CN113917940A

CN113917940A - Balance car control system and balance car

Info

Publication number: CN113917940A
Application number: CN202111196042.3A
Authority: CN
Inventors: 臧传美
Original assignee: Zhejiang Aerlang Technology Co Ltd
Current assignee: Zhejiang Aerlang Technology Co Ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2022-01-11
Also published as: CN110764480B; CN113848966A; WO2021082952A1; CN110764480A

Abstract

The invention relates to a balance car control system and a balance car. The balance car control system is characterized in that the main control module, the dual-mode Bluetooth module, the attitude sensor module, the first motor driving module, the second motor driving module, the voltage reduction module and the external interface module are all arranged on the mainboard. According to the invention, the problem of high discretization degree of the balance car control system in the related technology is solved, and the integration level of the balance car control system is improved.

Description

Balance car control system and balance car

Technical Field

The invention relates to the field of control, in particular to a balance car control system and a balance car.

Background

The balance vehicle, also called a body sensing vehicle and a thinking vehicle, comprises a single-wheel balance vehicle and a double-wheel balance vehicle. The operation principle is that a posture sensor (such as a gyroscope, an acceleration sensor and the like) in the vehicle body is used for detecting the change of the vehicle body posture, and a control system is used for accurately driving a motor to carry out corresponding adjustment so as to realize corresponding functions.

Taking the single-wheel balance vehicle as an example, the single-wheel balance vehicle resists external moment by means of angular momentum after the single wheel rotates, so that steering is realized or self-balancing is kept. The single-wheel balance vehicle adopts a gyroscope to detect the change of the posture of the vehicle body, thereby realizing acceleration, deceleration or braking. For example, when a person stands on the running balancing unicycle, the body inclines forwards to enable the manned platform of the balancing unicycle to incline forwards, the gyroscope detects that the manned platform inclines forwards, the control system drives the motor to accelerate, horizontal forward force generated by the forward inclination of the person and inertial force generated by the acceleration of the balancing unicycle keep balance, the person cannot incline, and therefore the balancing unicycle is accelerated. The same is true for the braking principle of the single-wheel balance vehicle.

Taking a double-wheel balance vehicle as an example, the double-wheel balance vehicle mostly adopts the rotation speed difference of hub motors built in two wheels to control the steering. The acceleration or braking principle of the double-wheel balance vehicle is basically the same as that of the single-wheel balance vehicle, and the steering control of the double-wheel balance vehicle is different from that of the single-wheel balance vehicle:

the double-wheel balance car with the operating rod controls the offset direction of the operating rod by hands or two legs, the Hall steering sensor detects the offset direction of the operating rod and then converts the offset direction into a control signal, and the main control chip controls the rotating speed difference of hub motors arranged in the two wheels according to the control signal to realize steering.

The double-wheel balance car with double pedals and pedals capable of rotating around a main shaft relatively is also called as an electric swing car, the posture of each pedal is collected by a gyroscope arranged below each pedal, a pair of control signals are generated, and after the posture of each pedal is judged by a main control chip according to the pair of control signals, the main control chip controls the rotating speed difference of hub motors arranged in two wheels to realize steering.

In order to realize the above-described functions, a battery and a main board on which various control devices are mounted need to be installed in a narrow internal space of the balance car, and in some balance cars, a sub-board needs to be additionally arranged in order to install attitude sensors under both pedals of the car body.

The original balance car main board is only provided with circuits required for ensuring the normal operation of the balance car, with the gradual addition of new functions, no reserved space is reserved on the main board for arranging the new functions, and the main control chip is gradually insufficient to support the functions due to the limitation of processing speed or pin number, so that more and more functions are arranged on the auxiliary board. For example, signals of classic bluetooth and bluetooth low energy are incompatible, and in order to have the bluetooth communication and bluetooth audio functions at the same time, a bluetooth low energy circuit for bluetooth communication and a classic bluetooth circuit for bluetooth audio need to be configured in the balance car control system; due to the space limitation of the main board, the two Bluetooth circuits are respectively arranged on the two auxiliary boards; if the dual-mode bluetooth module is adopted, because the existing dual-mode bluetooth solution needs to use an external processor to implement a bluetooth protocol stack, besides the dual-mode bluetooth module is arranged on the auxiliary board, a control chip is additionally configured on the auxiliary board to support the dual-mode bluetooth function. The discretization circuit structure not only leads the integration level of the balance car control system to be reduced more and more, and the interaction among a plurality of control chips to be complicated more and more, but also reduces the stability of the balance car and increases the power consumption of the balance car control system.

Disclosure of Invention

Based on this, the embodiment of the invention provides a balance car control system and a balance car with the same, so as to at least solve the problem that the discretization degree of the balance car control system in the related art is high. According to an aspect of an embodiment of the present invention, there is provided a balance car control system including: the system comprises a mainboard, a main control module, a dual-mode Bluetooth module, an attitude sensor module, a first motor driving module, a second motor driving module, a voltage reduction module and an external interface module; wherein the content of the first and second substances,

the main control module, the dual-mode Bluetooth module, the attitude sensor module, the first motor driving module and the second motor driving module are arranged in the central area; the external interface module and the voltage reduction module are arranged in the annular area.

According to another aspect of the embodiment of the invention, the balance car comprises the balance car control system of the first aspect.

According to the balance car control system and the balance car provided by the embodiment of the invention, the main control module, the dual-mode Bluetooth module, the attitude sensor module, the first motor driving module, the second motor driving module, the voltage reduction module and the external interface module are all configured on the mainboard, so that the problem of high discretization degree of the balance car control system in the related technology is solved, and the integration level of the balance car control system is improved.

Drawings

Fig. 1 is a block diagram of a balance car control system according to an embodiment of the present invention;

FIG. 2 is a block diagram of a preferred configuration of a balance car control system according to an embodiment of the present invention;

FIG. 3 is a circuit schematic of a master control module according to a preferred embodiment of the present invention;

FIG. 4 is a circuit schematic of a dual mode Bluetooth module in accordance with a preferred embodiment of the present invention;

FIG. 5 is a circuit schematic of a crystal oscillator unit according to a preferred embodiment of the present invention;

fig. 6 is a circuit schematic of a power amplifier cell according to a preferred embodiment of the present invention;

FIG. 7 is a circuit schematic of an attitude sensor module according to a preferred embodiment of the invention;

fig. 8 is a circuit schematic of a first PWM output unit according to a preferred embodiment of the present invention;

fig. 9 is a circuit schematic of a first three-phase full-bridge drive unit according to a preferred embodiment of the present invention;

fig. 10 is a schematic circuit diagram of a first current detecting unit according to a preferred embodiment of the present invention;

fig. 11 is a schematic circuit diagram of a first brake sensing unit in accordance with a preferred embodiment of the present invention;

fig. 12 is a circuit schematic diagram of a first total current detecting unit according to a preferred embodiment of the present invention;

fig. 13 is a circuit schematic of a first current sampling unit according to a preferred embodiment of the present invention;

fig. 14 is a circuit schematic of a second PWM output unit according to a preferred embodiment of the present invention;

fig. 15 is a circuit schematic of a second three-phase full-bridge drive unit according to a preferred embodiment of the present invention;

fig. 16 is a schematic circuit diagram of a second current detecting unit according to a preferred embodiment of the present invention;

fig. 17 is a schematic circuit diagram of a second brake sensing unit in accordance with a preferred embodiment of the present invention;

fig. 18 is a circuit schematic diagram of a second total current detecting unit according to a preferred embodiment of the present invention;

fig. 19 is a circuit schematic of a second current sampling unit according to a preferred embodiment of the present invention;

fig. 20 is a circuit schematic of a power supply unit according to a preferred embodiment of the present invention;

fig. 21 is a schematic circuit diagram of a first voltage-decreasing unit according to a preferred embodiment of the present invention;

fig. 22 is a circuit schematic diagram of a second voltage decreasing unit according to a preferred embodiment of the present invention;

fig. 23 is a circuit schematic of a third voltage decreasing unit according to a preferred embodiment of the present invention;

FIG. 24 is a circuit schematic of a first opto-electronic switch interface unit in accordance with a preferred embodiment of the present invention;

FIG. 25 is a circuit schematic of a second opto-electronic switch interface unit in accordance with a preferred embodiment of the present invention;

FIG. 26 is a circuit schematic of a steering sensor interface unit in accordance with a preferred embodiment of the present invention;

fig. 27 is a schematic circuit diagram of a turn signal interface unit in accordance with a preferred embodiment of the present invention;

FIG. 28 is a circuit schematic of a failed lamp interface unit in accordance with a preferred embodiment of the present invention;

FIG. 29 is a schematic circuit diagram of a first slave communications interface unit in accordance with a preferred embodiment of the present invention;

FIG. 30 is a schematic circuit diagram of a second slave communications interface unit in accordance with a preferred embodiment of the present invention;

FIG. 31 is a schematic circuit diagram of an interface unit of the program burning device according to the preferred embodiment of the present invention;

FIG. 32 is a schematic circuit diagram of a rotational speed detection interface unit in accordance with a preferred embodiment of the present invention;

FIG. 33 is a circuit schematic of an RGB lamp interface unit in accordance with a preferred embodiment of the present invention;

fig. 34 is a schematic circuit diagram of a charging interface unit according to a preferred embodiment of the present invention;

figure 35 is a schematic circuit diagram of a buzzer module in accordance with a preferred embodiment of the invention;

FIG. 36 is a circuit schematic of a Bluetooth power-on indication module in accordance with a preferred embodiment of the present invention;

fig. 37 is a circuit layout diagram in accordance with a preferred embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the present embodiment, a balance car control system is provided. Fig. 1 is a block diagram showing a configuration of a balance vehicle control system according to an embodiment of the present invention, in which thick solid lines indicate power supply lines and thin solid lines indicate communication lines.

As shown in fig. 1, the balance car control system includes: the bluetooth wireless communication device comprises a mainboard 100, and a main control module 101, a dual-mode bluetooth module 102, an attitude sensor module 103, a first motor driving module 104, a second motor driving module 105, a voltage reduction module 106 and an external interface module 107 which are arranged on the mainboard 100; wherein the content of the first and second substances,

the attitude sensor module 103 is connected with the main control module 101, and the attitude sensor module 103 is used for generating a detection signal according to the attitude of the balance car;

the dual-mode Bluetooth module 102 is connected with the main control module 101, and the dual-mode Bluetooth module 102 is used for receiving and sending communication signals, and receiving and processing audio signals;

the main control module 101 is used for controlling the first motor driving module 104, the second motor driving module 105, the dual-mode bluetooth module 102 and an external device connected with the external interface module 107 according to the detection signal;

the first motor driving module 104 is connected with the main control module 101 and is used for controlling the rotating speed and the rotating direction of the first motor;

the second motor driving module 105 is connected with the main control module 101 and is used for controlling the rotating speed and the rotating direction of a second motor;

the input end of the voltage reduction module 106 is connected with the battery, the output end of the voltage reduction module 106 is respectively connected with the main control module 101, the dual-mode bluetooth module 102, the attitude sensor module 103, the first motor driving module 104, the second motor driving module 105 and the external interface module 107, the voltage reduction module 106 is used for converting the output voltage of the battery into the working voltage required by the main control module 101, the dual-mode bluetooth module 102, the attitude sensor module 103, the first motor driving module 104, the second motor driving module 105 and the external interface module 107.

Compared with the related art, the balance car control system provided by the embodiment uses the dual-mode bluetooth module 102 to replace a bluetooth data synchronization circuit and a bluetooth audio circuit, and integrates the dual-mode bluetooth module 102 into the main board 100 of the balance car control system, which not only improves the integration level of the balance car control system, but also directly connects the main control module 101 and the dual-mode bluetooth module 102, and no additional control chip is required to be introduced to process the bluetooth protocol stack of the dual-mode bluetooth module 102, thereby reducing the power consumption, and being beneficial to improving the stability of the balance car control system, in addition, the dual-bluetooth module 102 is integrated into the main board 100, and the PCB board is used for routing to communicate with the main control module 101, and compared with the transmission line communication using a crossover, the interference is also reduced, so that the signal transmission is more stable.

In this embodiment, the type selection of the main control chip in the main control module 101 preferably adopts a single chip with a main frequency higher than 70MHz and an integer computing power (DMIPS) higher than 60, and a specific main control chip may be determined according to pins required by a peripheral circuit. For example, a single chip microcomputer with 64 pins or more in STM32F1 series single chip microcomputers can meet the requirements and has certain expansion capability.

In some embodiments, dual mode bluetooth module 102 includes: the Bluetooth device comprises a dual-mode Bluetooth chip unit, an antenna, a crystal oscillator unit and a power amplifier unit; the dual-mode Bluetooth chip unit is respectively connected with the antenna, the crystal oscillator unit, the power amplifier unit and the main control module 101; the dual-mode bluetooth chip and the power amplifier unit are respectively connected to the output terminal of the voltage-dropping module 106.

The crystal oscillator unit is used for providing clock frequency for the dual-mode Bluetooth chip unit, and the power amplifier is used for driving the loudspeaker to sound after amplifying the audio signal.

In this embodiment, the type selection of the bluetooth chip in the dual-mode bluetooth chip unit preferably employs a dual-mode bluetooth chip supporting bluetooth 4.2 protocol, and supporting both classic bluetooth (BR/EDR) and Bluetooth Low Energy (BLE), including but not limited to: high-pass QCC5100 series chips, Jerry AC6900 series chips, Jianrong CW6691 series chips, torch force ATS2825 series chips, and the like.

In some embodiments, the first motor drive module 104 and the second motor drive module 105 are substantially identical. Wherein the first motor drive module 104 includes: the first PWM output unit and the first three-phase full-bridge driving unit; the first PWM output unit is connected to the first three-phase full-bridge driving unit, the main control module 101, and the output end of the voltage-reducing module 106; the first three-phase full-bridge driving unit is respectively connected with the output end of the battery and the first motor. The second motor drive module 105 includes: the second PWM output unit and the second three-phase full-bridge driving unit; the second PWM output unit is connected to the second three-phase full-bridge driving unit, the main control module 101, and the output end of the voltage-reducing module 106; the second three-phase full-bridge driving unit is respectively connected with the output end of the battery and the second motor.

In this embodiment, the types of the chips in the first PWM output unit and the second PWM output unit may be selected by using three high-voltage driving chips respectively integrated with a half-bridge drive to realize forward rotation and reverse rotation of the three-phase dc motor, such as IR2104 series chips; it is preferable to integrate three half-bridge driven high voltage driver chips to save space on the motherboard, for example, FD6287 series chips integrate three independent half-bridge gate driver integrated circuit chips, are designed for high voltage, high speed driving MOSFETs and IGBTs, and can operate at voltages up to + 250V. In addition, the FD6287 series chip is internally provided with a VCC/VBS under-voltage (UVLO) protection function, so that the power tube is prevented from working under an excessively low voltage. The FD6287 has built-in shoot-through prevention and dead time, and can prevent the driven high-low side MOSFET or IGBT from shoot-through, thereby effectively protecting the power device. The FD6287 series chip also has built-in input signal filtering to prevent input noise interference.

In some embodiments, the first motor drive module 104 further includes, but is not limited to, circuitry for at least one of: the brake control device comprises a first current detection unit, a first brake detection unit, a first total current detection unit and a first current sampling unit; the second motor drive module 105 also includes, but is not limited to, circuitry for at least one of: the brake control device comprises a second current detection unit, a second brake detection unit, a second total current detection unit and a second current sampling unit.

In some embodiments, the voltage reduction module 106 includes: the power supply unit, the first voltage reduction unit, the second voltage reduction unit and the third voltage reduction unit; the voltage input end of the power supply unit is connected with the battery, the voltage output end of the power supply unit is connected with the voltage input end of the first voltage reduction unit, the voltage output end of the first voltage reduction unit is connected with the voltage input end of the second voltage reduction unit, and the voltage output end of the second voltage reduction unit is connected with the voltage input end of the third voltage reduction unit.

In the balance car control system, the operating voltages required by the main control chip, various peripheral chips and the external interface module may be different. Common chips have operating voltages of 12V, 5V and 3.3V. In order to reduce the battery voltage level to the working voltage required by each chip or external interface module, in this embodiment, a multi-level voltage reduction module is used to achieve output of multiple voltage levels.

Preferably, the voltage is reduced by using a digital voltage reduction chip in this embodiment, and for a scheme of reducing the voltage by using an analog circuit, the digital voltage reduction chip can reduce the occupation of components on the motherboard space. Alternative buck chips include, but are not limited to: LM2596 series chip, SC9003 series chip, LY3671 series chip, SY8120 series chip, AMS1117 series chip, etc.

In order to improve the use experience of users or ensure the operation safety of the balance car, various additional functional circuits or protection circuits are further arranged on the balance car, for example: turn signal lamps, RGB colored lamps, display panels, etc. These functions may be extended by the external interface module 107. In this embodiment, the external interface module 107 includes, but is not limited to, circuitry for at least one of: the device comprises a first photoelectric switch interface unit, a second photoelectric switch interface unit, a steering sensor interface unit, a steering lamp interface unit, a fault lamp interface unit, a first auxiliary board communication interface unit, a second auxiliary board communication interface unit, a program burning equipment interface unit, a rotating speed detection interface unit, an RGB lamp interface unit and a charging interface unit.

The photoelectric switch interface unit is used for being connected with a photoelectric switch circuit, and the photoelectric switch circuit can be arranged under a balance car pedal and used for detecting whether a balance car carries people or not.

The steering sensor interface unit is used for connecting a steering sensor circuit, the steering sensor circuit is preferably a hall sensor, and the steering sensor circuit is generally arranged on a two-wheel balance car with an operating rod and used for detecting the offset of the operating rod, so that steering control is realized.

The steering lamp interface unit is used for being connected with a steering lamp circuit, and the steering lamps of the steering lamp circuit are arranged on two sides of the balance car and used for realizing steering reminding.

The fault lamp interface unit is used for connecting a fault lamp, and the fault lamp is used for indicating whether the balance car has a fault or not.

The sub-board communication interface unit is used for connecting a sub-board communication circuit to support more function expansion on the sub-board or communication with other sensors (such as a gyroscope) or a display arranged on the sub-board.

The program burning device interface unit is used for connecting the program burning device, and the program burning device is used for burning the program to the main control chip.

The rotating speed detection interface unit is used for being connected with a rotating speed detection circuit, and the rotating speed detection circuit can be arranged inside the hub motor to detect the rotating speed and the rotating direction of the hub motor.

The RGB lamp interface unit is used for being connected with the RGB lamp circuit, and the RGB lamp circuit is used for achieving the function of the balance car colored lamp so as to increase user experience.

The charging interface unit is used for being connected with a charging circuit, and the charging circuit is used for charging the battery of the balance car.

It should be noted that the number and type of the external interface modules 107 described above may be reduced or increased in some embodiments depending on the type of balance car and the additional functions that are desired to be implemented. For example, in an electric swing car, the steering sensor interface unit is not necessary, and the steering sensor interface unit can be eliminated from the main board, thereby reducing the cost of the main board or reducing the space occupied by the main board.

In other embodiments, the main board includes all of the above external interface modules, and some of the external interface modules may be unused in some types of balance cars. The advantage of designing like this lies in all can sharing same set of mainboard to the balance car of different grade type to practice thrift the design cost of mainboard, the function extension of various model balance cars is easily realized again to multiple external interface module simultaneously.

In some embodiments, the motherboard 100 further has at least one of the following circuits disposed thereon: a buzzer module 108 and a Bluetooth power-on indication module 109; the buzzer module 108 is connected with the main control module 101; the bluetooth power-on indication module 109 is connected to the dual mode bluetooth module 102.

The buzzer module 108 can be used for giving a buzzer when the balance car is in fault or has a state change or is insufficient in electric quantity, so as to prompt a user.

The bluetooth power-on indication module 109 is configured to indicate an operating state of bluetooth.

Fig. 2 is a block diagram of a preferred structure of a balance car control system according to an embodiment of the present invention. In this case, a thick solid line indicates a power supply line, and a thin solid line indicates a communication line.

Embodiments of the invention will be described and illustrated with reference to the accompanying drawings and preferred embodiments.

In the preferred embodiment, an implementation scheme of a balance car control system is provided. It should be noted that this implementation is used to describe the embodiment of the present invention, and the specific implementation of each part of the circuit is also exemplary.

Fig. 3 is a schematic circuit diagram of a master control module according to a preferred embodiment of the present invention, and as shown in fig. 3, in the preferred embodiment, the master control module 101 includes: the main control chip U6, the resistor R32, the resistor R33, the resistor R42, the capacitor C26, and the capacitor C31, wherein the main control chip U6 includes pins 1 to 64, and the pin 1, the pin 13, the pin 32, the pin 19, the pin 48, and the pin 64 are connected to a third voltage output terminal of the voltage reduction module 106; pin 12, pin 18, pin 31, pin 47, and pin 63, connected to common terminal GND; a resistor R42 is connected in series between the pin 7 and the third voltage output end of the voltage reduction module, and a capacitor C26 is connected in series between the pin 7 and the common end GND; a resistor R32 is connected in series between the pin 16 and the dual-mode Bluetooth module 102; a resistor R33 is connected in series between the pin 17 and the dual-mode Bluetooth module 102; the pin 41, the pin 42, the pin 43, the pin 33, the pin 34, the pin 35, the pin 36, the pin 9, the pin 24 and the pin 25 are connected with the first motor driving module 104; pin 14, pin 22, pin 23, pin 26, pin 27, pin 8, pin 11, pin 37, pin 38, and pin 39, which are connected to the second motor driving module 105; the pins 61 and 62 are connected with the attitude sensor module 103; pin 28, pin 10, and pin 40, connected to voltage step-down module 106; the pin 55 and the pin 56 are connected with the dual-mode Bluetooth chip unit; a pin 59 connected to the buzzer module; the pin 15, the pin 44, the pin 50, the pin 20, the pin 21, the pin 29, the pin 30, the pin 5, the pin 6, the pin 54, the pin 58, the pin 2, the pin 3, the pin 4, the pin 51, the pin 52, the pin 53, the pin 57, the pin 46, the pin 49, and the pin 45 are connected to the external interface module 107.

In fig. 3, the resistor R32 and the resistor R33 can function as voltage dividing and current limiting for the purpose of adapting the level between chips of different voltage classes and preventing overcurrent from damaging the chips; this is generally true in the preferred embodiment for the effect of the resistor in direct series between the two chip pins.

Fig. 4 is a schematic circuit diagram of a dual mode bluetooth module according to a preferred embodiment of the present invention, and as shown in fig. 4, a dual mode bluetooth chip unit of dual mode bluetooth module 102 includes: the dual-mode Bluetooth chip U3, a resistor R1, a resistor R2, a resistor R3, a resistor R4, an inductor L1, an inductor L2, a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5 and a capacitor C6,

the dual-mode Bluetooth chip U3 comprises a pin 1 to a pin 24, wherein a resistor R1 is connected in series between the pin 1 and the power amplifier unit, and the pin 1 is used for enabling the power amplifier; the pin 2 is connected with the Bluetooth power-on indication module and used for indicating the working state of Bluetooth; the pin 3 is connected with the pin 16 of the main control chip U6 and used for receiving a communication signal of the main control chip U6; the pin 4 is connected with a pin 17 of the main control chip U6 and used for sending a communication signal to the main control chip U6; a resistor R2 is connected in series between the pin 5 and the pin 55 of the main control chip U6 and is used for receiving a volume control signal sent by the main control chip U6; the pin 6 is suspended; the pin 7 is connected with the power amplifier unit and used for sending the audio signal to the power amplifier unit; a capacitor C3 is connected in series between the pin 8 and the common end GND; a capacitor C4 is connected in series between the pin 9 and the common end GND; the pin 10 is suspended; the pin 11 is connected with a common terminal GND; a capacitor C6 is connected in series between the pin 12 and the common end GND; pin 8, pin 9, pin 10, and pin 12 are reference voltage pins; the pin 13 is suspended; the pin 14 is suspended; a resistor R4 is connected in series between the pin 15 and the pin 56 of the main control chip U6; a resistor R3 is connected in series between the pin 16 and the fourth voltage output end of the voltage reduction module 106; a pin 17 connected to a common terminal GND; the pin 18 is connected with the fourth voltage output end of the voltage reduction module, and a capacitor C5 is connected in series with the common end GND; a capacitor C2 is connected in series between the pin 19 and the common end GND; a pin 20 connected to a common terminal GND; an inductor L1 and an inductor L2 are sequentially connected in series between the pin 21 and the common end GND, a capacitor C1 is connected in series between a connection node of the inductor L1 and the inductor L2 and the antenna J1, and the pin 21 is used for receiving and transmitting data or audio through the antenna; a pin 22 connected to a common terminal GND; a pin 23 connected to the crystal oscillator unit; pin 24, connected to the crystal oscillator unit, pin 23 and pin 24 are used to receive the clock frequency of the crystal oscillator.

Fig. 5 is a circuit schematic diagram of a crystal oscillator unit according to a preferred embodiment of the present invention, and as shown in fig. 5, the crystal oscillator unit of dual mode bluetooth module 102 includes: the circuit comprises a crystal oscillator Y1, a capacitor C7 and a capacitor C8, wherein the crystal oscillator Y1 comprises pins 1 to 4, the pin 1 is connected with a pin 23 of a dual-mode Bluetooth chip U3, and a capacitor C7 is connected in series with a common terminal GND; the pin 2 is connected with a common end GND; the pin 3 is connected with a pin 24 of a dual-mode Bluetooth chip U3, and a capacitor C8 is connected in series with a common end GND; and a pin 4 connected with the common terminal GND.

Fig. 6 is a schematic circuit diagram of a power amplifier unit according to a preferred embodiment of the present invention, and as shown in fig. 6, the power amplifier unit of dual mode bluetooth module 102 includes: the power amplifier chip U4, the resistor R5, the resistor R6, the resistor R7, the resistor R8, the capacitor R9, the capacitor C10 and the capacitor C11, wherein the power amplifier chip U4 comprises pins 1 to 8, a resistor R7 is connected in series between the pin 1 and a second voltage output end of a voltage reduction module of the voltage reduction module 106, a resistor R7 is connected in series between the pin 1 and a common end GND, and a resistor R1 is connected in series between the pin 1 of the dual-mode Bluetooth chip U3; a capacitor C11 is connected in series between the pin 2 and the common end GND; a resistor R5 is connected in series between the pin 3 and the second voltage output end of the voltage reduction module; a resistor R8 and a capacitor C9 are sequentially connected in series between a pin 4 and a pin 7 of the dual-mode Bluetooth chip U3, and the pin 4 is used for receiving audio signals; pin 5 connected to pin 2 of the speaker interface P1; the pin 6 is connected with a second voltage output end of the voltage reduction module, and a capacitor C10 is connected in series with a common end GND; the pin 7 is connected with a common end GND; pin 8, which is connected to pin 1 of the speaker interface P1, and pin 5 and pin 8 are used to drive the speaker to generate sound.

Fig. 7 is a schematic circuit diagram of an attitude sensor module according to a preferred embodiment of the present invention, and as shown in fig. 7, the attitude sensor module 103 includes: the attitude sensor chip U5, the resistor R28, the resistor R29, the resistor R74, the resistor R75, the capacitor C18, the capacitor C19, the capacitor C20, and the capacitor C21, wherein the attitude sensor chip U5 is preferably a gyroscope, and includes pins 1 to 13, wherein the pin 1 is connected to a third voltage output terminal of a voltage reduction module of the voltage reduction module 106, and a capacitor C21 is connected in series between the pin 1 and a common terminal GND; a resistor R74 is connected in series between the pin 2 and the pin 61 of the main control chip U6, and a resistor R28 is connected in series between the pin 2 and the third voltage output end of the voltage reduction module; a resistor R75 is connected in series between the pin 3 and the pin 62 of the main control chip U6, and a resistor R29 is connected in series between the pin 3 and the third voltage output end of the voltage reduction module; the pin 2 and the pin 3 are used for sending the detected posture information of the balance car to the main control chip U6; the pin 4 is connected with a common end GND; the pin 5 is connected with a third voltage output end of the voltage reduction module; the pin 6 is suspended; the pin 7 is suspended; pin 8, pin 9, pin 10, pin 11, pin 12, and pin 13 are connected to the common terminal GND.

Fig. 8 is a circuit schematic diagram of a first PWM output unit according to a preferred embodiment of the present invention, and fig. 9 is a circuit schematic diagram of a first three-phase full-bridge driving unit according to a preferred embodiment of the present invention. Referring to fig. 8 and 9, the first PWM output unit of the first motor driving module 104 includes: the first PWM output chip U8, the diode DL1, the diode DL2, the diode DL3, the capacitor CL6, the capacitor CL8, the capacitor CL14, the capacitor CL15, the resistor RL17, the resistor RL23, the resistor RL24, the resistor RL25, the resistor RL26 and the resistor RL28, wherein the first PWM output chip U8 includes pins 1 to 20, and a resistor RL17 is connected in series between the pin 1 and the pin 43 of the main control chip U6; a resistor RL24 is connected in series between the pin 2 and the pin 42 of the main control chip U6; a resistor RL26 is connected in series between the pin 3 and the pin 41 of the main control chip U6; a resistor RL23 is connected in series between the pin 4 and the pin 36 of the main control chip U6; a resistor RL25 is connected in series between the pin 5 and the pin 35 of the main control chip U6; a resistor RL28 is connected in series between the pin 6 and the pin 34 of the main control chip U6; a pin 7 connected to a first voltage output terminal of the buck module 106, a capacitor CL6 connected in series to a common terminal GND, a diode DL1 connected in series to a pin 14 of the first PWM output chip U8, a diode DL2 connected in series to a pin 17 of the first PWM output chip U8, and a diode DL3 connected in series to a pin 20 of the first PWM output chip U8; the pin 8 is connected with a common terminal GND; the pin 9, the pin 10, the pin 11, the pin 12, the pin 13, the pin 15, the pin 16, the pin 18 and the pin 19 are connected with the first three-phase full-bridge driving unit; a capacitor CL15 is connected in series between the pin 14 and the pin 12; a capacitor CL14 is connected in series between the pin 17 and the pin 15; a capacitor CL8 is connected in series between the pin 20 and the pin 18.

The first three-phase full-bridge drive unit of the first motor drive module 104 includes: a power tube ML1, a power tube ML2, a power tube ML3, a power tube ML4, a power tube ML5, a power tube ML6, a diode DL4, a diode DL5, a diode DL6, a diode DL7, a diode DL8, a diode DL9, a resistor RL8, a resistor RL9, a capacitor CL9, a first resistor RL9 connected in series with a voltage output terminal of the power tube ML 9 and a first resistor RL9 connected in series with a power output terminal of a first resistor ML 9, a first resistor L9 connected in series with a power output terminal of a power tube ML 9, a first resistor L9 connected with a gate electrode of a first resistor, a first resistor L9 connected with a power tube 9, a gate electrode of a first resistor, a first resistor 9 connected with a power tube 9 connected in series with a power tube 9, the diode DL4 is reversely connected in parallel to the resistor RL8, and a resistor RL11 and a capacitor CL7 are respectively connected in series between the gate and the drain of the power tube ML 1; the source of the power tube ML4 is connected with a first phase line X1, a resistor RL16 is connected in series between the gate of the power tube ML4 and the pin 11 of the first PWM output chip U8, a diode DL7 is connected in parallel to the resistor RL16 in an opposite direction, a resistor RL20 and a capacitor CL11 are connected in series between the gate and the drain of the power tube ML4, and a resistor RL14 is connected in series between the source and the drain of the power tube ML 4; the source of the power tube ML2 is connected with the voltage output end of the power supply unit of the battery, the drain of the power tube ML2 is connected with the third phase line X3 of the first motor and the pin 15 of the first PWM output chip U8, a resistor RL19 is connected in series between the grid of the power tube ML2 and the pin 16 of the first PWM output chip U8, the diode DL5 is connected in parallel to the resistor RL19 in an opposite direction, and a resistor RL12 and a capacitor CL9 are connected in series between the grid and the drain of the power tube ML 2; the source of the power tube ML5 is connected with the third phase line X3, a resistor RL18 is connected in series between the gate of the power tube ML5 and the pin 10 of the first PWM output chip U8, the diode DL8 is connected in parallel to the resistor RL18 in an opposite direction, a resistor RL21 and a capacitor CL12 are connected in series between the gate and the drain of the power tube ML5, and a resistor RL15 is connected in series between the source and the drain of the power tube ML 5; the source of the power tube ML3 is connected with the voltage output end of the power supply unit of the battery, a capacitor CL4 is connected in series between the voltage output end of the power supply unit of the battery and the common end GND _ L, the drain of the power tube ML3 is connected with the second phase line X2 of the first motor and the pin 12 of the first PWM output chip U8, a resistor RL10 is connected in series between the gate of the power tube ML3 and the pin 13 of the first PWM output chip U8, the diode DL6 is connected in parallel to the resistor RL10 in an opposite direction, and a resistor RL13 and a capacitor CL10 are connected in series between the gate and the drain of the power tube ML 3; the source of the power tube ML6 is connected with the second phase line X2, a resistor RL19 is connected in series between the gate of the power tube ML6 and the pin 9 of the first PWM output chip U8, the diode DL9 is connected in parallel to the resistor RL19 in an opposite direction, a resistor RL22 and a capacitor CL13 are connected in series between the gate and the drain of the power tube ML6, and a resistor RL37 is connected in series between the source and the drain of the power tube ML 6.

In the first motor driving module 104, the first PWM output chip U8 is a high voltage driving chip, and can independently drive 3 half-bridge MOSFETs. VB and VS supply power for a high-voltage end; HO is the high-voltage end driving output; COM is used for supplying power for low-voltage end drive, and LO is used for low-voltage end drive output; VCC supplies digital circuitry. In each half-bridge circuit, the upper and lower bridge arms are alternately conducted, taking the half bridge where ML1 and ML4 are located as an example, when the lower bridge arm is turned on, the potential of a VS pin is the saturated conduction voltage drop of the lower bridge arm power tube ML4 when the upper bridge arm is turned off, and is basically close to the ground potential, and at this time, VCC charges a bootstrap capacitor CL8 through a bootstrap diode DL3 so that the voltage of VCC is close to VCC voltage. When the lower bridge arm power tube ML4 is turned off, the voltage at the VS end will rise, and the voltage at the two ends of the capacitor cannot change suddenly, so that the level at the VB end is close to the sum of the voltages at the VS end and the VCC end, and the voltage between the VB end and the VS end is also close to the VCC voltage. When the lower bridge arm power tube ML4 is switched on, the bootstrap capacitor CL8 is used as a floating voltage source to drive the lower bridge arm power tube ML 4; the bootstrap diode DL3 can replenish the lost charge during the turn-on of the lower bridge arm power tube ML4 in the next period, and the bootstrap power supply mode is realized by using the continuous swing of the level of the VS end between high and low levels. The bootstrap circuit is the least expensive since it does not require a floating supply, and charges a capacitor, the voltage on which floats up and down based on the high-side output transistor source voltage. The bootstrap diode DL3 is an important bootstrap device, and should be able to block the high voltage on the dc rail, and the current it bears is the product of the gate charge and the switching frequency, in order to reduce the charge loss, a fast recovery diode with small reverse leakage current should be selected, and the power supply of the high voltage part in the chip is from the charge on the bootstrap capacitor CL 8; to ensure sufficient power supply to the high voltage part circuit, the size of C2 should be chosen appropriately.

In addition, in each half-bridge driving circuit, the resistors RL8, RL16, RL9, RL18, RL10 and RL19 connected in series with the gates of the power tubes are reversely connected in parallel with diodes DL4, DL7, DL5, DL8, DL6 and DL9 for stabilizing voltage so as to protect the gates of the power tubes from breakdown. Resistors RL11, RL20, RL12, RL21, RL13 and RL22 and capacitors CL7, CL11, CL9, CL12, CL10 and CL13 are connected in series between the grid and the drain of the power tube to reduce electromagnetic interference (EMI), and the capacitors can also play roles in slowing down the pulse edge speed and protecting the power tube. And freewheeling resistors RL14, RL15 and RL37 are connected between the source and the drain of the power tube to prevent reverse current from breaking down the power tube after the motor stops running.

In the present embodiment, the power transistor or other power switching devices may be switching devices such as MOSFET or IGBT.

Fig. 10 is a schematic circuit diagram of a first current detecting unit according to a preferred embodiment of the present invention, and as shown in fig. 10, the first current detecting unit of the first motor driving module 104 includes: the first differential operation chip comprises a pin 1 to a pin 8, wherein the pin 1 is connected with a pin 25 of a main control chip U6, and comprises a first differential operation chip U1A, a diode DL10, a diode DL11, a resistor RL29, a resistor RL30, a resistor RL31, a resistor RL32, a resistor RL33, a resistor RL34, a resistor RL35 and a resistor RL 36; a resistor RL29 is connected in series between the pin 2 and the pin 1, and a resistor RL31 is connected in series between the pin 2 and the common end GND _ L; a resistor RL35 is connected in series between the pin 3 and the first phase line X1, a resistor RL33 is connected in series between the pin 3 and the third voltage output end of the voltage reduction module, and a diode DL10 is connected in series between the pin 3 and the pin 2; the pin 4 is connected with a common end GND; a resistor RL36 is connected in series between the pin 5 and the third phase line X3, a resistor RL34 is connected in series between the pin 5 and the third voltage output end of the voltage reduction module, and a diode DL11 is connected in series between the pin 5 and the pin 6; a resistor RL32 is connected in series between the pin 6 and the common end GND _ L, and a resistor RL30 is connected in series between the pin 7; pin 7 connected to pin 24 of the main control chip U6; and the pin 8 is connected with a third voltage output end of the voltage reduction module.

The circuit shown in fig. 10 is used for detecting the U-phase and V-phase currents of the motor and sending the detection result to the main control chip U6, so that the main control chip U6 can protect the motor according to the U-phase and V-phase currents of the electrodes.

Fig. 11 is a schematic circuit diagram of a first brake detecting unit according to a preferred embodiment of the present invention, and as shown in fig. 11, the first brake detecting unit of the first motor driving module 104 includes: the voltage-reducing circuit comprises a triode QL1, a resistor RL1, a resistor RL2, a resistor RL5 and a capacitor CL1, wherein a resistor RL1 is connected in series between a collector of the triode QL1 and a third voltage output end of the voltage-reducing module, a resistor RL2 is connected in series between a collector of the triode QL1 and a pin 33 of the main control chip U6, an emitter of the triode QL1 is connected with a common end GND, a capacitor CL1 is connected in series between an emitter of the triode QL1 and the pin 33 of the main control chip U6, and a resistor RL5 is connected in series between a base of the triode QL1 and the common end GND _ L. The first brake detection unit may be configured to detect a current at the common terminal GND _ L, and when the current exceeds a certain range, the main control chip U6 stops outputting the PWM control signal to implement a braking function.

Fig. 12 is a schematic circuit diagram of a first total current detecting unit according to a preferred embodiment of the present invention, and as shown in fig. 12, the first total current detecting unit of the first motor driving module 104 includes: a first difference arithmetic unit U7A, a resistor RL3, a resistor RL4, a resistor RL6, a resistor RL7 and a capacitor CL2, a resistor RL4 is connected in series between the negative input end of the first differential operator and the common end GND, a resistor RL3 is connected in series between the negative input end of the first differential operator and the negative input end of the first differential operator, a resistor RL6 is connected in series between the positive input end of the first differential operator and the third voltage output end of the voltage reduction module, a resistor RL7 is connected in series between the positive input end of the first differential operator and the common end GND _ L, a capacitor CL2 is connected in series between the positive input end of the first differential operator and the common end GND, the ground end of the first differential operator is connected with the common ground segment GND, the power supply end of the first differential operator is connected with the third voltage output end of the voltage reduction module, and the output end of the first differential operator is connected with the pin 9 of the main control chip U6. The total current detection unit is used for detecting the total current output by the battery, and when the total current exceeds a preset maximum value, the main control chip U6 performs power reduction processing to prevent the battery from overheating.

Fig. 13 is a schematic circuit diagram of a first current sampling unit according to a preferred embodiment of the present invention, and as shown in fig. 13, the first current sampling unit of the first motor drive module 104 includes: resistor RL27 is connected between common terminal GND _ L and common terminal GND. Resistor RL27 is used to sample the current between common terminal GND _ L and common terminal GND.

The second motor driving module 105 and the first motor driving module 104 have the same circuit structure, and the functions and advantages thereof will not be described in detail.

Fig. 14 is a schematic circuit diagram of a second PWM output unit according to a preferred embodiment of the present invention, and as shown in fig. 14, the second PWM output unit of the second motor driving module 105 includes: the second PWM output chip U9, the diode DR1, the diode DR2, the diode DR3, the capacitor CR6, the capacitor CR8, the capacitor CR14, the capacitor CR15, the resistor RR17, the resistor RR23, the resistor RR24, the resistor RR25, the resistor RR26, and the resistor RR27, wherein the second PWM output chip U9 includes pins 1 to 20, and a resistor RR17 is connected in series between the pin 1 and the pin 39 of the main control chip U6; a resistor RR24 is connected in series between the pin 2 and the pin 38 of the main control chip U6; a resistor RR26 is connected in series between the pin 3 and the pin 37 of the main control chip U6; a resistor RR23 is connected in series between the pin 4 and the pin 27 of the main control chip U6; a resistor RR25 is connected in series between the pin 5 and the pin 26 of the main control chip U6; a resistor RR27 is connected in series between the pin 6 and the pin 23 of the main control chip U6; a pin 7 connected to the second voltage output terminal of the buck module 106, a capacitor CR6 connected in series to the common terminal GND, a diode DR1 connected in series to the pin 14 of the second PWM output chip U9, a diode DR2 connected in series to the pin 17 of the second PWM output chip U9, and a diode DR3 connected in series to the pin 20 of the second PWM output chip U9; the pin 8 is connected with a common terminal GND; the pin 9, the pin 10, the pin 11, the pin 12, the pin 13, the pin 15, the pin 16, the pin 18 and the pin 19 are connected with the second three-phase full-bridge driving unit; a capacitor CR15 is connected in series between the pin 14 and the pin 12; a capacitor CR14 is connected in series between the pin 17 and the pin 15; a capacitor CR8 is connected in series between the pin 20 and the pin 18.

Fig. 15 is a schematic circuit diagram of a second three-phase full-bridge driving unit according to a preferred embodiment of the present invention, and as shown in fig. 15, the second three-phase full-bridge driving unit of the second motor driving module 105 includes: a power tube MR1, a power tube MR2, a power tube MR3, a power tube MR4, a power tube MR5, a power tube MR6, a diode DR4, a diode DR5, a diode DR6, a diode DR7, a diode DR8, a diode DR9, a resistor RR8, a resistor RR9, a capacitor CR9, a second resistor RR9, a second resistor R9, a capacitor R9, a second resistor R19, a resistor R9, a second resistor R19, a second resistor R, a resistor R9, a second resistor R, a capacitor R9, a second resistor R19, a third and a third resistor R9 connected in series with a power output of a power output terminal of the power tube MR 9, the diode DR4 is reversely connected in parallel to the resistor RR8, and a resistor RR11 and a capacitor CR7 are respectively connected in series between the gate and the drain of the power tube MR 1; the source of the power tube MR4 is connected with a first phase line X4, a resistor RR16 is connected in series between the gate of the power tube MR4 and a pin 11 of a second PWM output chip U9, a diode DR7 is connected in parallel to the resistor RR16 in an opposite direction, a resistor RR20 and a capacitor CR11 are connected in series between the gate and the drain of the power tube MR4, and a resistor RR14 is connected in series between the source and the drain of the power tube MR 4; the source of the power tube MR2 is connected with the voltage output end of the power supply unit of the battery, the drain of the power tube MR2 is connected with the second phase line X6 of the second motor and the pin 15 of the second PWM output chip U9, a resistor RR19 is connected in series between the gate of the power tube MR2 and the pin 16 of the second PWM output chip U9, the diode DR5 is connected in parallel to the resistor RR19 in an opposite direction, and a resistor RR12 and a capacitor CR9 are connected in series between the gate and the drain of the power tube MR 2; the source of the power tube MR5 is connected with a second phase line X6, a resistor RR18 is connected in series between the gate of the power tube MR5 and the pin 10 of the second PWM output chip U9, a diode DR8 is connected in parallel to the resistor RR18 in an opposite direction, a resistor RR21 and a capacitor CR12 are connected in series between the gate and the drain of the power tube MR5, and a resistor RR15 is connected in series between the source and the drain of the power tube MR 5; the source of the power tube MR3 is connected with the voltage output end of the power supply unit of the battery, a capacitor CR4 is connected in series between the voltage output end of the power supply unit of the battery and the common end GND _ R, the drain of the power tube MR3 is connected with the third phase line X5 of the second motor and the pin 12 of the second PWM output chip U9, a resistor RR10 is connected in series between the gate of the power tube MR3 and the pin 13 of the second PWM output chip U9, the diode DR6 is connected in parallel to the resistor RR10 in an opposite direction, and a resistor RR13 and a capacitor CR10 are connected in series between the gate and the drain of the power tube MR 3; the source of the power tube MR6 is connected with the third phase line X5, a resistor RR19 is connected in series between the gate of the power tube MR6 and the pin 9 of the second PWM output chip U9, the diode DR9 is connected in parallel to the resistor RR19 in an opposite direction, a resistor RR22 and a capacitor CR13 are connected in series between the gate and the drain of the power tube MR6, and a resistor RR37 is connected in series between the source and the drain of the power tube MR 6.

Fig. 16 is a schematic circuit diagram of a second current detecting unit according to a preferred embodiment of the present invention, and as shown in fig. 16, the second current detecting unit of the second motor driving module 105 includes: the second differential operation chip comprises pins 1 to 8, wherein the pin 1 is connected with a pin 14 of the main control chip U6; a resistor RR29 is connected in series between the pin 2 and the pin 1, and a resistor RR31 is connected in series between the pin 2 and the common end GND _ R; a resistor RR35 is connected in series between the pin 3 and the first phase line X4, a resistor RR33 is connected in series between the pin 3 and the third voltage output end of the voltage reduction module, and a diode DR10 is connected in series between the pin 3 and the pin 2; the pin 4 is connected with a common end GND; a resistor RR36 is connected in series between the pin 5 and the second phase line X6, a resistor RR34 is connected in series between the pin 5 and the third voltage output end of the voltage reduction module, and a diode DR11 is connected in series between the pin 5 and the pin 6; a resistor RR32 is connected in series between the pin 6 and the common end GND _ R, and a resistor RR30 is connected in series between the pin 7; pin 7 connected to pin 11 of the main control chip U6; and the pin 8 is connected with a third voltage output end of the voltage reduction module.

Fig. 17 is a schematic circuit diagram of a second brake detecting unit according to a preferred embodiment of the present invention, and as shown in fig. 17, the second brake detecting unit of the second motor driving module 105 includes: the voltage-reducing circuit comprises a triode QR1, a resistor RR1, a resistor RR2, a resistor RR5 and a capacitor CR1, wherein a resistor RR1 is connected in series between the collector of the triode QR1 and the third voltage output end of the voltage-reducing module, a resistor RR2 is connected in series between the collector of the triode QR1 and the pin 22 of the main control chip U6, the emitter of the triode QR1 is connected with the common end GND, a capacitor CR1 is connected in series between the emitter of the triode QR1 and the pin 22 of the main control chip U6, and a resistor RR5 is connected in series between the base of the triode QR1 and the common end GND _ R.

Fig. 18 is a schematic circuit diagram of a second total current detecting unit according to a preferred embodiment of the present invention, and as shown in fig. 18, the second total current detecting unit of the second motor driving module 105 includes: a second differential operator, a resistor RR3, a resistor RR4, a resistor RR6, a resistor RR7, a capacitor CR2, a resistor RR4 is connected in series between the negative input end of the second differential operator and the common end GND, a resistor RR3 is connected in series between the negative input end of the second differential operator and the negative input end of the second differential operator, a resistor RR6 is connected in series between the positive input end of the second differential operator and the third voltage output end of the voltage reduction module, a resistor RR7 is connected in series between the positive input end of the second differential operator and the common end GND _ R, a capacitor CR2 is connected in series between the positive input end of the second differential operator and the common end GND, the ground terminal of the second differential operator is connected with the common ground segment GND, the power supply end of the second differential operator is connected with the third voltage output end of the voltage reduction module, and the output end of the second differential operator is connected with the pin 8 of the main control chip U6.

Fig. 19 is a schematic circuit diagram of a second current sampling unit according to a preferred embodiment of the present invention, and as shown in fig. 19, the second current sampling unit of the second motor drive module 105 includes: the resistor RR28 is connected between the common terminal GND _ R and the common terminal GND, and the resistor RR28 is a zero ohm resistor.

Fig. 20 is a schematic circuit diagram of a power supply unit according to a preferred embodiment of the present invention, and as shown in fig. 20, the power supply unit of the voltage-decreasing module 106 includes: the socket P17, the socket P18, the capacitor C37, the capacitor C38, the capacitor C39 and the capacitor C40 are connected in series, wherein the capacitor C37, the capacitor C38, the capacitor C39 and the capacitor C40 are respectively connected between the socket P17 and the socket P18 in series, and the socket P18 is connected with a common terminal GND;

fig. 21 is a schematic circuit diagram of a first voltage-reducing unit according to a preferred embodiment of the present invention, and as shown in fig. 21, the first voltage-reducing unit of the voltage-reducing module 106 includes: a power MOSFET chip U10, a first buck chip U11, a resistor R66, a resistor R68, a resistor R71, a resistor R73, a resistor R60, a resistor R63, a resistor R57, a resistor R56, a resistor R54, a resistor R53, a resistor R52, a resistor R55, a resistor R58, a resistor R59, a resistor R62, a capacitor C54, a capacitor C46, a capacitor C36, a capacitor C41, a capacitor C42, a capacitor C43, a capacitor C45, a capacitor C44, an inductor L3, a transient diode DZ1, a diode D6, a diode D7, a diode D4, a diode D3, a diode D5, a triode Q9, a power tube Q8, and a switch interface P19,

the power MOSFET chip U10 comprises a pin 1, a pin 2 and a pin 3, wherein a resistor R56 is connected in series between the pin 1 and a voltage output end of a power supply unit of a battery, a resistor R57 is connected in series between a collector of a triode Q9, an emitter of the triode Q9 is connected with a common end GND, and a resistor R63 and a capacitor R46 are also connected in series between a base and an emitter of a triode Q9 respectively; a resistor R53 and a resistor R54 are sequentially connected in series between the pin 2 and the common end GND, a capacitor C41 is connected in series between the pin 2 and the common end GND, a connecting node of the resistor R53 and the resistor R54 is connected with the pin 10 of the main control chip U6, and a capacitor C36 is connected in series between the connecting node of the resistor R53 and the resistor R54 and the common end GND; the pin 3 is connected with a voltage output end of a power supply unit of the battery, and a diode D4 is connected in series between the pin 3 and the charging end BAT _ Charge;

the switch interface P19 comprises a pin 1 and a pin 2, wherein a diode D6 and a resistor R60 are sequentially connected in series between the pin 1 and the base of the triode Q9, a resistor R71 and a capacitor C54 are sequentially connected in series between the pin 1 and the common end GND, a connection junction of the resistor R71 and the capacitor C54 is connected with a pin 40 of the main control chip U6, a resistor R68 is connected in series between the common end GND, a transient diode DZ1 is connected in parallel to the resistor R68, a diode D7 and a resistor R73 are sequentially connected in series between the connection junction of the diode D6 and the resistor R60 and the common end GND, and a connection junction of the diode D7 and the resistor R73 is connected with a pin 28 of the main control chip U6; a resistor R66 is connected in series between the pin 2 and the voltage output terminal of the power supply unit of the battery.

In the above circuit configuration, an automatic reset type switch is connected to the switch interface P19. When the automatic reset switch is pressed, the transistor Q9 is turned on, the power MOSFET chip U10 starts to operate, the pin 3 and the pin 2 are turned on, the 54V voltage is output to the first buck chip, and the buck module 106 is powered on. At the same time, a high signal is generated at the PC9 to notify the main control chip U6 that the auto-reset type switch is pressed. Since the automatic reset switch is reset after a short time, in order to keep the buck module 106 working, the main control chip U6 outputs a high-level signal from the pin PB2 to keep the transistor Q9 turned on, thereby keeping the buck module 106 working. In addition, a detection circuit is connected to the pin 2 of the power MOSFET chip U10, and is configured to detect the power-on condition of the voltage-reducing module 106 and report the power-on condition to the main control chip U6. The circuit structure has the advantages that the step-down module 106 is maintained to work by the main control chip U6, and the main control chip U6 can control the working state of the step-down module 106 according to the situation.

The first buck chip U11 includes pins 1 to 8, where a resistor R52 is connected in series between pin 1 and the power transistor Q8, a diode D3 is connected in series between the pin 1 and the first voltage output end of the buck module 106, and a capacitor C42 and an inductor L3 are connected in series between the pin 1 and the first voltage output end of the buck module in sequence; a resistor R55 is connected in series between the pin 2 and the first voltage output end of the voltage reduction module, and a capacitor C43 and a resistor R58 are respectively connected in series between the pin 2 and the connection node of the capacitor C42 and the inductor L3; the pin 3 is suspended; a resistor R59 is connected in series between the pin 4 and the connection node of the capacitor C42 and the inductor L3 and is connected with the source electrode of the power tube Q8; pin 5 connected to the gate of power transistor Q8; the pin 6 and the pin 7 are suspended; a pin 8 connected to a connection node of the capacitor C42 and the inductor L3; a diode D5 is further connected in series between the connection node of the capacitor C42 and the inductor L3 and the common end GND, and a capacitor C45, a capacitor C44 and a resistor R62 are further connected in series between the first voltage output end of the voltage reduction module and the common end GND;

fig. 22 is a schematic circuit diagram of a second voltage-decreasing unit according to a preferred embodiment of the present invention, and as shown in fig. 22, the second voltage-decreasing unit 106 of the voltage-decreasing module 106 includes: the second buck chip U12, a resistor R65, a resistor R69, a resistor R67, a resistor R70, a resistor R64, a capacitor C50, a capacitor C51, a capacitor C47, a capacitor C53, a capacitor C48, a capacitor C49, and an inductor L7, wherein the second buck chip U12 includes pins 1 to 6, and a capacitor C47 and an inductor L4 are sequentially connected in series between the pin 1 and a second voltage output end of the buck module; the pin 2 is connected with a common end GND; a resistor R70 is connected in series between the pin 3 and the common end GND, and a resistor R67 and a capacitor C48 are respectively connected in series between the pin 3 and the second voltage output end of the voltage reduction module; a resistor R65 is connected in series between the pin 4 and the first voltage output end of the voltage reduction module, and a resistor R69 and a capacitor C53 are respectively connected in series between the pin 4 and the common end GND; the pin 5 is connected with a first voltage output end of the voltage reduction module, and a capacitor C50 and a capacitor C51 are respectively connected in series between the pin 5 and a common end GND; a pin 6 connected to a connection node of the capacitor C47 and the inductor L4; a capacitor C49 is also connected in series between the second voltage output end and the common end of the voltage reduction module, a resistor R64 is also connected in series on the second voltage output end of the voltage reduction module, and the resistor R64 is a zero ohm resistor;

fig. 23 is a schematic circuit diagram of a third voltage-reducing unit according to a preferred embodiment of the present invention, and as shown in fig. 23, the third voltage-reducing unit of the voltage-reducing module 106 includes: a third buck chip U13, a resistor R72, a capacitor C55, a capacitor C56, a capacitor C57 and a capacitor C58, wherein,

the third buck chip U13 includes pins 1 to 4, where pin 1 is connected to the common terminal GND; the pin 2 is connected with a third voltage output end of the voltage reduction module; the pin 3 is connected with a second voltage output end of the voltage reduction module; a capacitor C55 is also connected in series between the pin 3 and the common end GND, capacitors C56, C57 and C58 are respectively connected in series between the third voltage output end of the voltage reduction module and the common end GND, and a resistor R72 is connected in series between the third voltage output end and the fourth voltage output end of the voltage reduction module.

Fig. 24 is a schematic circuit diagram of a first opto-electronic switch interface unit according to a preferred embodiment of the present invention, and as shown in fig. 24, the first opto-electronic switch interface unit of the external interface module 107 includes: a first photoelectric switch interface P3, a resistor R12, a capacitor C12,

the first photoelectric switch interface P3 includes pin 1, pin 2, and pin 3, where pin 1 is connected to the third voltage output terminal of the voltage-reducing module; the pin 2 is connected with a common end GND; the pin 3 is connected with the pin 58 of the main control chip U6, and a resistor R12 and a capacitor C12 are respectively connected in series between the pin 3 and the common end GND;

fig. 25 is a schematic circuit diagram of a second opto-electronic switch interface unit according to a preferred embodiment of the present invention, and as shown in fig. 25, the second opto-electronic switch interface unit of the external interface module 107 includes: a second photoelectric switch interface P7, a resistor R15, a capacitor C15,

the second photoelectric switch interface P7 includes pin 1, pin 2, and pin 3, where pin 1 is connected to the third voltage output terminal of the voltage-reducing module; the pin 2 is connected with a common end GND; the pin 3 is connected with the pin 54 of the main control chip U6, and a resistor R15 and a capacitor C15 are respectively connected in series between the pin and the common terminal GND.

Fig. 26 is a schematic circuit diagram of a steering sensor interface unit according to a preferred embodiment of the present invention, and as shown in fig. 26, the steering sensor interface unit includes: the steering sensor interface P10, the resistor R23, the capacitor C16 and the capacitor C17 are arranged, wherein the steering sensor interface P10 comprises a pin 1, a pin 2 and a pin 3, the pin 1 is connected with a third voltage output end of the voltage reduction module, and a capacitor C16 is connected in series with a common end GND; the pin 2 is connected with a common end GND; a resistor R23 is connected in series between the pin 3 and the pin 15 of the main control chip U6, and a capacitor C17 is connected in series between the pin 3 and the common end GND.

Fig. 27 is a schematic circuit diagram of a turn signal interface unit according to a preferred embodiment of the present invention, and as shown in fig. 27, the turn signal interface unit includes: the LED driving device comprises a first turn light interface P5, a second turn light interface P8, a resistor R16, a resistor R17, a resistor R26, a resistor R27, a resistor R21, a light emitting diode DS2, a triode Q1 and a triode Q2, wherein,

the first turn light interface P5 comprises a pin 1, a pin 2 and a pin 3, wherein a resistor R17 is connected in series between the pin 1 and the collector of the diode Q2; a pin 2 connected to the pin 1; the pin 3 is connected with a first voltage output end of the voltage reduction module;

the second turn light interface P8 comprises a pin 1, a pin 2 and a pin 3, wherein a resistor R16 is connected in series between the pin 1 and the collector of the diode Q1; a pin 2 connected to the pin 1; the pin 3 is connected with a first voltage output end of the voltage reduction module; an emitter of the triode Q1 is connected with a common end GND, a resistor R26 is connected in series between a base of the triode Q1 and a pin 50 of the main control chip U6, an emitter of the triode Q2 is connected with the common end GND, a resistor R27, a resistor R21 and a light emitting diode DS2 are sequentially connected in series between a base of the triode Q2 and the common end GND, and a connecting junction of the resistor R27 and the resistor R21 is connected with a pin 44 of the main control chip U6.

Fig. 28 is a schematic circuit diagram of a failed lamp interface unit according to a preferred embodiment of the present invention, and as shown in fig. 28, the failed lamp interface unit includes: the fault lamp comprises a fault lamp interface P9, a resistor R19, a resistor R20, a resistor R24, a resistor R25, a triode Q4 and a triode Q5, wherein the fault lamp interface P9 comprises a pin 1, a pin 2, a pin 3 and a pin 4, and a resistor R20 is connected in series between the pin 1 and a collector of the triode Q5; a resistor R19 is connected in series between the pin 2 and the collector of the triode Q4; the pin 3 is suspended; the pin 4 is connected with a first voltage output end of the voltage reduction module; an emitting electrode of the triode Q4 is connected with a common end GND, a resistor R24 is connected in series between a base electrode of the triode Q4 and a pin 5 of the main control chip U6, an emitting electrode of the triode Q5 is connected with the common end GND, and a resistor R25 is connected in series between a base electrode of the triode Q5 and a pin 6 of the main control chip U6.

Fig. 29 is a schematic circuit diagram of a first slave communication interface unit according to a preferred embodiment of the present invention, and as shown in fig. 29, the first slave communication interface unit includes: the voltage step-down circuit comprises a first auxiliary board communication interface P4, a resistor R10, a resistor R11, a resistor R13, a resistor R14, a capacitor C13 and a capacitor C14, wherein the first auxiliary board communication interface P4 comprises a pin 1 to a pin 7, and the pin 1 is connected with a first voltage output end of the voltage step-down module; a resistor R10 is connected in series between the pin 2 and the pin 29 of the main control chip U6; a resistor R11 is connected in series between the pin 3 and the pin 30 of the main control chip U6; the pin 4 is connected with a common end GND; a resistor R13 and a capacitor C14 are sequentially connected in series between the pin 5 and the common end GND, and a connection node of the resistor R13 and the capacitor C14 is connected with a pin 21 of a main control chip U6; a resistor R14 and a capacitor C13 are sequentially connected in series between the pin 6 and the common end GND, and a connection node of the resistor R14 and the capacitor C13 is connected with a pin 20 of a main control chip U6; and the pin 7 is connected with a second voltage output end of the voltage reduction module. The first sub-board communication interface unit may be used to connect the display board.

Fig. 30 is a schematic circuit diagram of a second slave communication interface unit according to a preferred embodiment of the present invention, and as shown in fig. 30, the second slave communication interface unit includes: the second slave board communication interface P20, the resistor R61, the resistor R76, and the resistor R77, wherein the second slave board communication interface P20 includes pins 1 to 5, and a resistor R61 is connected in series between the pin 1 and the pin 53 of the main control chip U6; the pin 2 is connected with a common end GND; a resistor R76 is connected in series between the pin 3 and the pin 62 of the main control chip U6; a resistor R77 is connected in series between the pin 4 and the pin 61 of the main control chip U6; and the pin 5 is connected with the second voltage output end of the voltage reduction module.

Fig. 31 is a schematic circuit diagram of an interface unit of a program burning device according to a preferred embodiment of the present invention, and as shown in fig. 31, the interface unit of the program burning device includes: a program programming device interface P11, wherein the program programming device interface P11 includes pin 1, pin 2, pin 3, and pin 4, and pin 1 is connected to the third voltage output terminal of the voltage reduction module; pin 2 connected to pin 49 of the main control chip U6; the pin 3 is connected with a common end GND; pin 4 is connected to pin 46 of the main control chip U6.

Fig. 32 is a schematic circuit diagram of a rotation speed detecting interface unit according to a preferred embodiment of the present invention, and as shown in fig. 32, the rotation speed detecting interface unit includes: the device comprises a first rotating speed detection interface P13, a second rotating speed detection interface P16, a diode D2, a resistor R35, a resistor R36, a resistor R37, a resistor R39, a resistor R40, a resistor R41, a resistor R46, a resistor R47, a resistor R48, a resistor R49, a resistor R50, a resistor R51, a capacitor C23, a capacitor C24, a capacitor C25, a capacitor C28, a capacitor C29 and a capacitor C30, wherein,

the first rotation speed detection interface P13 includes pins 1 to 5, wherein a diode D2 is connected in series between pin 1 and the second voltage output terminal of the voltage reduction module; a resistor R35 is connected in series between the pin 2 and the third voltage output end of the voltage reduction module, a resistor R39 and a capacitor C25 are connected in series between the pin 2 and the common end GND in sequence, and a connecting node of the resistor R39 and the capacitor C25 is connected with a pin 4 of the main control chip U6; a resistor R36 is connected in series between the pin 3 and the third voltage output end of the voltage reduction module, a resistor R40 and a capacitor C24 are connected in series between the pin 3 and the common end GND in sequence, and a connection node of the resistor R40 and the capacitor C24 is connected with the pin 3 of the main control chip U6; a resistor R37 is connected in series between the pin 4 and the third voltage output end of the voltage reduction module, a resistor R41 and a capacitor C23 are connected in series between the pin 4 and the common end GND in sequence, and a connecting node of the resistor R41 and the capacitor C23 is connected with a pin 2 of the main control chip U6;

the second rotation speed detection interface P16 includes pins 1 to 5, wherein a diode D2 is connected in series between pin 1 and the second voltage output end of the voltage reduction module; a resistor R46 is connected in series between the pin 2 and the third voltage output end of the voltage reduction module, a resistor R49 and a capacitor C30 are connected in series between the pin 2 and the common end GND in sequence, and the connection node of the resistor R49 and the capacitor C30 is connected with the pin 53 of the main control chip U6; a resistor R47 is connected in series between the pin 3 and the third voltage output end of the voltage reduction module, a resistor R50 and a capacitor C29 are connected in series between the pin 3 and the common end GND in sequence, and the connection node of the resistor R50 and the capacitor C29 is connected with the pin 52 of the main control chip U6; a resistor R48 is connected in series between the pin 4 and the third voltage output end of the voltage reduction module, a resistor R51 and a capacitor C28 are connected in series between the pin 4 and the common end GND in sequence, and a connection node of the resistor R51 and the capacitor C28 is connected with a pin 51 of the main control chip U6.

The rotating speed detection interface can be used for being connected with a Hall coding unit or a photoelectric coding unit so as to realize the detection of the rotating speed.

Fig. 33 is a schematic circuit diagram of an RGB lamp interface unit according to a preferred embodiment of the present invention, and as shown in fig. 33, the RGB lamp interface unit includes: a first RBG lamp interface P12, a second RGB lamp interface P14, a resistor R34, a resistor R38 and a capacitor C22, wherein,

the first RGB lamp interface P12 includes a pin 1, a pin 2, and a pin 3, where the pin 1 is connected to the second voltage output terminal of the voltage-reducing module, and a capacitor C22 is connected in series between the pin 1 and the common terminal GND; a resistor R34 is connected in series between the pin 2 and the pin 1, and a resistor R38 is connected in series between the pin 57 of the main control chip U6; the pin 3 is connected with a common end GND;

the second RGB lamp interface P14 includes pin 1, pin 2 and pin 3, where pin 1 is connected to pin 1 of the first RGB lamp interface P14; pin 2 connected to pin 2 of the first RGB lamp interface P14; and the pin 3 is connected with the common terminal GND.

Fig. 34 is a schematic circuit diagram of a charging interface unit according to a preferred embodiment of the present invention, and as shown in fig. 34, the charging interface unit includes: the charging interface P15, the resistor R43, the resistor R44, the resistor R45, the triode Q7 and the capacitor C27, wherein the charging interface P15 comprises a pin 1, a pin 2, a pin 3 and a pin 4, the resistor R45 is connected in series between the pin 1 and a public end GND, the resistor R43 and the resistor R44 are sequentially connected in series between the pin 1 and the public end GND, and the pin is connected with a charging end BAT _ Charge; a pin 2 connected to the pin 1; the pin 3 and the pin 4 are connected with a common end GND; the connection node of the resistor R43 and the resistor R44 is connected with the base electrode of the triode Q7, the collector electrode of the triode Q7 is connected with the pin 45 of the main control chip U6, the emitter electrode of the triode Q7 is connected with the common end GND, and a capacitor C27 is connected in series between the collector electrode of the triode Q7 and the emitter electrode of the triode Q7. The triode Q7 is used for detecting the charging state and feeding the charging state back to the main control chip U6.

Fig. 35 is a schematic circuit diagram of a buzzer module according to a preferred embodiment of the present invention, and as shown in fig. 35, the buzzer module includes: the voltage reducing circuit comprises a buzzer, a diode D1, a triode Q6, a resistor R31 and a resistor R30, wherein one end of the buzzer is connected with a first voltage output end of the voltage reducing module, the other end of the buzzer is connected with a collector of the triode Q6, the diode D1 is connected between one end of the buzzer and the other end of the buzzer in series, an emitter of the triode Q6 is connected with a public end GND, the resistor R31 is connected between a base of the triode Q6 and the public end GND in series, and the resistor R30 is connected between the base of the triode Q6 and a pin 59 of the main control chip U6 in series.

Fig. 36 is a schematic circuit diagram of a bluetooth power-on indication module according to a preferred embodiment of the present invention, and as shown in fig. 36, the bluetooth power-on indication module includes: the dual-mode Bluetooth chip comprises a light emitting diode DS1 and a resistor R9, wherein the positive electrode of the light emitting diode DS1 is connected with the fourth voltage output end of the voltage reduction module, and a resistor R9 is connected in series between the negative electrode of the light emitting diode DS1 and a pin 2 of the dual-mode Bluetooth chip U3.

The embodiment also provides a balance car which comprises the balance car control system.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A balance car control system characterized by comprising: the system comprises a mainboard, a main control module, a dual-mode Bluetooth module, an attitude sensor module, a first motor driving module, a second motor driving module, a voltage reduction module and an external interface module; wherein the content of the first and second substances,

2. The balance car control system according to claim 1, wherein the central area is divided into a left area and a right area along a length direction of the main board, wherein the main control module, the dual-mode bluetooth module, the first motor drive module, and the second motor drive module are disposed in the left area, and the attitude sensor is disposed in the right area.

3. The balance car control system of claim 2, wherein the left side region and the right side region are both disposed adjacent to the buck module.

4. The balance car control system according to claim 2, wherein the main board is further provided with a circuit for at least one of: the Bluetooth power-on indicating module is arranged in the right side area; wherein the content of the first and second substances,

the buzzer module is connected with the main control module;

the Bluetooth power-on indication module is connected with the Bluetooth module.

5. The balance car control system of claim 1, wherein the voltage reduction module is a multi-stage voltage reduction module, wherein the voltage reduction module comprises: the power supply unit, the first voltage reduction unit, the second voltage reduction unit and the third voltage reduction unit; the voltage input end of the power supply unit is connected with a battery, the voltage output end of the power supply unit is connected with the voltage input end of the first voltage reduction unit, the voltage output end of the first voltage reduction unit is connected with the voltage input end of the second voltage reduction unit, and the voltage output end of the second voltage reduction unit is connected with the voltage input end of the third voltage reduction unit;

the power supply unit of the voltage reduction module comprises: the socket P17, the socket P18, the capacitor C37, the capacitor C38, the capacitor C39 and the capacitor C40 are connected in series, wherein the capacitor C37, the capacitor C38, the capacitor C39 and the capacitor C40 are respectively connected between the socket P17 and the socket P18 in series, and the socket P18 is connected with a common terminal GND;

the first voltage reduction unit of the voltage reduction module includes: a power MOSFET chip U10, a first buck chip U11, a resistor R66, a resistor R68, a resistor R71, a resistor R73, a resistor R60, a resistor R63, a resistor R57, a resistor R56, a resistor R54, a resistor R53, a resistor R52, a resistor R55, a resistor R58, a resistor R59, a resistor R62, a capacitor C54, an inductor L54, a transient diode DZ 54, a diode D54, a triode Q54, a power tube Q54, a switch interface P54, wherein the power MOSFET chip U54 includes a pin 1, a pin 2 and a pin 3, wherein a resistor R54 is connected in series with a power supply voltage output terminal of a battery, and a resistor R54 are connected in series connection with a GND, a resistor R63 and a capacitor R46 are respectively connected in series between the base electrode and the emitting electrode of the triode Q9; a resistor R53 and a resistor R54 are sequentially connected in series between a pin 2 of the power MOSFET chip U10 and a common end GND, a capacitor C41 is connected in series between the pin 2 and the common end GND, a connecting node of the resistor R53 and the resistor R54 is connected with a pin 10 of a main control chip U6 of the main control module, and a capacitor C36 is connected in series between the connecting node of the resistor R53 and the resistor R54 and the common end GND; a pin 3 of the power MOSFET chip U10 is connected with a voltage output end of a power supply unit of the battery, and a diode D4 is connected in series between the pin 3 and a charging end BAT _ Charge;

the switch interface P19 comprises a pin 1 and a pin 2, wherein the pin 1 of the switch interface P19 is sequentially connected in series with a diode D6 and a resistor R60 between the base of a triode Q9, a resistor R71 and a capacitor C54 between the base of the triode Q9 and the common end GND, a connection junction of the resistor R71 and the capacitor C54 is connected with a pin 40 of the main control chip U6, a resistor R68 is connected in series between the common end GND, a transient diode DZ1 is connected in parallel on the resistor R68, a connection junction of the diode D6 and the resistor R60 and the common end GND are sequentially connected in series with a diode D7 and a resistor R73, and a connection junction of the diode D7 and the resistor R73 is connected with a pin 28 of the main control chip U6; a resistor R66 is connected in series between a pin 2 of the switch interface P19 and a voltage output end of a power supply unit of the battery;

the second voltage reduction unit of the voltage reduction module includes: the second buck chip U12, a resistor R65, a resistor R69, a resistor R67, a resistor R70, a resistor R64, a capacitor C50, a capacitor C51, a capacitor C47, a capacitor C53, a capacitor C48, a capacitor C49, and an inductor L7, wherein the second buck chip U12 includes pins 1 to 6, a capacitor C47 and an inductor L4 are sequentially connected in series between a pin 1 of the second buck chip U12 and a second voltage output end of the buck module; pin 2 of the second buck chip U12 is connected with a common terminal GND; a resistor R70 is connected in series between a pin 3 of the second buck chip U12 and a common terminal GND, and a resistor R67 and a capacitor C48 are connected in series between the pin 3 and a second voltage output terminal of the buck module respectively; a resistor R65 is connected in series between a pin 4 of the second buck chip U12 and a first voltage output end of the buck module, and a resistor R69 and a capacitor C53 are connected in series between the pin 4 and a common end GND respectively; a pin 5 of the second buck chip U12 is connected to the first voltage output end of the buck module, and a capacitor C50 and a capacitor C51 are respectively connected in series between the pin and a common terminal GND; the pin 6 of the second buck chip U12 is connected with the connection node of the capacitor C47 and the inductor L4; a capacitor C49 is also connected in series between the second voltage output end and the common end of the voltage reduction module, a resistor R64 is also connected in series on the second voltage output end of the voltage reduction module, and the resistor R64 is a zero ohm resistor;

the third voltage reduction unit of the voltage reduction module includes: the voltage reduction circuit comprises a third voltage reduction chip U13, a resistor R72, a capacitor C55, a capacitor C56, a capacitor C57 and a capacitor C58, wherein the third voltage reduction chip U13 comprises pins 1 to 4, and pin 1 of the third voltage reduction chip U13 is connected with a common terminal GND; pin 2 and pin 4 of the third buck chip U13 are both connected to a third voltage output terminal of the buck module; pin 3 of the third buck chip U13 is connected to the second voltage output terminal of the buck module; a capacitor C55 is also connected in series between the pin 3 of the third buck chip U13 and a common end GND, capacitors C56, C57 and C58 are respectively connected in series between a third voltage output end of the buck module and the common end GND, and a resistor R72 is connected in series between the third voltage output end and a fourth voltage output end of the buck module;

wherein the external interface module comprises at least one of: the device comprises a first photoelectric switch interface unit, a second photoelectric switch interface unit, a steering sensor interface unit, a steering lamp interface unit, a fault lamp interface unit, a first auxiliary board communication interface unit, a second auxiliary board communication interface unit, a program burning equipment interface unit, a rotating speed detection interface unit, an RGB lamp interface unit and a charging interface unit.

6. The balance car control system of claim 1, wherein the dual-mode bluetooth module communicates with the master control module through PCB traces, the dual-mode bluetooth module comprising: the Bluetooth device comprises a dual-mode Bluetooth chip unit, an antenna, a crystal oscillator unit and a power amplifier unit; wherein the content of the first and second substances,

the dual-mode Bluetooth chip unit is respectively connected with the antenna, the crystal oscillator unit, the power amplifier unit and the main control module;

the dual-mode Bluetooth chip unit and the power amplifier unit are respectively connected with the output end of the voltage reduction module.

7. The balance car control system of claim 1,

the first motor drive module includes: the first PWM output unit and the first three-phase full-bridge driving unit; the first PWM output unit is respectively connected with the first three-phase full-bridge driving unit, the main control module and the output end of the voltage reduction module; the first three-phase full-bridge driving unit is respectively connected with the output end of the battery and the first motor;

the second motor drive module includes: the second PWM output unit and the second three-phase full-bridge driving unit; the second PWM output unit is respectively connected with the second three-phase full-bridge driving unit, the main control module and the output end of the voltage reduction module; the second three-phase full-bridge driving unit is respectively connected with the output end of the battery and the second motor.

8. The balance car control system according to claim 7,

the first motor drive module further comprises at least one of: the brake control device comprises a first current detection unit, a first brake detection unit, a first total current detection unit and a first current sampling unit;

the second motor drive module further comprises at least one of: the brake control device comprises a second current detection unit, a second brake detection unit, a second total current detection unit and a second current sampling unit.

9. The balance car control system according to any one of claims 1 to 8, wherein the main control module further comprises: a resistor R32, a resistor R33, a resistor R42, a capacitor C26 and a capacitor C31, wherein,

the master chip U6 includes pins 1 through 64, wherein,

pin 1, pin 13, pin 32, pin 19, pin 48, and pin 64, which are connected to the third voltage output terminal of the voltage step-down module;

pin 12, pin 18, pin 31, pin 47, and pin 63, connected to common terminal GND;

a resistor R42 is connected in series between the pin 7 and the third voltage output end of the voltage reduction module, and a capacitor C26 is connected in series between the pin 7 and a common end GND;

a resistor R32 is connected in series between the pin 16 and the dual-mode Bluetooth module;

a resistor R33 is connected in series between the pin 17 and the dual-mode Bluetooth module;

the pin 41, the pin 42, the pin 43, the pin 33, the pin 34, the pin 35, the pin 36, the pin 9, the pin 24 and the pin 25 are connected with the first motor driving module;

pin 14, pin 22, pin 23, pin 26, pin 27, pin 8, pin 11, pin 37, pin 38, and pin 39, connected to the second motor driving module;

the pins 61 and 62 are connected with the attitude sensor module;

pin 28, pin 10, and pin 40, connected to the voltage step-down module;

a pin 55 and a pin 56 which are connected with the dual-mode Bluetooth chip unit;

a pin 59 connected to the buzzer module;

pin 15, pin 44, pin 50, pin 20, pin 21, pin 29, pin 30, pin 5, pin 6, pin 54, pin 58, pin 2, pin 3, pin 4, pin 51, pin 52, pin 53, pin 57, pin 46, pin

The balance car control system according to claim 9, wherein the dual-mode bluetooth chip unit of the dual-mode bluetooth module comprises: the dual-mode Bluetooth chip comprises a dual-mode Bluetooth chip U3, a resistor R1, a resistor R2, a resistor R3, a resistor R4, an inductor L1, an inductor L2, a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4 and a capacitor C5, wherein,

the dual mode bluetooth chip U3 includes pins 1 through 24, wherein,

a resistor R1 is connected in series between the pin 1 and the power amplifier unit;

the pin 2 is connected with the Bluetooth power-on indication module;

pin 3 connected to pin 16 of the main control chip U6;

a pin 4 connected to a pin 17 of the main control chip U6;

a resistor R2 is connected in series between the pin 5 and the pin 55 of the main control chip U6;

the pin 6 is suspended;

a pin 7 connected to the power amplifier unit;

a capacitor C3 is connected in series between the pin 8 and the common end GND;

a capacitor C4 is connected in series between the pin 9 and the common end GND;

the pin 10 is suspended;

the pin 11 is connected with a common terminal GND;

a capacitor C6 is connected in series between the pin 12 and the common end GND;

the pin 13 is suspended;

the pin 14 is suspended;

a resistor R4 is connected in series between the pin 15 and the pin 56 of the main control chip U6;

a resistor R3 is connected in series between the pin 16 and the fourth voltage output end of the voltage reduction module;

a pin 17 connected to a common terminal GND;

the pin 18 is connected with the fourth voltage output end of the voltage reduction module, and a capacitor C5 is connected in series with a common end GND;

a capacitor C2 is connected in series between the pin 19 and the common end GND;

a pin 20 connected to a common terminal GND;

an inductor L1 and an inductor L2 are sequentially connected in series between the pin 21 and the common end GND, and a capacitor C1 is connected in series between a connection node of the inductor L1 and the inductor L2 and the antenna J1;

a pin 22 connected to a common terminal GND;

a pin 23 connected to the crystal oscillator unit;

and a pin 24 connected with the crystal oscillator unit.

10. The balance car control system of claim 9, wherein the first PWM output unit of the first motor drive module comprises: the first PWM output chip U8, a diode DL1, a diode DL2, a diode DL3, a capacitor CL6, a capacitor CL8, a capacitor CL14, a capacitor CL15, a resistor RL17, a resistor RL23, a resistor RL24, a resistor RL25, a resistor RL26 and a resistor RL27, wherein,

the first PWM output chip U8 includes pins 1 through 20, wherein,

a resistor RL17 is connected in series between the pin 1 and the pin 43 of the main control chip U6;

a resistor RL24 is connected in series between the pin 2 and the pin 42 of the main control chip U6;

a resistor RL26 is connected in series between the pin 3 and the pin 41 of the main control chip U6;

a resistor RL23 is connected in series between the pin 4 and the pin 36 of the main control chip U6;

a resistor RL25 is connected in series between the pin 5 and the pin 35 of the main control chip U6;

a resistor RL28 is connected in series between the pin 6 and the pin 34 of the main control chip U6;

a pin 7 connected to the first voltage output terminal of the buck module, a capacitor CL6 connected in series to a common terminal GND, a diode DL1 connected in series to a pin 14 of the first PWM output chip U8, a diode DL2 connected in series to a pin 17 of the first PWM output chip U8, and a diode DL3 connected in series to a pin 20 of the first PWM output chip U8;

the pin 8 is connected with a common terminal GND;

the pin 9, the pin 10, the pin 11, the pin 12, the pin 13, the pin 15, the pin 16, the pin 18 and the pin 19 are connected with the first three-phase full-bridge driving unit;

a capacitor CL15 is connected in series between the pin 14 and the pin 12;

a capacitor CL14 is connected in series between the pin 17 and the pin 15;

a capacitor CL8 is connected in series between the pin 20 and the pin 18.

11. The balance car control system of claim 11, wherein the first three-phase full-bridge drive unit of the first motor drive module comprises: power tube ML1, power tube ML2, power tube ML3, power tube ML4, power tube ML5, power tube ML6, diode DL4, diode DL5, diode DL6, diode DL7, diode DL8, diode DL9, resistor RL8, resistor RL9, resistor RL10, resistor RL11, resistor RL12, resistor RL13, resistor RL14, resistor RL15, resistor RL16, resistor RL18, resistor RL19, resistor RL20, resistor RL21, resistor RL22, capacitor CL3, capacitor CL4, capacitor CL7, capacitor CL8, capacitor CL9, capacitor CL10, capacitor CL11, capacitor CL12, and capacitor CL13, wherein,

the source of the power tube ML1 is connected with the voltage output end of the power supply unit of the battery, a capacitor CL3 is connected in series between the voltage output end of the power supply unit of the battery and the common end GND _ L, the drain of the power tube ML1 is connected with the first phase line X1 of the first motor and the pin 18 of the first PWM output chip U8, a resistor RL8 is connected in series between the gate of the power tube ML1 and the pin 19 of the first PWM output chip U8, the diode DL4 is connected in parallel to the resistor RL8 in an opposite direction, and a resistor RL11 and a capacitor CL7 are connected in series between the gate and the drain of the power tube ML 1; the source electrode of the power tube ML4 is connected with the first phase line X1, a resistor RL16 is connected in series between the gate electrode of the power tube ML4 and the pin 11 of the first PWM output chip U8, a diode DL7 is connected in parallel to the resistor RL16 in an opposite direction, a resistor RL20 and a capacitor CL11 are respectively connected in series between the gate electrode and the drain electrode of the power tube ML4, and a resistor RL14 is connected in series between the source electrode and the drain electrode of the power tube ML 4;

the source of the power tube ML2 is connected with the voltage output end of the power supply unit of the battery, the drain of the power tube ML2 is connected with the third phase line X3 of the first motor and the pin 15 of the first PWM output chip U8, a resistor RL19 is connected in series between the gate of the power tube ML2 and the pin 16 of the first PWM output chip U8, the diode DL5 is connected in parallel to the resistor RL19 in an opposite direction, and a resistor RL12 and a capacitor CL9 are connected in series between the gate and the drain of the power tube ML 2; the source of the power tube ML5 is connected with the third phase line X3, a resistor RL18 is connected in series between the gate of the power tube ML5 and the pin 10 of the first PWM output chip U8, the diode DL8 is connected in parallel to the resistor RL18 in an opposite direction, a resistor RL21 and a capacitor CL12 are connected in series between the gate and the drain of the power tube ML5, and a resistor RL15 is connected in series between the source and the drain of the power tube ML 5;

the source of the power tube ML3 is connected with the voltage output end of the power supply unit of the battery, a capacitor CL4 is connected in series between the voltage output end of the power supply unit of the battery and a common end GND _ L, the drain of the power tube ML3 is connected with a second phase line X2 of the first motor and a pin 12 of the first PWM output chip U8, a resistor RL10 is connected in series between the gate of the power tube ML3 and a pin 13 of the first PWM output chip U8, a diode DL6 is connected in parallel to the resistor RL10 in an opposite direction, and a resistor RL13 and a capacitor CL10 are connected in series between the gate and the drain of the power tube ML 3; the source of the power tube ML6 is connected with the second phase line X2, a resistor RL19 is connected in series between the gate of the power tube ML6 and the pin 9 of the first PWM output chip U8, the diode DL9 is connected in parallel in an opposite direction on the resistor RL19, a resistor RL22 and a capacitor CL13 are connected in series between the gate and the drain of the power tube ML6, and a resistor RL37 is connected in series between the source and the drain of the power tube ML 6.

12. The balance car control system according to claim 12, wherein the first current detection unit of the first motor drive module includes: the first differential operation chip U1A, a diode DL10, a diode DL11, a resistor RL29, a resistor RL30, a resistor RL31, a resistor RL32, a resistor RL33, a resistor RL34, a resistor RL35 and a resistor RL36, wherein,

the first differential operation chip includes pins 1 to 8, wherein,

pin 1 connected to pin 25 of the main control chip U6;

a resistor RL29 is connected in series between the pin 2 and the pin 1, and a resistor RL31 is connected in series between the pin 2 and the common end GND _ L;

a resistor RL35 is connected in series between the pin 3 and the first phase line X1, a resistor RL33 is connected in series between the pin 3 and the third voltage output end of the voltage reduction module, and a diode DL10 is connected in series between the pin 3 and the pin 2;

the pin 4 is connected with a common end GND;

a resistor RL36 is connected in series between the pin 5 and the third phase line X3, a resistor RL34 is connected in series between the pin 5 and the third voltage output end of the voltage reduction module, and a diode DL11 is connected in series between the pin 5 and the pin 6;

a resistor RL32 is connected in series between the pin 6 and the common end GND _ L, and a resistor RL30 is connected in series between the pin 7;

a pin 7 connected to a pin 24 of the main control chip U6;

and the pin 8 is connected with a third voltage output end of the voltage reduction module.

13. The balance car control system of claim 12, wherein the first brake detecting unit of the first motor driving module comprises: a triode QL1, a resistor RL1, a resistor RL2, a resistor RL5 and a capacitor CL1, wherein,

a resistor RL1 is connected in series between the collector of the triode QL1 and the third voltage output end of the step-down module, a resistor RL2 is connected in series between the collector of the triode QL1 and the pin 33 of the main control chip U6, the emitter of the triode QL1 is connected with the common end GND, a capacitor CL1 is connected in series between the emitter of the triode QL1 and the pin 33 of the main control chip U6, and a resistor RL5 is connected in series between the base of the triode QL1 and the common end GND _ L.

14. The balance car control system according to claim 12, wherein the first total current detection unit of the first motor drive module includes: a first differential operator U7A, a resistor RL3, a resistor RL4, a resistor RL6, a resistor RL7, a capacitor CL2, wherein,

a resistor RL4 is connected in series between a negative input end of the first differential operator and a common end GND, a resistor RL3 is connected in series between the negative input end of the first differential operator and the negative input end of the first differential operator, a resistor RL6 is connected in series between a positive input end of the first differential operator and a third voltage output end of the voltage reduction module, a resistor RL7 is connected in series between a positive input end of the first differential operator and the common end GND _ L, a capacitor CL2 is connected in series between the positive input end of the first differential operator and the common end GND, a ground end of the first differential operator is connected with the common ground segment GND, a power supply end of the first differential operator is connected with the third voltage output end of the voltage reduction module, and an output end of the first differential operator is connected with a pin 9 of the main control chip U6.

15. The balance car control system according to claim 12, wherein the first current sampling unit of the first motor drive module includes: resistor RL27 is connected between common terminal GND _ L and common terminal GND.

16. A balance car characterized by comprising the balance car control system according to any one of claims 1 to 16.