CN203840044U - Power generation system based on two-wheeled self-balancing trolley - Google Patents

Abstract

The utility model discloses a power generation system based on a two-wheel self-balancing trolley. The two-wheel self-balancing trolley includes STM32 embedded processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder and DC brushed motor. The utility model includes a power module and a power generation device; the power module is two The STM32 embedded processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder, and DC brushed motor in the wheel self-balancing trolley provide power, and the power generation device charges the power module; the utility model uses the power generation device It is installed on a two-wheeled self-balancing trolley. When the trolley goes downhill, the power generation device starts to charge the battery. It makes full use of the mechanical energy of the trolley when going downhill, improves the utilization rate of energy, and converts the mechanical energy into electrical energy, which is pollution-free, more green, environmentally friendly and energy-saving.

Description

A power generation system based on two-wheel self-balancing trolley

technical field

The utility model belongs to the field of self-balancing trolleys, in particular to a power generation system based on two-wheeled self-balancing trolleys.

Background technique

Two-wheeled self-balancing car is an important field in the research of mobile robots ^[1] This new type of two-wheeled self-balancing car is small in size, light in weight and simple in structure. The compact structural design allows multiple vehicles to share one lane, and it can travel flexibly on narrow roads, making it very convenient for both driving and parking. Typical applications include mobility tools, commuter vehicles, space exploration, smart wheelchairs, mail delivery, etc., and will have broad application prospects in military and civilian fields. People can drive this type of vehicle to move without hindrance in the city, which has great flexibility. It solves the problem of traffic congestion from the root. The vehicle has low power consumption, low emission, and no pollution during exercise, which is conducive to environmental protection. It provides a new idea for energy-saving and environmentally friendly vehicles, and is an important development direction of future intelligent transportation. Due to the continuous development of computer technology, control technology, drive technology, and sensor technology, it provides a theoretical basis for the development of two-wheel self-balancing robots, reduces scientific research costs, and promotes two-wheel self-balancing. Disadvantages: The self-balancing car cannot carry too large a battery, and the battery energy of the self-balancing car is not enough to support the car to move too far.

Utility model content

The purpose of this utility model is to propose a power generation system based on a two-wheeled self-balancing trolley for the deficiencies of the prior art.

The utility model includes a power supply module and a power generation device; the two-wheeled self-balancing trolley includes an STM32 embedded processor, a serial communication chip, an LCD display and a touch screen module, a gyroscope, a photoelectric encoder and a DC brushed motor; the power supply module Provide power for the STM32 embedded processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder, DC brush motor in the two-wheeled self-balancing car, and the power generation device charges the power module;

The LCD display and touch screen module includes an LCD display and a touch screen, and both the LCD display and the touch screen are connected to the serial port of the STM32 embedded processor through a serial communication chip; After the optocoupler is isolated, it is connected to different IO ports of the STM32 embedded processor; the DC brushed motor is indirectly connected to the IO port of the STM32 embedded processor through the DC brushed motor driver; a 24V lead-acid battery is installed in the power module;

The power generating device includes a central shaft, a permanent magnet, a gear transmission, a coil winding and a power conversion circuit, the gear transmission includes a driving gear and a driven gear, the driving gear and the driven gear are meshed, and the driving gear and the self-balancing trolley The output shafts of DC brushed motors are connected; one end of the central shaft is set at the center of the driven gear, and a permanent magnet is fixed on the side of the other end; as a rotor, a rotating magnetic field is generated, and the coil winding is wrapped on the central shaft of the motor as a stator, and the permanent magnet Can be accommodated in the coil winding and can cut the magnetic induction line; the power generation device charges the 24V lead-acid battery in the power module through the power conversion circuit;

The power conversion circuit in the power generation device includes diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, diode D7, capacitor C1, capacitor C2, inductor L1, resistor R1, resistor R2, resistor R3; diode D1, Diode D2, diode D3, diode D4, diode D5, diode D6, capacitor C1 and coil winding form a three-phase uncontrollable rectifier circuit with capacitor filter. In the three-phase uncontrollable rectifier circuit with capacitor filter, the positive pole of diode D1 and the negative pole of diode D4 Connected, the anode of diode D2 is connected to the cathode of diode D5, the anode of diode D3 is connected to the cathode of diode D6, the cathodes of diode D1, diode D2, and diode D3 are connected to one end of capacitor C1 at the same time; the anodes of diode D4, diode D5, and diode D6 are connected at the same time It is connected to the GND terminal and grounded; the other end of the capacitor C2 is connected to the GND terminal; after the coil winding sends out a voltage, it passes through a three-phase uncontrollable rectifier circuit filtered by a capacitor, and converts AC power into DC power and connects it to the power input port of the power conversion chip; One end of the inductor L1 is connected to the power input port of the power conversion chip, and the other end is simultaneously connected to the switch SW end of the power conversion chip and the anode of the diode D7. The other end of the resistor R2 is connected to one end of the resistor R3 and the feedback FB end of the power conversion chip; one end of the resistor R1 is connected to the comparison COMP end of the power conversion chip; the other end of the resistor R1 is connected to the terminal of the capacitor C2 One end is connected, the other end of the capacitor C2 and the other end of the resistor R3 are grounded; the ground GND end of the power conversion chip is connected to the ground;

The power supply module includes three voltage levels: 24V, 5V, and 3.3V; specifically, it includes a 24V lead-acid battery, a 24V voltage conversion circuit to 5V voltage, and a 5V voltage conversion circuit to 3.3V voltage;

24V voltage conversion 5V voltage circuit includes power conversion chip U1, resistor R4, resistor R5, capacitor C3, inductor L2, voltage regulator tube D8, 24V lead-acid battery is connected with power input terminal VIN of power conversion chip U1 and one end of capacitor C3 , the other end of the capacitor C3 is connected to the ON/OFF end of the switch end of the power conversion chip U1, the ground end GND end, and the positive pole of the regulator tube D8, and grounded; the negative pole of the voltage regulator tube D8 is simultaneously connected to the power supply of the power conversion chip U1 The output terminal VOUT is connected to one end of the inductor L2, and the other end of the inductor L2 is connected to one end of the resistor R4 to output 5V voltage; one end of the resistor R5 is grounded, and the other end of the resistor R5 and the other end of the resistor R4 are connected to the power supply The feedback terminal FB of the conversion chip U1 is connected to each other;

The 5V voltage conversion 3.3V voltage circuit includes a power conversion chip U2, a capacitor C4, and a capacitor C5; the 5V voltage output terminal is connected to the power input terminal VIN of the power conversion chip U2 and one end of the capacitor C4, and the other end of the capacitor C4 and one end of the capacitor C5 The other end of the capacitor C5 is connected to the power output terminal VOUT of the power conversion chip U2 and outputs 3.3V voltage.

The 24V lead-acid battery powers the DC brush motor; the 5V voltage supplies power for the gyroscope, photoelectric encoder, DC brush motor driver, LCD display and touch screen module; the 3.3V voltage supplies power for the STM32 embedded processor.

The models of the power conversion chip U1 include LM2596, LM1117 and LM2577; the model of the power conversion chip U2 is LM2577.

The STM32 embedded processor model in the two-wheeled self-balancing car is STM32F103VBT6, STM32F103RBT6, STM32F103ZET6 or STM32F103VCT6; the serial communication chip is MAX232, the LCD display and touch screen module are TFT_LCD_2.8, and the gyroscope model is ENC_03MB and MMA7361, the photoelectric encoder model is ZKX-6A-50BM7.5T-G05E, and the DC brush motor driver chip is MOS-STP75NF and L6384.

The beneficial effect that the utility model has:

In the utility model, the power generation device is arranged on the two-wheel self-balancing trolley, and the power generation device starts when the trolley is going downhill to charge the battery. It makes full use of the mechanical energy of the trolley when going downhill, improves the utilization rate of energy, and converts the mechanical energy into electrical energy, which is pollution-free, more green, environmentally friendly and energy-saving.

The utility model has the advantages of simple manufacture, low cost and easy industrialization.

The utility model can store energy through the power generation device, prolong the battery life of the car, and solve the problems of insufficient battery capacity and insufficient battery life to a certain extent.

The utility model adopts an intelligent charging device, and the trolley obtains the state of the current trolley running position through the offset and angular velocity of the center of gravity of the balance car fed back by the gyroscope and the accelerometer to judge whether it is suitable for power generation. By cooperating with the main controller, it can ensure the safety of battery power supply. In addition, the car feeds back relevant information (vehicle speed, battery power) to the user through the liquid crystal display, and in the case of insufficient power, it will prompt the user to get off the car to ensure the safety of the user.

Description of drawings

Fig. 1 is a block diagram of the utility model;

Fig. 2 is the 24V conversion 5V circuit diagram of the power module of the present utility model;

Fig. 3 is the circuit diagram of power supply module 5V conversion 3.3V of the present utility model;

Fig. 4 is the power conversion circuit of the power generating device of the present utility model;

Fig. 5 is the physical figure of the utility model application.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Figure 1, a power generation system based on a two-wheeled self-balancing car, including STM32 embedded processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder, accelerometer, DC brush Motor drives, power modules, power generators. The power module supplies power for STM32 embedded processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder, accelerometer, DC brushed motor driver, and the power generation device charges the power module;

The LCD display and touch screen module includes an LCD display and a touch screen, and both the LCD display and the touch screen are connected to the serial port of the STM32 embedded processor through a serial communication chip; gyroscope, photoelectric encoder, accelerometer, DC brush After the motor driver is isolated by the optocoupler, it is connected to different IO ports of the STM32 embedded processor; the DC brushed motor is indirectly connected to the IO port of the STM32 embedded processor through the DC brushed motor driver; the power module is equipped with 24V lead battery;

The power generating device includes a central shaft, a permanent magnet, a gear transmission, a coil winding and a power conversion circuit, the gear transmission includes a driving gear and a driven gear, the driving gear and the driven gear are meshed, and the driving gear and the self-balancing trolley The output shafts of DC brushed motors are connected, one end of the central shaft is set at the center of the driven gear, and a permanent magnet is fixed on the side of the other end; as a rotor to generate a rotating magnetic field, the coil winding is used as a stator sheath on the central shaft of the motor, and the permanent magnet can It is accommodated in the coil winding and can cut the magnetic induction line; the power generation device charges the 24V lead-acid battery in the power module through the power conversion circuit;

As shown in Figure 4, the power conversion circuit in the power generation device includes diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, diode D7, capacitor C1, capacitor C2, inductor L1, resistor R1, resistor R2, Resistor R3. Diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, capacitor C1 and coil winding form a three-phase uncontrollable rectifier circuit with capacitor filter. In the three-phase uncontrollable rectifier circuit with capacitor filter, the anode of diode D1 and The cathode of diode D4 is connected, the anode of diode D2 is connected with the cathode of diode D5, the anode of diode D3 is connected with the cathode of diode D6, the cathodes of diode D1, diode D2, and diode D3 are connected with one end of capacitor C1 at the same time; diode D4, diode D5, diode D6 The positive pole of the capacitor C2 is connected to the GND terminal at the same time; the other terminal of the capacitor C2 is connected to the GND terminal. The three-phase uncontrollable rectification circuit that passes through the capacitor filter after the coil winding sends out the voltage, converts the alternating current into direct current and connects it to the power input port of the power conversion chip (that is, the fifth pin); one end of the inductor L1 is connected to the power supply of the power conversion chip The input port is connected (that is, the fifth pin), and the other end is connected with the switch SW end of the power conversion chip (that is, the fourth pin) and the anode of the diode D7 at the same time, and the cathode of the diode D7 is connected with one end of the resistor R2 and the power supply at the same time. The 24V lead-acid battery in the module is connected, and the other end of the resistor R2 is connected with one end of the resistor R3 and the feedback FB end (the second pin) of the power conversion chip at the same time; one end of the resistor R1 is connected with the comparison COMP end of the power conversion chip ( That is, the first pin) is connected; the other end of the resistor R1 is connected to one end of the capacitor C2, and the other end of the capacitor C2 and the other end of the resistor R3 are both grounded; the ground GND end of the power conversion chip is connected to the ground (that is, the third pin foot). The model of the power conversion chip is LM2577.

The power supply module includes three voltage levels: 24V, 5V, and 3.3V; specifically, it includes a 24V lead-acid battery, a 24V voltage conversion 5V voltage circuit and a 5V voltage conversion 3.3V voltage circuit; the 24V lead-acid battery is converted into 5V, as shown in Figure 2, the 24V voltage conversion 5V voltage circuit includes power conversion chip U1, resistor R4, resistor R5, capacitor C3, inductor L2, voltage regulator tube D8, 24V lead-acid battery and power input terminal VIN of power conversion chip U1 terminal (the first pin), one terminal of capacitor C3 is connected, and the other terminal of capacitor C3 is connected with the switch terminal ON/OFF terminal of the power conversion chip U1, the ground terminal GND terminal, the positive pole of the regulator tube D8, and grounded; The negative electrode of the voltage regulator tube D8 is connected to the power output terminal VOUT of the power conversion chip U1 and one end of the inductor L2 at the same time, and the other end of the inductor L2 is connected to one end of the resistor R4 to output 5V voltage; one end of the resistor R5 is grounded, The other end of the resistor R5 and the other end of the resistor R4 are both connected to the feedback terminal FB of the power conversion chip U1; as shown in Figure 3, the 5V voltage conversion 3.3V voltage circuit includes the power conversion chip U2, capacitor C4, and capacitor C5; The 5V voltage output terminal (that is, one end of the resistor R4) is connected to the power input terminal VIN (that is, the third pin) of the power conversion chip U2 and one end of the capacitor C4, and the other end of the capacitor C4 and one end of the capacitor C5 are connected to the power conversion chip U2 The ground terminal GND terminal (namely the first pin) is connected to ground, and the other end of the capacitor C5 is connected to the power output terminal VOUT terminal (namely the second pin) of the power conversion chip U2, and outputs 3.3V voltage;

The model of the power conversion chip U1 is LM2596; the model of the power conversion chip U2 is LM1117;

Among them, the 24V lead-acid battery powers the DC brush motor; the 5V voltage supplies power for the gyroscope, photoelectric encoder, DC brush motor driver, LCD display and touch screen module; the 3.3V voltage supplies power for the STM32 embedded processor.

The STM32 embedded processor model is STM32F103VBT6, STM32F103RBT6, STM32F103ZET6 or STM32F103VCT6, etc., which are used for comprehensive control of the trolley's balance and running process. The existing balance trolleys are all involved, which can be checked; The serial communication chip is MAX232, the LCD display and touch screen module is TFT_LCD_2.8, the gyroscope model is ENC_03MB, the accelerometer model is MMA7361, the photoelectric encoder model is ZKX-6A-50BM7.5T-G05E, and the DC brush motor driver The chips are MOS-STP75NF and L6384, and the power conversion chips include LM2596, LM1117 and LM2577;

The utility model work process is as follows:

First, initialize the STM32 embedded processor, serial communication chip, LCD display and touch screen module, gyroscope, accelerometer, photoelectric encoder, DC brush motor driver, power module, power generation device and other parts when powering on , and then the gyroscope and photoelectric encoder perform data collection, and feed back the current center of gravity offset, angular velocity and speed of the car to the STM32 embedded processor. The STM32 embedded processor fuses the information through the software core algorithm, and then outputs the PWM signal through the DC brushless motor driver to control the torque of the two DC brush motors to keep the car body in balance. And it can automatically advance, retreat and turn according to the deviation of the center of gravity of the human body; if the user needs it, the speed of the trolley can be set through the LCD touch screen. When the car travels to a geographical location suitable for power generation, it will prompt the user, and the user can choose whether to generate power or not.

As shown in Figure 5, it is an application diagram of the present utility model, wherein the two-wheeled self-balancing trolley is existing.

Claims (4)

1. the electricity generation system based on double-wheel self-balancing dolly, double-wheel self-balancing dolly comprises STM32 flush bonding processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder and brush direct current motor, it is characterized in that comprising power module and Blast Furnace Top Gas Recovery Turbine Unit (TRT); Power module is STM32 flush bonding processor, serial communication chip, LCD display and touch screen module, gyroscope, photoelectric encoder, the brush direct current motor power supply in double-wheel self-balancing dolly, and Blast Furnace Top Gas Recovery Turbine Unit (TRT) is power module charging;

LCD display and touch screen module comprise LCD display and touch-screen, and LCD display and touch-screen are all connected on the serial port of STM32 flush bonding processor by serial communication chip; Gyroscope, photoelectric encoder, brush direct current motor driver by light-coupled isolation after, be connected respectively on the different I/O mouth of STM32 flush bonding processor; Brush direct current motor is connected with the IO mouth of STM32 flush bonding processor indirectly by brush direct current motor driver; In power module, be provided with 24V lead accumulator;

Described Blast Furnace Top Gas Recovery Turbine Unit (TRT) comprises central rotating shaft, permanent magnet, gear drive, coil windings and power-switching circuit, gear drive comprises driving gear and driven gear, driving gear and driven gear are meshed, and driving gear is connected with the brush direct current motor output shaft of self-balancing trolley; One end of central rotating shaft is arranged on driven gear center, and the side of the other end is fixed with permanent magnet; Produce rotating magnetic field as rotor, coil windings is enclosed within outward in motor center rotating shaft as stator, and permanent magnetism physical efficiency is contained in this coil windings and energy cutting magnetic induction line; Blast Furnace Top Gas Recovery Turbine Unit (TRT) is charged to the 24V lead accumulator in power module by power-switching circuit;

Power-switching circuit in Blast Furnace Top Gas Recovery Turbine Unit (TRT) comprises diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, diode D7, capacitor C 1, capacitor C 2, inductance L 1, resistance R 1, resistance R 2, resistance R 3; The uncontrollable rectification circuit of three-phase of diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, capacitor C 1 and coil windings composition capacitor filtering, in the uncontrollable rectification circuit of three-phase of capacitor filtering, the positive pole of diode D1 is connected with diode D4 negative pole, the positive pole of diode D2 is connected with diode D5 negative pole, the positive pole of diode D3 is connected with diode D6 negative pole, and the negative pole of diode D1, diode D2, diode D3 is connected with capacitor C 1 one end simultaneously; The anodal ground connection that is simultaneously connected with GND end of diode D4, diode D5, diode D6; The other end of capacitor C 2 is connected and is connected with GND end; Coil windings is sent the uncontrollable rectification circuit of three-phase through capacitor filtering after voltage, is connected after converting alternating current to direct current with the power input mouth of power conversion chip; One end of inductance L 1 is connected with the power input mouth of power conversion chip, the other end is connected with the switch SW end of power conversion chip, the positive pole of diode D7 simultaneously, the negative pole while of diode D7 is connected with the 24V lead accumulator in one end, the power module of resistance R 2, and the other end of resistance R 2 is connected with one end of resistance R 3, the feedback FB end of power conversion chip simultaneously; One end of resistance R 1 is connected with the comparison COMP end of power conversion chip; The other end of resistance R 1 is connected with one end of capacitor C 2, the other end of capacitor C 2, the equal ground connection of the other end of resistance R 3; The ground connection GND end grounding connection of power conversion chip;

Described power module comprises three electric pressure: 24V, 5V, 3.3V; Concrete 24V lead accumulator, 24V voltage transitions 5V potential circuit and the 5V voltage transitions 3.3V potential circuit of comprising;

24V voltage transitions 5V potential circuit comprises power conversion chip U1, resistance R 4, resistance R 5, capacitor C 3, inductance L 2, voltage-stabiliser tube D8,24V lead accumulator is connected with the power input VIN end of power conversion chip U1, one end of capacitor C 3, capacitor C 3 other ends are held with switch terminals ON/OFF end, the earth terminal GND of power conversion chip U1 simultaneously, the positive pole of voltage-stabiliser tube D8 is connected, and ground connection; The negative pole of voltage-stabiliser tube D8 is connected with the power output end VOUT end of power conversion chip U1, one end of inductance L 2 simultaneously, and the other end of inductance L 2 is connected with one end of resistance R 4, and exports 5V voltage; One end ground connection of resistance R 5, the other end of resistance R 5, the other end of resistance R 4 are all connected with the feedback end FB end of power conversion chip U1;

5V voltage transitions 3.3V potential circuit comprises power conversion chip U2, capacitor C 4, capacitor C 5; 5V voltage output end is connected with the power input VIN end of power conversion chip U2, one end of capacitor C 4, and one end of capacitor C 4 other ends, capacitor C 5 is connected with the earth terminal GND of power conversion chip U2 end, and ground connection; The other end of capacitor C 5 is connected with the power output end VOUT end of power conversion chip U2, and exports 3.3V voltage.

2. a kind of electricity generation system based on double-wheel self-balancing dolly as claimed in claim 1, its spy is that 24V lead accumulator is brush direct current motor power supply; 5V voltage is gyroscope, photoelectric encoder, brush direct current motor driver, LCD display and touch screen module power supply; 3.3V voltage is the power supply of STM32 flush bonding processor.

3. a kind of electricity generation system based on double-wheel self-balancing dolly as claimed in claim 1, its spy is that the model of described power conversion chip U1 comprises LM2596, LM1117 and LM2577; The model of described power conversion chip U2 is LM2577.

4. a kind of electricity generation system based on double-wheel self-balancing dolly as claimed in claim 1, its spy is that in double-wheel self-balancing dolly, STM32 flush bonding processor model is STM32F103VBT6, STM32F103RBT6, STM32F103ZET6 or STM32F103VCT6; Described serial communication chip is MAX232, LCD display and touch screen module are TFT_LCD_2.8, gyroscope model is ENC_03MB and MMA7361, and photoelectric encoder model is ZKX-6A-50BM7.5T-G05E, and brush direct current motor driver chip is MOS-STP75NF and L6384.