CN206369951U - A kind of electronic two-wheeled balance car intelligent controlling device - Google Patents
A kind of electronic two-wheeled balance car intelligent controlling device Download PDFInfo
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- CN206369951U CN206369951U CN201720056304.9U CN201720056304U CN206369951U CN 206369951 U CN206369951 U CN 206369951U CN 201720056304 U CN201720056304 U CN 201720056304U CN 206369951 U CN206369951 U CN 206369951U
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- balance car
- controlling device
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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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Abstract
The utility model provides a kind of electronic two-wheeled balance car intelligent controlling device, belong to automation field, including coder module, preposition binocular camera shooting head module, rearmounted binocular camera shooting head module, attitude transducer module, energy-storage module, data processing module, main controller module, direction sensor module, power management and motor drive module and left and right motor module.Coder module, preposition binocular camera shooting head module, the output end of rearmounted binocular camera shooting head module and attitude transducer module are connected with data processing module；The data processing module is connected with main controller module；The output end of the direction sensor module is connected with main controller module；The power management and motor drive module are connected with data processing module and main controller module respectively；The output end of the energy-storage module is connected through power management and motor drive module with left and right motor module；The collection terminal of the coder module is connected with left and right motor module.
Description
Technical field
The utility model is related to automation field, is specifically to be related to a kind of electronic two-wheeled balance car intelligent control
Device.
Background technology
With the development of modern intelligent control technology, electronic two-wheeled balance car technology also improves constantly.Electronic two-wheeled
Balance car is a kind of new vehicles, with build it is compact, be easy to carry, it is easy to operate the features such as, it and common electric
Mode is different in tandem for Bicycles and Motorcycles wheel, but by the way of two-wheeled is fixed side by side.Nowadays the environmental protection of people
Consciousness is gradually strengthened, and lives towards intellectuality, the direction of facilitation is developed, and two-wheel electric Self-Balancing vehicle meets this trend, suitable
The trend in epoch has been answered, has there is good development prospect.
Electronic two-wheeled balance car is without brake system, using the gyroscope and acceleration transducer of vehicle body, to detect car
The change of body posture, and servo-control system is utilized, accurately motor is adjusted correspondingly, to keep the flat of vehicle
Weighing apparatus.It can be seen that, requirement of the electronic two-wheeled balance car to the stability and institute's gathered data real-time of hardware system is high, and tradition is electronic
Two-wheeled balance car often occurs because that can not meet above-mentioned requirements, in the process of moving the phenomenon such as powers off, can not turn suddenly, leads
Cause cycling human body to be driven by inertia to fall down, cause tumble injury.In order to improve the security reliability of electronic two-wheeled balance car, it is badly in need of one
Cover the higher electronic two-wheeled control system of balance car of more intelligent, safety coefficient.
Utility model content
What the utility model needed to solve is that existing electronic two-wheeled balance car system hardware stability is not high and gather number
According to real-time it is not strong the problem of there is provided a kind of electronic two-wheeled balance car intelligent controlling device.
The utility model solves the above problems by the following technical programs：
A kind of electronic two-wheeled balance car intelligent controlling device, including it is coder module, preposition binocular camera shooting head module, rearmounted
Binocular camera shooting head module, attitude transducer module, energy-storage module, data processing module, main controller module, direction sensor mould
Block, power management and motor drive module and left and right motor module；
The coder module, preposition binocular camera shooting head module, rearmounted binocular camera shooting head module and attitude transducer module
Output end be connected with data processing module；The data processing module is connected with main controller module；The direction sensing
The output end of device module is connected with main controller module；The power management and motor drive module respectively with data processing module
With main controller module connection；The output end of the energy-storage module is through power management and motor drive module and left and right motor module
Connection；The collection terminal of the coder module is connected with left and right motor module.
The utility model still further comprises the input of bluetooth module and/or USB module, bluetooth module and USB module
It is connected with main controller module；The bluetooth module with external equipment by being wirelessly connected；The USB module passes through USB line
It is connected with external equipment.
The utility model still further comprises voice module, and input and the main controller module of the voice module connect
Connect.
In such scheme, preferably filter inductance is provided between energy-storage module and power management and motor drive module
L1、L2With filter capacitor C1, the filter inductance L1And L2It is connected on respectively on two wires of energy-storage module output end；The filter
Ripple electric capacity C1It is connected in parallel on two wires of energy-storage module output end.
In such scheme, preferably power management and motor drive module are provided with filter with left and right motor module junction
Ripple electric capacity C2, the filter capacitor C2It is connected in parallel on the output end of power management and motor drive module.
In such scheme, preferably power management and motor drive module and data processing module and main controller module
Junction is provided with optical coupling isolator.
In such scheme, preferably data processing module uses model 66AK2H14 data processor.
In such scheme, preferably main controller module uses model STM32F767 main control chip.
In such scheme, preferably attitude transducer module is mainly made up of balance sensor；Balance sensor it is defeated
Go out end to be connected with main controller module.
Advantage of the present utility model is with effect：
1. the utility model is carried out to data processing module respectively by using data processing module and main controller module
The quick processing of mass data, can greatly improve the real-time of institute's gathered data, and then ensure the response speed and peace of system
Quan Xing, main controller module, which is used to instruct, to be controlled so that control is sensitiveer, data processing and control is separated, existing electricity
The problem of moving not high two-wheeled balance car system hardware stability and not strong institute's gathered data real-time；
2. the utility model combines front and rear two-sided camera, available for the detection of front and rear object target, for anticollision detection,
Make intelligent product degree higher, improve security when user uses；
3. the utility model is connected in power management and motor drive module with data processing module and main controller module
Place is provided with optical coupling isolator, so as to reduce shadow of the forceful electric power to processor in data processing module and main controller module
Ring so that security is higher.
Brief description of the drawings
Fig. 1 is the utility model structured flowchart.
Embodiment
The utility model is described in further detail with reference to embodiments.
A kind of electronic two-wheeled balance car intelligent controlling device, as shown in figure 1, including coder module, preposition binocular camera shooting
Head module, rearmounted binocular camera shooting head module, attitude transducer module, energy-storage module, data processing module, main controller module,
Direction sensor module, bluetooth module, USB module, voice module, power management and motor drive module and left and right motor mould
Block.The data processing module uses model 66AK2H14 data processor.The main controller module uses model
STM32F767 main control chip.
As shown in figure 1, being provided with filter inductance L between energy-storage module and power management and motor drive module1、L2And filtering
Electric capacity C1, the filter inductance L1And L2It is connected on respectively on company's root wire of energy-storage module output end；The filter capacitor C1And
It is associated on two wires of energy-storage module output end.For the filtering process to exporting electric energy so that the electric energy of input is more steady
It is fixed.Power management and motor drive module are provided with filter capacitor C with left and right motor module junction2, the filter capacitor C2And
It is associated in the output end of power management and motor drive module.
As shown in figure 1, the coder module, preposition binocular camera shooting head module, rearmounted binocular camera shooting head module and posture
The output end of sensor assembly is connected with data processing module.Preposition binocular camera shooting head module and rearmounted binocular camera shooting head module
Obstacle information before and after collection balance car, and the information of collection is transmitted to data processor module in real time.Acquisition process is to adopt
Collect image, disparity map is asked for image, calculated by road plane equation, ask for height map, export testing result.Image obstacle
Analyte detection has been the technology of comparative maturity.The collection terminal of the coder module is connected with left and right motor module, encoder mould
Block gathers the rotary speed information of left and right motor in real time, and the information of collection is transmitted to data processor module.Attitude transducer module
Mainly it is made up of balance sensor；The output end of balance sensor is connected with main controller module.The appearance of balance car is gathered in real time
State information, and the information of collection is transmitted to data processor module.
The data processing module is connected with main controller module, realizes the unified transmission after data processing.The direction
The output end of sensor assembly is connected with main controller module, and direction sensor module gathers the directional information of steering yoke in real time,
And the information of collection is transmitted to main controller module.The power management and motor drive module respectively with data processing module and
Main controller module is connected.The output end of the energy-storage module connects through power management and motor drive module with left and right motor module
Connect.
Power management and motor drive module include power management circuit and motor-drive circuit, and power management circuit is main
Including step-up/step-down circuit and mu balanced circuit, buck processing is carried out to voltage and voltage stabilizing is handled so that the electric energy of output is more steady
It is fixed.Motor-drive circuit is driven to two electrodes of left and right motor module.Main controller module is passed to data processing module
After the further calculation process of data entered, according to correlation result, by power management and motor drive module to left and right
Motor is controlled, final to realize balance.
Bluetooth module and the input of USB module are connected with main controller module；The bluetooth module by wirelessly with
External equipment is connected；The USB module is connected by USB line with external equipment.External equipment can be to collect or tablet personal computer,
User can be as needed, and the relevant information of balance car is transferred into mobile phone by bluetooth module or USB module is shown in real time.
In addition, balance car relevant information can also be reported out by voice module by voice, the input of the voice module
It is connected with main controller module.
The preferred embodiment that the utility model is created is illustrated above, but the utility model is not limited to
Embodiment, those skilled in the art can also make a variety of etc. on the premise of without prejudice to the utility model creative spirit
Same modification or replacement, these equivalent modifications or replacement are all contained in scope of the present application.
Claims (9)
1. a kind of electronic two-wheeled balance car intelligent controlling device, it is characterised in that:Including coder module, preposition binocular camera
Module, rearmounted binocular camera shooting head module, attitude transducer module, energy-storage module, data processing module, main controller module, side
To sensor assembly, power management and motor drive module and left and right motor module；
The coder module, preposition binocular camera shooting head module, rearmounted binocular camera shooting head module and attitude transducer module it is defeated
Go out end to be connected with data processing module；The data processing module is connected with main controller module；The direction sensor mould
The output end of block is connected with main controller module；The power management and motor drive module respectively with data processing module and master
Controller module is connected；The output end of the energy-storage module connects through power management and motor drive module with left and right motor module
Connect；The collection terminal of the coder module is connected with left and right motor module.
2. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：Also include bluetooth
The input of module and/or USB module, bluetooth module and USB module is connected with main controller module；The bluetooth module leads to
Cross and be wirelessly connected with external equipment；The USB module is connected by USB line with external equipment.
3. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：Also include voice
Module, the input of the voice module is connected with main controller module.
4. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：The energy storage mould
Filter inductance L is provided between block and power management and motor drive module1、L2With filter capacitor C1, the filter inductance L1And L2
It is connected on respectively on two wires of energy-storage module output end；The filter capacitor C1It is connected in parallel on two of energy-storage module output end
On wire.
5. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：The power supply pipe
Reason and motor drive module are provided with filter capacitor C with left and right motor module junction2, the filter capacitor C2It is connected in parallel on power supply
Management and the output end of motor drive module.
6. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：The power supply pipe
Reason and motor drive module are provided with optical coupling isolator with data processing module and main controller module junction.
7. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：At the data
Manage the data processor that module uses model 66AK2H14.
8. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：The main control
Device module uses model STM32F767 main control chip.
9. a kind of electronic two-wheeled balance car intelligent controlling device according to claim 1, it is characterised in that：The posture is passed
Sensor module is mainly made up of balance sensor；The output end of balance sensor is connected with main controller module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720056304.9U CN206369951U (en) | 2017-01-17 | 2017-01-17 | A kind of electronic two-wheeled balance car intelligent controlling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720056304.9U CN206369951U (en) | 2017-01-17 | 2017-01-17 | A kind of electronic two-wheeled balance car intelligent controlling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206369951U true CN206369951U (en) | 2017-08-01 |
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ID=59391918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720056304.9U Expired - Fee Related CN206369951U (en) | 2017-01-17 | 2017-01-17 | A kind of electronic two-wheeled balance car intelligent controlling device |
Country Status (1)
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| CN (1) | CN206369951U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985487A (en) * | 2017-12-22 | 2018-05-04 | 许昌学院 | Autobalance vehicle control |
| CN108459606A (en) * | 2018-03-29 | 2018-08-28 | 哈尔滨理工大学 | A kind of Intelligent tracing racing balance car based on neural network |
| CN110038666A (en) * | 2019-05-13 | 2019-07-23 | 闽江师范高等专科学校 | Intelligent crushing machine and working method |
-
2017
- 2017-01-17 CN CN201720056304.9U patent/CN206369951U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985487A (en) * | 2017-12-22 | 2018-05-04 | 许昌学院 | Autobalance vehicle control |
| CN107985487B (en) * | 2017-12-22 | 2024-01-30 | 许昌学院 | Automatic balance car control system |
| CN108459606A (en) * | 2018-03-29 | 2018-08-28 | 哈尔滨理工大学 | A kind of Intelligent tracing racing balance car based on neural network |
| CN110038666A (en) * | 2019-05-13 | 2019-07-23 | 闽江师范高等专科学校 | Intelligent crushing machine and working method |
| CN110038666B (en) * | 2019-05-13 | 2024-03-29 | 闽江师范高等专科学校 | Intelligent crushing machine |
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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: 20170801 Termination date: 20180117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |