CN201811821U - Seesaw motion balance detecting system for electric bicycle - Google Patents

Abstract

The utility model provides a seesaw motion balance detecting system for an electric bicycle, which comprises six parts of an electric bicycle driving module, a track detecting module, a balance detecting module, an electric bicycle controlling module, a control part, an input/output module, and the like, wherein the electric bicycle driving circuit completes the steering and speed control of the electric bicycle; the track detecting module controls the moving direction of the electric bicycle so that the electric bicycle can accurately find a seesaw and can move on the seesaw according to the given track, thus completing the prearranged tasks; the balance detecting module achieves the given prearranged position so that the electric bicycle and a balance block are arranged in a balanced state and the balance detecting module detects whether the balance achieves the requirements or not; the control part has the main functions of starting the electric bicycle, timing the driving time and being responsible for communication with a detecting control system; the input/output module completes the human-machine interface and the input and output of instructions; the detecting control system detects the prearranged track, the inclination angle of the seesaw and the like by various sensors, and transmits signals to a single chip microcomputer; and after the signals are processed, the electric bicycle can be controlled to run so that the electric bicycle can find the seesaw accurately and the seesaw plate can achieve the balanced state. Therefore, the seesaw motion balance detecting system for the electric bicycle can integrate the performances such as accurate control, good safety and the like, and has the characteristics of high informationization degree, good convenience for use, and the like.

Description

Electric motor car seesaw movement balance master system

Technical field

The utility model relates to a kind of moving equilibrium detection system, particularly a kind ofly will make things convenient for, accurately, electric motor car seesaw movement balance master system that performance is integrated in one such as security is good.

Background technology

Current society is along with the raising of quality of life, to amusement from the simplest manual toy high-tech toy till now, self-made little wooden car electric motor car of intelligent distant control system and remote control flivver till now for example in the rural area, make present child a kind of high-tech existence just be arranged, child's brain is taken exercise from little just obtaining from little.Have now and finish electric motor car seesaw movement balance detection toy automatically seldom, or control is complicated, or price comparison is expensive, and will just can well be finished electric motor car seesaw movement balance by some peripheral signal.

The utility model has given correction at the electric motor car seesaw movement balance master system that exists now, need just can well not realize electric motor car seesaw movement balance by peripheral signal.Improved the traditional game intelligence level of child, realized easily and promote, the experiment proved that this system motion performance is good.

Summary of the invention

Technical problem to be solved in the utility model is a kind of exercise performance degree height to be provided, to be easy to promote electric motor car seesaw movement balance master system easy to use.

The technical scheme that the utility model adopted is:

Electric motor car seesaw movement balance master system of the present utility model, be with pavement detection to information pass to controller (1) and make the dolly Automatic Track Finding find the A point, at this moment dolly moves on when arriving equilibrium point C, by angular transducer and single-chip microcomputer RS485 communication interface the left and right sides obliquity information of dolly being collected controller (1) by double-shaft tilt angle sensor makes dolly keep balance at the appointed time, dolly can be implemented in 180 degree rotations on the seesaw, dolly was shown information with controller (2) in the time that seesaw arrheas by LCD MODULE, when the stipulated time then dolly search out the A point automatically and turn back to initial position.The experiment proved that the range difference d=|d on A, B two ends and ground during balance _A-d _b|≤10mm constitutes a complete electric motor car seesaw movement balance master system, thereby performances such as this electric motor car seesaw movement balance device handle is convenient, accurate, security is good is integrated in one.Have level of informatization height, with low cost, be easy to promote characteristics easy to use.

Description of drawings

Fig. 1 is an entire block diagram of the present utility model;

Fig. 2 is the circuit theory diagrams of the utility model controller mega16;

Fig. 3 is the circuit theory diagrams of the utility model controller mega48;

Fig. 4 is the utility model L298N motor-drive circuit schematic diagram;

Fig. 5 is the utility model photoelectric tube testing circuit figure;

Fig. 6 is a warning circuit of the present utility model;

Fig. 7 is the RS485 communication interface that angular transducer of the present utility model is connected with single-chip microcomputer;

Fig. 8 is power circuit principle figure of the present utility model;

Fig. 9 is the interface of LCD MODULE of the present utility model;

Figure 10 is this system program flow process.

Figure 11 is an electric motor car seesaw movement track of the present utility model.

Wherein:

1: controller mega48 2: controller mega16

3: pavement detection module 4: the seesaw balance module

6: start load button 7: LCD MODULE

8: motor drive module 9: the left and right wheels motor

10: photoelectric tube testing circuit 11:L298N motor-drive circuit

Embodiment

Provide specific embodiment below in conjunction with accompanying drawing, further specify electric motor car seesaw movement balance detecting device of the present utility model and how to realize.

Electric motor car seesaw movement balance master system of the present utility model, form by pavement detection module, seesaw balance module, each point position detecting module, startup load button, LCD MODULE, motor drive module, left and right wheels motor and controller (1) and controller (2), constitute a complete electric motor car seesaw movement balance master system.

As shown in Figure 1, electric motor car seesaw movement balance master system of the present utility model has controller 1, and also including links to each other with the input end of controller (1) is used for providing to controller (1) movement locus Fig. 5 of pavement detection; Link to each other with the input end of controller 1 and to be used for providing communication module Fig. 7 of moving of car balance to controller 1, the difficult point of these works is: electric motor car reaches balance with the fastest speed, therefore its double-shaft tilt angle sensor Signal Processing is adopted digital PI control algolithm.The mathematical model of the PI controller of conitnuous forms can be expressed as:

$u\left(t\right)=k_{p}e\left(t\right)+k_I{\∫}_0^{t}e\left(t\right)\mathrm{dt}$ Formula (1-1)

In the formula (1-1): e (t)=y _r-y (t) is called output error:

Owing to adopt single-chip microcomputer to its data processing, therefore adopt the PI algorithm of discrete form:

$u\left(k\right)=k_{p}e\left(k\right)+k_I\underset{i=1}{\overset{k}{\mathrm{\Σ}}}e\left(i\right)$ Formula (1-2)

After the PI adjusting, electric motor car reaches balance time and has obviously shortened, and reaches the effect of design; The status information that is used for controller 1 that links to each other with the output terminal of controller 1 adopts LCD MODULE (7) to show the motor drive module (8) that links to each other and be used to control left and right sides motor (9) with the output terminal of controller 1 by controller (2).Described LCD MODULE (7) is selected C series Chinese fonts lcd module for use, finally comes out with Chinese liquid crystal display through after the acquisition process.

It is the ZCT245AL-485 sensor that double-shaft tilt angle sensor in the described seesaw balance module (4) adopts model, use this kind sensor to measure the angle of car body horizontal direction and vertical, transducer sensitivity higher (less than 0.1 degree), measurement range broad (± 45 degree), volume is less, response speed is very fast, stable performance, reliability height, provide multiple signal to export and series of advantages such as working temperature is wide.Be a low-cost flat digital double-shaft tilt angle sensor, it carries out communication with half duplex communication mode (RS485) and host computer, is placed on the end car face of dolly.

As described in Figure 2, controller of the present utility model (2) adopts single-chip microprocessor MCU, and selecting model for use is the single-chip microcomputer of Mega16.Include and start and stop button (6).Controller (1) passes to controller (2) with current state information, finally finishes Presentation Function by controller (2).

As described in Figure 3, controller of the present utility model (1) adopts single-chip microprocessor MCU, and selecting model for use is the single-chip microcomputer of Mega48.Include single-chip microcomputer reset switch REST.Mainly finish the processing to various feedback signals, the travel direction of control electric motor car and the demonstration and the communication function of speed and current state.Its implementation is as follows: at first utilize the predetermined traffic route of photoelectric sensor identification, judge the direction that dolly travels according to the double-shaft tilt angle sensor feedback signal, after the single-chip microcomputer analyzing and processing, control revolver drive motor and right wheel drive motor make electric vehicle system accurately find seesaw and reach equilibrium state.

Also be provided with the RS485 communication interface 10 that double-shaft tilt angle sensor is connected with single-chip microcomputer on the described controller 1.

Shown in Figure 4 is L298N motor-drive circuit schematic diagram of the present utility model, and it is 37RG240 that left and right wheels motor described in the utility model (9) adopts the DC speed-reducing model of permanent magnet excitation mode, is installed on the left and right sides car body of dolly two trailing wheels.The output terminal of two DC speed-reducing with chip L298N linked to each other, and the input end of chip L298N links to each other with the output terminal of controller (1).

As Fig. 5 is photoelectric tube testing circuit figure of the present utility model, and described pavement detection module (3) all is to be that the performed voltage signal of single-chip microcomputer enters the controller (1) that is made of single-chip microprocessor MCU by this photoelectric tube testing circuit with conversion of signals.Utilize the different characteristics of black and white paper reflection coefficient, use the detection of photoelectric sensor realization guide line/boundary line in the place.Select altogether the quadruplet photoelectric sensor (coverage: 0.5～2cm), wherein two photoelectric sensors placed in the middle are used to survey guide line, the both sides photoelectric sensor is used to survey dolly and whether touches the border, place.Adjustable resistance R3 can regulate the threshold voltage of comparer in described this circuit.

As Fig. 6 is warning circuit of the present utility model, and when electric motor car point of arrival C, when promptly seesaw was in equilibrium state, the warning red light was long bright, and hummer sends continuous yowl sound and reports to the police.PC2 end among the figure links to each other with the output terminal of controller (1).

Fig. 8 is power circuit principle figure of the present utility model, and described power supply comprises that two Ni-MH battery group series connection reach 12V voltage and give drive circuitry, and adopting Voltage stabilizing module to produce 5V voltage is the single-chip microcomputer power supply.

Figure 10 is a system program process flow diagram of the present utility model, and the software of described electric motor car seesaw movement balance master system mainly finishes two control of DC, to the processing and the demonstration of sensor signal.Its key component is control of DC, right rotating and reverse of turbin generator determines that respectively turning left of car direction is curved, turn right and bend and straight-line travelling, rotating and reverse of revolver motor determines respectively that then turning right of car is curved and turn left curved, in the process of tracking, single-chip microcomputer uses the scheme of increment control all the time, promptly in the process that adjustment is turned round or speed control and correction track, road surface signal sampling speed, travel speed, direction adjusting range etc. all need be adjusted at any time, and all is to increase continuously or reduce these parameter values continuously with certain step value.The control of Sensor section mainly is responsible for from extraneous Information Monitoring, the processing scheme that different information is corresponding different.

From the above mentioned, electric motor car seesaw movement balance master system of the present utility model can improve the moving equilibrium precision in use and avoid maloperation.

Claims (8)

1. an electric motor car seesaw movement balance master system has controller (1), it is characterized in that, also including links to each other with the input end of controller (1) is used for providing pavement detection module (3) to controller (1); Link to each other with the input end of controller (1) and to be used for providing seesaw balance module (4) to controller (1); Link to each other with the output terminal of controller (1) and to be used for the handled signal of controller (1) is removed to control controller (2); And link to each other with the output terminal of controller (1) and to be used for the handled information of controller (1) is removed to control motor drive module (8).

2. electric motor car seesaw movement balance master system according to claim 1, it is characterized in that, described seesaw balance module (4) is included in double-shaft tilt angle sensor and links to each other with controller (1) by RS485 communication interface (10), finish the intensive collection of electric motor car balance detection, obtain complete movement locus.

3. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, described pavement detection module (3) is included in photoelectric tube testing circuit (10) and links to each other with controller (1).

4. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, described motor drive module (8) includes L298N motor-drive circuit (11) and links to each other with controller (1), finishes the driving of left and right sides motor.

5. electric motor car seesaw movement balance master system according to claim 1 is characterized in that the output of described controller (1) also is provided with controller (2).

6. electric motor car seesaw movement balance master system according to claim 1 is characterized in that the output of described controller (2) also is provided with display module (7) and finishes Presentation Function.

7. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, also is provided with on the described controller (1) to start and stop button (6).

8. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, also is provided with RS485 communication interface (10) on the described controller (1).

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