOOT subsystem, wherein the former adopts a layered structure and is composed of an application layer, an interface layer and a hardware layer.

Referring to fig. 2, the hardware layer of the balance car control subsystem is composed of an H-bridge configuration module, a diverter configuration module, a display driving module, a memory driving module, a bluetooth driving module, a voltmeter configuration module, an encoder configuration module, a system clock configuration module and an IAP configuration module. The interface layer is composed of a speed control module, a steering control module, a communication module, an electric quantity detection module, a vehicle speed detection module and an inclination angle detection module. The application layer is composed of a balance control module, a mode control module, a man-machine interaction module, an exception handling module and other functional modules, and the application layer is not limited to the modules and can be expanded according to the same functions. The subsystem layers are mutually independent, and each module in the layers is mutually independent, so that engineering modularization is facilitated, the complexity of a software system is reduced, the software system is easy to update and modify, and better service is provided for users.

Referring to fig. 3, the BOOT root subsystem is composed of a hardware configuration module, a burning module and a communication module. The hardware configuration module consists of a timer clock of a control chip, a Bluetooth serial port, an IAP peripheral, a program memory and other units; the burning module consists of a verification and identification unit, an IAP unit, a program storage unit and the like; the communication module consists of a Bluetooth serial port unit, a receiving and transmitting buf unit, a communication protocol unit, a storage unit and the like.

The H-bridge configuration module is used for configuring the STM32 to generate PWM waves; the diverter configuration module is used for configuring STM32 analog-to-digital conversion peripheral equipment and IO of diverter links; the display driving module is used for initializing a display linked with the STM 32; the memory driving module configures SPI bus peripheral equipment and IO connected with the Flash; the Bluetooth driving module is used for initializing Bluetooth communication; the voltmeter configuration module initializes STM32 analog-to-digital conversion peripheral equipment and IO connected with the voltmeter configuration module; the encoder configuration module is used for configuring the wave-capturing peripheral and IO connected with the encoder configuration module; the system clock configuration module is used for configuring sampling time and period, and is realized through STM32 timer interrupt; the IAP configuration module is used for configuring a register of an IAP function of the STM32 and is used for realizing the switching between the balance car control subsystem and the BOOT root subsystem;

the speed control module controls the rotating speed of the motor by controlling the duty ratio of PWM; the steering control module controls the speed difference of the two wheels by reading the analog-to-digital conversion value to realize the rotating speed; the communication module analyzes the instruction received through Bluetooth; the electric quantity detection module calculates electric quantity by measuring battery voltage; the speed detection module acquires the motor rotation speed by reading STM32 wave-capturing quantity; the inclination angle detection module is used for acquiring inclination angle information of the balance car;

the balance control module acquires information of the vehicle speed detection module and the inclination angle module to realize self-balance control of the balance vehicle; the mode control module is used for controlling the state of the balance car, such as walking or shipping state; the man-machine interaction module is used for realizing interaction between a driver and the balance car; the exception handling module is used for handling emergency situations such as sudden toppling or insufficient electric quantity.

The hardware configuration module of the BOOT root subsystem is used for configuring IO and peripheral equipment related to a downloaded program, and comprises IAP function setting, bluetooth communication setting and timer setting of STM 32; the programming module of the BOOT root subsystem is used for programming the self-balancing control subsystem code received through Bluetooth into a program memory of the STM32 and automatically jumping; the communication module of the BOOT root subsystem is used for receiving codes of the self-balancing control subsystem sent by a user and storing the codes into the RAM.

Referring to fig. 4, the program update mechanism can be known: after the BOOT root subsystem configures the bottom layer, a communication function is opened, whether a program update event occurs is checked, if so, a code data packet is checked, otherwise, whether an executable program exists is checked; if the verification of the update code data packet is passed, programming the program to be updated, and checking the code executable after the programming is completed, otherwise, returning to the previous step to check whether the program needs to be updated, and sending a prompt; if the executable test passes, the code, namely the balance car control subprogram, is operated, and if the execution process is abnormal, the abnormal processing process is entered.

The program update event is: 1. no executable balance program exists in the system and codes are input through the communication module; 2. an abnormality occurs in the balance car control subprogram, and the balance car control subprogram jumps to a BOOT root subsystem and is abnormal; 3. before jumping to the balance car control subroutine, there is a pass code through bluetooth.

The balance system anomalies are: 1. receiving an update instruction of a user; 2. finding out code errors during system self-checking; 3. the system self-checking passes, and the self-balancing control effect of the balance car is extremely poor; 4. the system crashes.

The foregoing description is only a preferred embodiment of the invention and is not intended to limit the scope of the claims, but rather the equivalent structural changes made using the description of the invention and the accompanying drawings are included in the scope of the claims.

Claims (1)

1. The utility model provides a balance car control system of control software can be repeatedly loaded, includes balance car control subsystem, BOOT root subsystem, its characterized in that:

the balance car control subsystem comprises a hardware layer, an interface layer and an application layer;

the hardware layer comprises an H-bridge configuration module, a diverter configuration module, a display driving module, a memory driving module, a Bluetooth driving module, a voltmeter configuration module, an encoder configuration module, a system clock configuration module and an IAP configuration module;

the interface layer comprises a speed control module, a steering control module, a communication module, an electric quantity detection module, a vehicle speed detection module and an inclination angle detection module, and the application layer comprises a balance control module, a mode control module, a man-machine interaction module and an abnormality processing module;

the BOOT root subsystem comprises a hardware configuration module, a burning module and a communication module;

the H-bridge configuration module is used for configuring the STM32 to generate PWM waves; the diverter configuration module is used for configuring STM32 analog-to-digital conversion peripheral equipment and IO of diverter links; the display driving module is used for initializing a display linked with the STM 32; the memory driving module configures SPI bus peripheral equipment and IO connected with the Flash; the Bluetooth driving module is used for initializing Bluetooth communication; the voltmeter configuration module initializes STM32 analog-to-digital conversion peripheral equipment and IO connected with the voltmeter configuration module; the encoder configuration module is used for configuring the wave-capturing peripheral and IO connected with the encoder configuration module; the system clock configuration module is used for configuring sampling time and period, and is realized through STM32 timer interrupt; the IAP configuration module is used for configuring a register of an IAP function of the STM32 and is used for switching between the balance car control subsystem and the BOOT root subsystem by the IAP;

the speed control module controls the rotating speed of the motor by controlling the duty ratio of PWM; the steering control module controls the speed difference of the two wheels by reading the analog-to-digital conversion value to realize the rotating speed; the communication module analyzes the instruction received through Bluetooth; the electric quantity detection module calculates electric quantity by measuring battery voltage; the speed detection module acquires the motor rotation speed by reading STM32 wave-capturing quantity; the inclination angle detection module is used for acquiring inclination angle information of the balance car;

the balance control module obtains the information of the vehicle speed detection module and the inclination angle module to realize the self-balance control of the balance vehicle; the mode control module is used for controlling the state of the balance car; the man-machine interaction module is used for realizing interaction between a driver and the balance car; the exception handling module is used for handling emergency;

the hardware configuration module of the BOOT root subsystem is used for configuring IO and peripheral equipment related to a downloaded program, and comprises IAP function setting, bluetooth communication setting and timer setting of STM 32; the programming module of the BOOT root subsystem is used for programming the self-balancing control subsystem code received through Bluetooth into a program memory of the STM32 and automatically jumping; the communication module of the BOOT root subsystem is used for receiving codes of the self-balancing control subsystem sent by a user and storing the codes into the RAM.

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