CN203698528U - Remotely controllable two-wheeled balance car - Google Patents
Remotely controllable two-wheeled balance car Download PDFInfo
- Publication number
- CN203698528U CN203698528U CN201320842953.3U CN201320842953U CN203698528U CN 203698528 U CN203698528 U CN 203698528U CN 201320842953 U CN201320842953 U CN 201320842953U CN 203698528 U CN203698528 U CN 203698528U
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- China
- Prior art keywords
- control board
- master control
- remote
- balance truck
- motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The utility model discloses a remotely controllable two-wheeled balance car which has more excellent stability and can be prevented from off tracking during straight running and braking. The balance car is controlled by a main control panel, the main control panel is integrated with a digital six-axis gyroscope and an accelerometer, and is simultaneously connected with two motors which are respectively a right motor and a left motor, the main control panel is powered by two batteries which are connected in series and are charged through a charging stand, the charging stand is connected to the main control panel through a charging circuit on which a fuse and a switch are arranged, and the main control panel is also connected with a steering potentiometer, an indicator lamp and a pedal switch for detecting whether a driver stands on the balance car or not.
Description
Technical field
The utility model relates to a kind of two-wheeled balance truck, is specifically related to a kind of remote-controlled two-wheeled balance truck.
Background technology
Balance two-wheel car operation principles is to be mainly based upon in the groundwork that one is called as " dynamic stability ", the namely self-equalizing ability of vehicle itself.Judge the residing posture state of vehicle body with built-in accurate solid-state gyroscope, seeing through central microprocessor accurate and high speed calculates after suitable instruction, reaching the effect of balance with CD-ROM drive motor. maximum gyroscope of using on current domestic two-wheeled balance truck control desk is the gyroscope IDG-655 of American I nvensens company, ADXL 320 accelerometers that ADI company produces, belong to two axis gyroscope instrument.Gyroscope detects the variation of people's center of gravity, makes two-wheeled balance truck advance or retreat by the quick computing rear drive motor of micro controller system, coordinates the calculating of direction to realize turning.
There is following defect in prior art:
1, the control mainboard of two axis gyroscope instrument on balance truck straight-line travelling without any compensation; often meeting sideslip; beat direction by people corrects; aspect straight-line travelling, become unstable; in brake, also often there is the phenomenon of brake sideslip; when turning, car body can tilt, not steady, and while turning to, car body is not that to turn forward be exactly that the mainboard that recedes belongs to open loop control.
2, two axis gyroscope instrument stability is general, and the phenomenon that temperature is floated can occur, and when warm hair bleaching is raw, two-wheeled balance truck just there will be stall, abnormally dangerous.
3, the each switch power supply of the equilibrium point of balance truck all will be set level, and only has a kind of pattern, change another kind of pattern and must write code by dismounting circuit card, very trouble.
Utility model content
Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art, and a kind of remote-controlled two-wheeled balance truck is provided, and it has more excellent stability, can sideslip when straight-line travelling and brake.
The utility model solves the technical scheme that its technical matters adopts: a kind of remote-controlled two-wheeled balance truck, described balance truck is by master control board control, shown in master control board be digital six axle gyroscopes and the integrated master control board of accelerograph;
Described master control board connects two motors simultaneously, is respectively right motor and left motor; Described master control board is by the powered battery of two series connection; Described two batteries charge by cradle;
Above-mentioned cradle is connected to master control board by charge circuit, is provided with wire fuse and switch on this charge circuit;
Above-mentioned master control board also control linkage turns to potential device, indicator lamp and for controlling the foot-operated switch of brake.
Further: on above-mentioned master control board, be connected with buzzer phone.
Further: the storage battery that forms a 24V 28AH after above-mentioned two batteries series connection; This storage battery is connected to 15V stable-pressure device by source switch; On this 15V stable-pressure device, draw two branch roads, be respectively two motor driver power supplies, two motor drivers drive respectively a motor, and wherein right motor and left motor are 24V PWM (pulsewidth) motor.
Further: above-mentioned master control board is connected and turned to potential device, battery voltage detection module and foot-operated switch by AD interface.
Further: on above-mentioned 15V stable-pressure device, also draw a power supply branch road, it is the power supply of remote control decoding device after a 5V stable-pressure device, and this remote control decoding device is connected on master control board.
Further: on above-mentioned balance truck car body, angular transducer and speed sensor are installed, angular transducer and speed sensor and master control board control linkage.
The beneficial effects of the utility model:
The remote-controlled two-wheeled balance truck of the utility model adopts digital six axle gyroscope accelerograph integral structures, in the time of balance truck straight-line travelling, if two wheel drag differences, the motor master control board that resistance is large will increase electric current in order to correct sideslip, make balance truck keep stability line to travel, the compensation of Z axis, the balance truck that makes to brake can sideslip yet, and master control board belongs to closed loop control.When turning, car body is stone, can not rock back and forth and tilt, and stability is very good.Digital six axle gyroscope stability of the present utility model are very good, owing to having to pin down in all directions, the phenomenon that temperature is floated can not occur; Equilibrium point of the present utility model can be preserved memory, concrete, equilibrium point is to be kept in the storage chip of master control board, needn't all will set level ability switch power supply at every turn, this is more humane, and the utility model can also arrange different speed limit gears and normal mode and new hand's pattern.
Meanwhile, the utility model has also been optimized hypervelocity power-off, disturbs power-off, stand car body shake of original place, and the sideslip of turning on climbing, descending, slope, disturbs and crashes, pedal hardness, speed, the phenomenons such as the sensitivity of turning.
Brief description of the drawings
Fig. 1 is structure principle chart of the present utility model;
Fig. 2 is master control board 11 wiring schematic diagrams.
Description of reference numerals:
The right motor of 1-, the left motor of 2-, 3-wire fuse, 4-switch, 5-battery, 6-turns to potential device, 7-indicator lamp, 8-cradle, 9-foot-operated switch, 10-buzzer phone, 11-master control board.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model detailed description of the invention is described:
Fig. 1 and Fig. 2 show detailed description of the invention of the present utility model, as shown in the figure, a kind of remote-controlled two-wheeled balance truck, described balance truck is controlled by master control board 11, shown in master control board 11 be digital six axle gyroscopes and the integrated master control board of accelerograph;
Described master control board 11 connects two motors simultaneously, is respectively right motor 1 and left motor 2; Described master control board is powered by the battery 5 of two series connection; Described two batteries charge by cradle 8;
Above-mentioned cradle 8 is connected to master control board 11 by charge circuit, is provided with wire fuse 3 and switch 4 on this charge circuit;
Above-mentioned master control board 11 is also connected with and turns to potential device 6, indicator lamp 7 and the foot-operated switch 9 of whether standing up for detection of driver.
Preferably, on above-mentioned master control board 11, be connected with buzzer phone 10.
Preferably, after above-mentioned two batteries, 5 series connection, form the storage battery of a 24V 28AH; This storage battery is connected to 15V stable-pressure device by source switch; On this 15V stable-pressure device, draw two branch roads, be respectively two motor driver power supplies, two motor drivers drive respectively a motor, and wherein right motor 1 and left motor 2 are 24V PWM (pulsewidth) motor.
Preferably, above-mentioned master control board 11 is connected and is turned to potential device, battery voltage detection module and foot-operated switch by AD interface.
Preferably, also draw a power supply branch road on above-mentioned 15V stable-pressure device, it is the power supply of remote control decoding device after a 5V stable-pressure device, and this remote control decoding device is connected on master control board 11.
Preferably, on above-mentioned balance truck car body, angular transducer and speed sensor are installed, angular transducer and speed sensor and master control board 11 control linkages.
The utility model two-wheeled balance truck adopts recent model numeral six axle gyroscope accelerometer one chip MPU6050; In the time of balance truck straight-line travelling, if two wheel drag differences, the motor master control board that resistance is large will increase electric current in order to correct sideslip, makes balance truck keep stability line to travel, the compensation of Z axis, and the balance truck that makes to brake can sideslip yet, and master control board belongs to closed loop control.When turning, car body is stone, can not rock back and forth and tilt, and stability is very good.
Digital six axle gyroscope stability of the present utility model are very good, owing to having to pin down in all directions, the phenomenon that temperature is floated can not occur;
Equilibrium point of the present utility model can be preserved memory, needn't all will set level ability switch power supply at every turn, and this is more humane, and the utility model can also arrange different speed limit gears and normal mode and new hand's pattern.
By reference to the accompanying drawings the utility model preferred implementation is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken possessing those of ordinary skill in the art, can also under the prerequisite that does not depart from the utility model aim, make a variety of changes.
Do not depart from design of the present utility model and scope and can make many other changes and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.
Claims (6)
1. a remote-controlled two-wheeled balance truck, is characterized in that: described balance truck by master control board (11) control, shown in master control board (11) be digital six axle gyroscopes and the integrated master control board of accelerograph;
Described master control board (11) connects two motors simultaneously, is respectively right motor (1) and left motor (2); Described master control board is by battery (5) power supply of two series connection; Described two batteries are by cradle (8) charging;
Above-mentioned cradle (8) is connected to master control board (11) by charge circuit, is provided with wire fuse (3) and switch (4) on this charge circuit;
Above-mentioned master control board (11) is also connected with and turns to potential device (6), indicator lamp (7) and the foot-operated switch (9) of whether standing up for detection of driver.
2. the remote-controlled two-wheeled balance truck of one as claimed in claim 1, is characterized in that: on described master control board (11), be connected with buzzer phone (10).
3. the remote-controlled two-wheeled balance truck of one as claimed in claim 1, is characterized in that: the storage battery that forms a 24V 28AH after described two batteries (5) series connection; This storage battery is connected to 15V stable-pressure device by source switch; On this 15V stable-pressure device, draw two branch roads, be respectively two motor driver power supplies, two motor drivers drive respectively a motor, and wherein right motor (1) and left motor (2) are 24V PWM motor.
4. the remote-controlled two-wheeled balance truck of one as claimed in claim 3, is characterized in that: described master control board (11) is connected and turned to potential device, battery voltage detection module and foot-operated switch by AD interface.
5. the remote-controlled two-wheeled balance truck of one as claimed in claim 3, it is characterized in that: on described 15V stable-pressure device, also draw a power supply branch road, it is the power supply of remote control decoding device after a 5V stable-pressure device, and this remote control decoding device is connected on master control board (11).
6. the remote-controlled two-wheeled balance truck of one as claimed in claim 1, is characterized in that: on described balance truck car body, angular transducer and speed sensor are installed, angular transducer and speed sensor and master control board (11) control linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320842953.3U CN203698528U (en) | 2013-12-13 | 2013-12-13 | Remotely controllable two-wheeled balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320842953.3U CN203698528U (en) | 2013-12-13 | 2013-12-13 | Remotely controllable two-wheeled balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203698528U true CN203698528U (en) | 2014-07-09 |
Family
ID=51049006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320842953.3U Expired - Fee Related CN203698528U (en) | 2013-12-13 | 2013-12-13 | Remotely controllable two-wheeled balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203698528U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104724233A (en) * | 2015-01-28 | 2015-06-24 | 西南大学 | Directly-driven two-wheeled self-balancing electric vehicle |
| CN105966510A (en) * | 2014-12-25 | 2016-09-28 | 李陈 | Self-balance double-wheel vehicle |
| CN106379458A (en) * | 2016-10-24 | 2017-02-08 | 美国锐哲有限公司 | Self-balance car and control system thereof |
| CN110525562A (en) * | 2019-08-01 | 2019-12-03 | 纳恩博（北京）科技有限公司 | Balance car and the method and storage medium for controlling it |
| CN113721601A (en) * | 2021-06-18 | 2021-11-30 | 南京邮电大学 | Parking control method, device, equipment and storage medium for electric wheelchair |
-
2013
- 2013-12-13 CN CN201320842953.3U patent/CN203698528U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966510A (en) * | 2014-12-25 | 2016-09-28 | 李陈 | Self-balance double-wheel vehicle |
| CN104724233A (en) * | 2015-01-28 | 2015-06-24 | 西南大学 | Directly-driven two-wheeled self-balancing electric vehicle |
| CN106379458A (en) * | 2016-10-24 | 2017-02-08 | 美国锐哲有限公司 | Self-balance car and control system thereof |
| CN110525562A (en) * | 2019-08-01 | 2019-12-03 | 纳恩博（北京）科技有限公司 | Balance car and the method and storage medium for controlling it |
| CN113721601A (en) * | 2021-06-18 | 2021-11-30 | 南京邮电大学 | Parking control method, device, equipment and storage medium for electric wheelchair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20181213 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |