CN206569187U - A kind of electronic two-wheeled balance truck control device based on data fusion positioning - Google Patents
A kind of electronic two-wheeled balance truck control device based on data fusion positioning Download PDFInfo
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- CN206569187U CN206569187U CN201720200318.3U CN201720200318U CN206569187U CN 206569187 U CN206569187 U CN 206569187U CN 201720200318 U CN201720200318 U CN 201720200318U CN 206569187 U CN206569187 U CN 206569187U
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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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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The utility model provides a kind of electronic two-wheeled balance truck control device based on data fusion positioning, belong to balance car control field, including steering angle sensor module, attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module, front camera module, left and right motor module, drive control management module and energy-storage module.Fusion treatment is carried out by the location information of Big Dipper wireless locating module, GPS wireless locating modules and front camera module, balance car positioning precision can be greatly improved, and then ensures the navigation effect of system, the usability and stability of balance car is improved.
Description
Technical field
The utility model is related to balance car control field, more particularly to a kind of electronic two-wheeled based on data fusion positioning
Balance truck 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.
Have benefited from the progress of artificial intelligence technology, electronic two-wheeled balance car of today has also been gradually injected more artificial intelligence
Can element.As people using electronic two-wheeled balance car realize walk, see road, note road, downstairs buy coffee, take express delivery, park assistant
With the automatic function such as follow.It is well known that electronic two-wheeled balance car can realize above-mentioned functions, on condition that possessing a powerful nothing
Line locating module and high-speed core controller are supported as system.The electronic two-wheeled balance car of tradition is often because of wireless location system
Accuracy is not high, causes vehicle navigation effect to reach perfect condition far away.In order to improve electronic two-wheeled balance car practicality and
Reliability, is badly in need of a set of high accuracy positioning, the electronic two-wheeled control system of balance car of high safety factor.
Utility model content
The utility model provides a kind of electronic two-wheeled balance truck control device based on data fusion positioning, solves existing electricity
Move the problem of two-wheeled balance car system wireless setting accuracy is not high.
The utility model solves the above problems by the following technical programs：
A kind of electronic two-wheeled balance truck control device based on data fusion positioning, including steering angle sensor module,
Attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module, front camera
Module, left and right motor module, drive control management module and energy-storage module；
The output end of the steering angle sensor module and attitude transducer module is connected with main controller module；It is described
The collection terminal of coder module is connected with left and right motor module；The output end of the coder module connects with main controller module
Connect；The human-computer interaction module is connected with main controller module；The output end of the high accuracy positioning module and master controller mould
Block is connected；The output end of the front camera module is connected with main controller module；The output end of the energy-storage module is through driving
Dynamic control management module is connected with left and right motor module；The output end of the main controller module connects with drive control management module
Connect.
In such scheme, preferably high accuracy positioning module includes Big Dipper wireless location circuit and GPS wireless locations electricity
Road, the output end of Big Dipper wireless location circuit and GPS the wireless location circuit is connected with main controller module.
In such scheme, preferably steering angle sensor module include speed obtain circuit, direction Acquisition Circuit and
Direction sensor；The input that the speed obtains circuit is connected with the data terminal of outside automobile master controller；Adopt in the direction
The input of collector is connected by the wheel direction rotating shaft of direction sensor and balance car；The direction sensor is arranged on car
Take turns in the rotating shaft of direction.
In such scheme, preferably direction sensor uses model RPI-1031 four direction sensors.
In such scheme, preferably drive control management module includes motor-drive circuit and electric power management circuit, institute
The control end for stating motor-drive circuit and electric power management circuit is connected with main controller module, the motor-drive circuit it is defeated
Go out end to be connected with left and right motor module；The electric power management circuit connection left and right motor module is powered.
In such scheme, preferably optical coupling isolator mould is connected between main controller module and drive control management module
Block, main controller module is connected through optical coupling isolator module with drive control management module.
In such scheme, preferably main controller module includes microprocessor and clock circuit, and the microprocessor makes
With the singlechip chip of model STM32 series, the output end of clock circuit is connected with microprocessor.
In such scheme, preferably human-computer interaction module position touch display screen.
Advantage of the present utility model is with effect：
1st, the utility model determining by Big Dipper wireless locating module, GPS wireless locating modules and front camera module
Position information carries out fusion treatment, can greatly improve balance car positioning precision, and then ensures the navigation effect of system, improves balance
The usability and stability of car；
2nd, the utility model is provided with optical coupling isolator between main controller module and drive control management module, so as to
Enough reduce influence of the forceful electric power to processor in data processing module and main controller module so that security is higher.
Brief description of the drawings
Fig. 1 is the utility model structural frames.
Embodiment
The utility model is described in further detail with reference to embodiments.
A kind of electronic two-wheeled balance truck control device based on data fusion positioning, as shown in figure 1, being passed including steering angle
Sensor module, attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module,
Front camera module, optical coupling isolator module, left and right motor module, drive control management module and energy-storage module.
The output end of steering angle sensor module and attitude transducer module is connected with main controller module.Steering angle
Sensor assembly includes speed and obtains circuit, direction Acquisition Circuit and direction sensor；The speed obtains the input of circuit
It is connected with the data terminal of outside automobile master controller；The input of the direction Acquisition Circuit passes through direction sensor and balance car
Wheel direction rotating shaft connection；The direction sensor is arranged in the rotating shaft of wheel direction.Direction sensor uses model
RPI-1031 four direction sensors.
The collection terminal of coder module is connected with left and right motor module, and coder module mainly includes coding circuit, passes through
The mode of coding collection gathers the working order of motor, plays a part of feedback, is then further controlled according to feedback.Compile
Code circuit is existing coding circuit.The output end of coder module is connected with main controller module, and the signal of collection is transmitted to
Main controller module.
Human-computer interaction module is connected with main controller module, and human-computer interaction module position touch display screen, user can touch
Touch display screen and inquire about the destination or the geographical position residing for oneself for oneself needing to reach, so as to preferably carry out out every trade
Sail.
The output end of high accuracy positioning module is connected with main controller module.It is wirelessly fixed that high accuracy positioning module includes the Big Dipper
Position circuit and GPS wireless location circuits, the output end of Big Dipper wireless location circuit and GPS the wireless location circuit is and master control
Device module connection processed.Big Dipper wireless location circuit and GPS wireless location circuits are existing positioning circuit, wireless by the Big Dipper
Positioned while positioning circuit and GPS wireless location circuits, then location information is carried out carry out fusion treatment, can greatly improved
Balance car positioning precision, and then ensure the navigation effect of system.
The output end of front camera module is connected with main controller module, and front camera module includes camera sum
According to line, the video data of collection is transmitted to main controller module, then human-computer interaction module is transmitted to by main controller module is shown
Show, can preferably check the situation in front.
Drive control management module includes motor-drive circuit and electric power management circuit, the motor-drive circuit and power supply
The control end of management circuit is connected with main controller module, and output end and the left and right motor module of the motor-drive circuit connect
Connect；The electric power management circuit connection left and right motor module is powered.The driving of motor and the control management of out-put supply are played, is entered
Row boosting or decompression etc., are completed by existing booster circuit and reduction voltage circuit.
The output end of energy-storage module is connected through drive control management module with left and right motor module；Main controller module it is defeated
Go out end to be connected with drive control management module.Energy-storage module treasured is battery and charging inlet circuit, the model of battery and defeated
The size of the voltage gone out designed according to user the need for depending on.Left and right motor module is two motors of two driving moments, this
Two motors are brushless electric machine, are existing motor.
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 (8)
1. a kind of electronic two-wheeled balance truck control device based on data fusion positioning, it is characterised in that：Passed including steering angle
Sensor module, attitude transducer module, coder module, main controller module, human-computer interaction module, high accuracy positioning module,
Front camera module, left and right motor module, drive control management module and energy-storage module；
The output end of the steering angle sensor module and attitude transducer module is connected with main controller module；The coding
The collection terminal of device module is connected with left and right motor module；The output end of the coder module is connected with main controller module；Institute
Human-computer interaction module is stated to be connected with main controller module；The output end of the high accuracy positioning module connects with main controller module
Connect；The output end of the front camera module is connected with main controller module；The output end of the energy-storage module is controlled through driving
Management module processed is connected with left and right motor module；The output end of the main controller module is connected with drive control management module.
2. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 1, its feature
It is：The high accuracy positioning module includes Big Dipper wireless location circuit and GPS wireless location circuits, the Big Dipper wireless location
The output end of circuit and GPS wireless location circuits is connected with main controller module.
3. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 1, its feature
It is：The steering angle sensor module includes speed and obtains circuit, direction Acquisition Circuit and direction sensor；The speed
The input for obtaining circuit is connected with the data terminal of outside automobile master controller；The input of the direction Acquisition Circuit passes through side
Connected to the wheel direction rotating shaft of sensor and balance car；The direction sensor is arranged in the rotating shaft of wheel direction.
4. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 3, its feature
It is：The direction sensor uses model RPI-1031 four direction sensors.
5. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 1, its feature
It is：The drive control management module includes motor-drive circuit and electric power management circuit, the motor-drive circuit and electricity
The control end of power management circuits is connected with main controller module, output end and the left and right motor module of the motor-drive circuit
Connection；The electric power management circuit connection left and right motor module is powered.
6. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 1, its feature
It is：Optical coupling isolator module is connected between the main controller module and drive control management module, main controller module is through light
Coupling isolator module is connected with drive control management module.
7. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 1, its feature
It is：The main controller module includes microprocessor and clock circuit, and the microprocessor uses model STM32 series
Singlechip chip, the output end of clock circuit is connected with microprocessor.
8. a kind of electronic two-wheeled balance truck control device based on data fusion positioning according to claim 1, its feature
It is：Human-computer interaction module position touch display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720200318.3U CN206569187U (en) | 2017-03-02 | 2017-03-02 | A kind of electronic two-wheeled balance truck control device based on data fusion positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720200318.3U CN206569187U (en) | 2017-03-02 | 2017-03-02 | A kind of electronic two-wheeled balance truck control device based on data fusion positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206569187U true CN206569187U (en) | 2017-10-20 |
Family
ID=60056357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720200318.3U Expired - Fee Related CN206569187U (en) | 2017-03-02 | 2017-03-02 | A kind of electronic two-wheeled balance truck control device based on data fusion positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206569187U (en) |
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2017
- 2017-03-02 CN CN201720200318.3U patent/CN206569187U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171020 Termination date: 20180302 |