CN206162197U - Two -wheeled self -balancing bluetooth intelligent vehicle - Google Patents
Two -wheeled self -balancing bluetooth intelligent vehicle Download PDFInfo
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- CN206162197U CN206162197U CN201621152331.8U CN201621152331U CN206162197U CN 206162197 U CN206162197 U CN 206162197U CN 201621152331 U CN201621152331 U CN 201621152331U CN 206162197 U CN206162197 U CN 206162197U
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- module
- bluetooth
- balancing
- bluetooth module
- mobile phone
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Abstract
The utility model discloses a two -wheeled self -balancing bluetooth intelligent vehicle control system relates to the intelligent vehicle control system field, including android mobile phone (1), bluetooth module (2), main control unit (3), power module (4), the balanced module (5) of gesture, direct current motor drive module (6), revolver and right turbin generator, android mobile phone (1) is connected with bluetooth module (2), and transmitting data is carried out through bluetooth module (2) and main control unit (3) in android mobile phone (1), main control unit (3) be connected with direct current motor drive module (6), bluetooth module (2), power module (4), gesture balanced module (5) respectively, power module (4) link to each other with the balanced module (5) of bluetooth module (2), main control unit (3), gesture, revolver motor, right turbin generator respectively. The utility model discloses a bluetooth of the mobile phone is as the remote controller, establish with bluetooth module in the dolly (2) and be connected, and establish the dedicated communication passageway with the bluetooth mode of paiing, the anti -interference power of effectual improvement system and data transmission's real -time, the balanced module (5) of gesture has still been adopted, obtain more stable acceleration and the angular speed of dolly through kalman filtering algorithm, afterwards, utilize PID control algorithm to obtain accurate PWM value, through direct current motor drive module (6) effectively the control motor the rotational speed with turn to, make the dolly reach balanced state.
Description
Technical field
This utility model is related to remote operated vehicle technical field, and more particularly to one kind can be carried out to two by Bluetooth of mobile phone
Wheel dolly is remotely controlled the double-wheel self-balancing blue-tooth intelligence dolly of operation.
Background technology
Remote operated vehicle is now very common toy, and each dolly can be equipped with a special remote control, and remote control
It is easily damaged or loses, once damaging or losing, is difficult to find the remote control matched with former dolly, if it is possible to logical
Cross mobile phone bluetooth function to be controlled remote operated vehicle, remote control matching problem will be solved, meanwhile, can greatly facilitate remote control little
The use of car, so as to avoid prior art in remote operated vehicle be required to configure that volume is big, the defect of the remote control of heavier-weight.It is distant
Control dolly be essentially all four-wheel remote operated vehicle, for two-wheeled dolly be accomplished by solves the problems, such as balance.
The content of the invention
For problem above, this utility model is achieved through the following technical solutions：A kind of double-wheel self-balancing bluetooth intelligence
Can dolly include Android mobile phone, bluetooth module, master controller, power module, posture balancing module, DC motor Driver module,
Revolver and right wheel motor, the Android mobile phone is connected with bluetooth module, and Android mobile phone is carried out by bluetooth module with master controller
Transmission data, described master controller respectively with DC motor Driver module, bluetooth module, power module, posture balancing module
Connection, described power module respectively with bluetooth module, master controller, posture balancing module, revolver motor, right wheel motor phase
Even.
The master controller adopts ATMEGA328P-PU chips.
The posture balancing module adopts the axle sensor chips of MPU6050 six.
The DC motor Driver module adopt L298N chips, 5,6,7,10,11,12 feet respectively with ATMEGA328P-
3,10,4,6,11,7 feet of PU chips are connected, and 2,3,13,14 feet are connected with direct current generator.
The power module adopts LM2576 and AMS1117 voltage stabilizing chips, external 12V power supplys to carry out blood pressure lowering using LM2756
For 5V, AMS1117 is recycled the near 3.3V of 5V level for obtaining.Output 3.3V and 5V voltages, for bluetooth module, main control
Device, DC motor Driver module, posture balancing module for power supply.
The beneficial effects of the utility model are：This utility model adopts Bluetooth of mobile phone as remote control, with little in-car bluetooth
Module sets up connection, and sets up private communication passage in Bluetooth pairing mode, effectively improves the interference resistance and data of system
The real-time of transmission；Additionally use posture balancing module, by Kalman filtering algorithm obtain the more stable acceleration of dolly and
Angular velocity, afterwards, using pid control algorithm accurate PWM value is obtained, and by DC motor Driver module motor is efficiently controlled
Rotating speed and steering so that dolly reaches poised state.
Description of the drawings
Fig. 1 show hardware block diagram of the present utility model.
Fig. 2 show posture balancing module program design flow chart of the present utility model.
Fig. 3 show L298N motor circuit diagrams.
Fig. 4 show MPU6050 circuit theory diagrams.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only that this utility model part is implemented, rather than the reality of whole
Apply example.The combination of the technical characteristic or technical characteristic described in following embodiments is not construed as isolated, and they can
Superior technique effect is reached to be combined with each other.
The present embodiment provides a kind of double-wheel self-balancing blue-tooth intelligence dolly, as shown in figure 1, including Android mobile phone 1, bluetooth mould
Block 2, master controller 3, power module 4, posture balancing module 5, DC motor Driver module 6, revolver and right wheel motor.The peace
Zhuo Shouji 1 is connected with bluetooth module 2, and Android mobile phone 1 is transmitted data, described master by bluetooth module 2 and master controller 3
Controller 3 is connected respectively with DC motor Driver module 6, bluetooth module 2, power module 4, posture balancing module 5, described electricity
Source module 4 is connected respectively with bluetooth module 2, master controller 3, posture balancing module 4, revolver motor, right wheel motor.
As shown in Fig. 2 described posture balancing module 5, in order to reduce the drift of gyroscope and car body and swing to dolly
The impact of accelerometer, obtains more accurately tilting of car body angle value, needs to carry out the output valve of accelerometer and gyroscope
Fusion, using Kalman filtering algorithm accurate angular velocity and angle are obtained, then are accurately controlled dolly by pid control algorithm
Rotating.
As shown in figure 3, the DC motor Driver module 6 adopt L298N chips, 5,6,7,10,11,12 feet respectively with
3,10,4,6,11,7 feet of ATMEGA328P-PU chips are connected, 5,7,10,12 feet control respectively 2 direct current generators just,
Reversion, 6,11 controls respectively the rotating speed of 2 motors.2,3,13,14 feet are connected with direct current generator and have connect 8 and fast recover Xiao
Special based diode, diode can adopt 1N5822, connect diode and primarily serve as inductive load frequently with 1N5819, high current
The effect of freewheeling path, can be effectively protected chip.
As shown in figure 4, the posture balancing module 5 adopts the MPU6050 of Invensense companies, its attitude transducer is same
When be integrated with 3 axle accelerations and 3 axle gyroscopes, carry 16 AD conversion, acceleration analysis scope is ± 16g, and tilt angles are surveyed
Amount scope is less than 1 degree.So accelerometer and gyroscope need not be respectively used, and corresponding adc circuit, but data herein
Can not simply gather and use, in addition it is also necessary to which carrying out Kalman filtering blending algorithm can just obtain inclination angle.
Power module 4：Using LM2576 and AMS1117 voltage stabilizing chips, external 12V power supplys adopt LM2756 to carry out blood pressure lowering for
5V, recycles AMS1117 the near 3.3V of 5V level for obtaining.Output 3.3V and 5V voltages, for bluetooth module 2, main control
Device 3, DC motor Driver module 6, posture balancing module 5 are powered.
Bluetooth module 2：Using BLK-MD-BC04-B bluetooth modules be integrated with the BlueCore4-Ext of CSR companies of Britain
Chip, and follow bluetooth V2.1+EDR specification.The module supporting interface enriches, and supports SPP bluetooth serial ports agreements, with cost
Low, small volume, the advantages of low in energy consumption, transmitting-receiving susceptiveness is high, only need to be equipped with fraction of peripheral original paper and can be achieved with its powerful work(
Energy.
It is in sum preferred implementation of the present utility model, however it is not limited to this utility model, for the skill of this area
For art personnel, this utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle within, made
Any modification, equivalent conversion, improve, should be included within protection domain of the present utility model.
Claims (6)
1. a kind of double-wheel self-balancing blue-tooth intelligence dolly, it is characterised in that：Including Android mobile phone, bluetooth module, master controller, electricity
Source module, posture balancing module, DC motor Driver module, revolver and right wheel motor, the Android mobile phone connects with bluetooth module
Connect, Android mobile phone is transmitted data by bluetooth module and master controller, described master controller drives respectively with direct current generator
Dynamic model block, bluetooth module, power module, the connection of posture balancing module, described power module respectively with bluetooth module, main control
Device, posture balancing module, revolver motor, right wheel motor are connected.
2. a kind of double-wheel self-balancing blue-tooth intelligence dolly according to claim 1, it is characterised in that：The master controller is adopted
Use ATMEGA328P-PU chips.
3. a kind of double-wheel self-balancing blue-tooth intelligence dolly according to claim 1, it is characterised in that：The posture balancing mould
Block adopts the axle sensor chips of MPU6050 six.
4. a kind of double-wheel self-balancing blue-tooth intelligence dolly according to claim 1, it is characterised in that：The direct current generator drives
Dynamic model block adopt L298N chips, 5,6,7,10,11,12 feet respectively with ATMEGA328P-PU chips 3,10,4,6,11,7
Foot is connected, and 2,3,13,14 feet are connected with direct current generator.
5. a kind of double-wheel self-balancing blue-tooth intelligence dolly according to claim 1, it is characterised in that：The power module is adopted
With LM2576 and AMS1117 voltage stabilizing chips, external 12V power supplys adopt LM2756 to carry out blood pressure lowering for 5V, recycle AMS1117
The near 3.3V of 5V level for arriving, exports 3.3V and 5V voltages, for bluetooth module, master controller, DC motor Driver module, appearance
State balance module is powered.
6. a kind of double-wheel self-balancing blue-tooth intelligence dolly according to claim 1 or 5, it is characterised in that：Described bluetooth
Module uses BLK-MD-BC04-B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621152331.8U CN206162197U (en) | 2016-10-31 | 2016-10-31 | Two -wheeled self -balancing bluetooth intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621152331.8U CN206162197U (en) | 2016-10-31 | 2016-10-31 | Two -wheeled self -balancing bluetooth intelligent vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206162197U true CN206162197U (en) | 2017-05-10 |
Family
ID=58655846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621152331.8U Expired - Fee Related CN206162197U (en) | 2016-10-31 | 2016-10-31 | Two -wheeled self -balancing bluetooth intelligent vehicle |
Country Status (1)
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| CN (1) | CN206162197U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594798A (en) * | 2018-01-09 | 2018-09-28 | 南京理工大学 | A kind of the robot car system and its control method of the control that can be achieved to swarm |
| CN110440799A (en) * | 2019-09-19 | 2019-11-12 | 哈尔滨工程大学 | A kind of attitude angle measurement emerging system and method based on gyroscope and accelerometer |
| CN110554706A (en) * | 2019-09-25 | 2019-12-10 | 江苏理工学院 | visual navigation self-balancing vehicle and balancing method |
| CN110941281A (en) * | 2019-12-16 | 2020-03-31 | 华南理工大学广州学院 | Laser tracking balance car control system |
| CN110941280A (en) * | 2019-12-16 | 2020-03-31 | 华南理工大学广州学院 | Laser tracking balance car control method |
| CN111830823A (en) * | 2020-06-15 | 2020-10-27 | 江苏大学 | Balance trolley system capable of carrying rotary LED and control method |
| CN113220006A (en) * | 2021-05-08 | 2021-08-06 | 中科芯集成电路有限公司 | Self-balancing vehicle system based on multi-innovation Kalman filtering algorithm |
-
2016
- 2016-10-31 CN CN201621152331.8U patent/CN206162197U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594798A (en) * | 2018-01-09 | 2018-09-28 | 南京理工大学 | A kind of the robot car system and its control method of the control that can be achieved to swarm |
| CN108594798B (en) * | 2018-01-09 | 2021-04-16 | 南京理工大学 | Robot trolley system capable of realizing bee-hive control and control method thereof |
| CN110440799A (en) * | 2019-09-19 | 2019-11-12 | 哈尔滨工程大学 | A kind of attitude angle measurement emerging system and method based on gyroscope and accelerometer |
| CN110554706A (en) * | 2019-09-25 | 2019-12-10 | 江苏理工学院 | visual navigation self-balancing vehicle and balancing method |
| CN110941281A (en) * | 2019-12-16 | 2020-03-31 | 华南理工大学广州学院 | Laser tracking balance car control system |
| CN110941280A (en) * | 2019-12-16 | 2020-03-31 | 华南理工大学广州学院 | Laser tracking balance car control method |
| CN111830823A (en) * | 2020-06-15 | 2020-10-27 | 江苏大学 | Balance trolley system capable of carrying rotary LED and control method |
| CN113220006A (en) * | 2021-05-08 | 2021-08-06 | 中科芯集成电路有限公司 | Self-balancing vehicle system based on multi-innovation Kalman filtering algorithm |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20171031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |