CN206741309U - A kind of double-wheel self-balancing dolly - Google Patents
A kind of double-wheel self-balancing dolly Download PDFInfo
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- CN206741309U CN206741309U CN201720583396.6U CN201720583396U CN206741309U CN 206741309 U CN206741309 U CN 206741309U CN 201720583396 U CN201720583396 U CN 201720583396U CN 206741309 U CN206741309 U CN 206741309U
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- double
- balancing
- wheel self
- module
- trolley body
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Abstract
The utility model proposes a kind of double-wheel self-balancing dolly, including trolley body, the trolley body connects double-wheel self-balancing control device, and the double-wheel self-balancing control device includes：Power supply module, for the consuming parts power supply to the double-wheel self-balancing control device；Sensor package module, for gathering the information to the vehicle body attitude of the trolley body；Controller module, for the rotation according to the vehicle body attitude information controlled motor；Moving parts module, for realizing the motion of the trolley body.Implement the utility model double-wheel self-balancing dolly, simple in construction, multiple functional, manufacturing cost is relatively low, control system reaction speed is fast, and control is accurate, can control the upright self-balancing trolley fast reaction of two-wheeled and balance movement.
Description
Technical field
Robot application technology field is the utility model is related to, more particularly to a kind of double-wheel self-balancing dolly.
Background technology
In robot application technology field, double-wheel self-balancing dolly is had by its unstable dynamic property and system
Strong nonlinearity, attract the research interest of numerous robot fans all over the world, turn into the reason for verifying various control theories
Think platform.With the development of technology and the increase of demand, the requirement to robot is growing day by day.Double-wheel self-balancing dolly is integrated
The technology such as machinery, electronics, communication, automation, artificial intelligence, embedded is related to sensing in the small intelligent robot of one
The domain knowledges such as device application, data fusion, Attitude Calculation, motor control, and a preferable teaching experimental equipment, many are taken out
The control concept of elephant can intuitively be expressed by double-wheel self-balancing dolly.But the double-wheel self-balancing of prior art is small
Bassinet structure is complicated, function is single, costly, can not be applied to field of Education and teaching as teaching experimental equipment.
Utility model content
In order to solve the problems, such as the above, the utility model offer one kind is simple in construction, multiple functional, manufacturing cost is relatively low,
Reaction speed is fast, controls a kind of accurate double-wheel self-balancing dolly.
The utility model discloses a kind of double-wheel self-balancing dolly, including trolley body, the trolley body connects two-wheeled
Self-balancing control device, the double-wheel self-balancing control device include：
Power supply module, for the consuming parts power supply to the double-wheel self-balancing control device；
Sensor package module, for gathering the information to the vehicle body attitude of the trolley body；
Controller module, the rotation for the information controlled motor according to the vehicle body attitude；
Moving parts module, for realizing the motion of the trolley body.
Further, the double-wheel self-balancing control device also includes the communication mould being connected with the controller module
Block, the communication module can receive the instruction of host computer, so as to control the trolley body complete forward motion, backward movement,
Turn-take action.
Further, the communication module is in GPRS Mo Kuai ﹑ 3G Mo Kuai ﹑ 4G Mo Kuai ﹑ WIFI modules and bluetooth module
It is at least one.
Further, the host computer is Android APP or the Ios APP or wechat client or electricity of default mobile phone
Brain application program.
Implement a kind of double-wheel self-balancing dolly of the present utility model, there is technique effect beneficial below：
It is single, costly to be different from double-wheel self-balancing vehicle structure complexity, function in the prior art, teaching can not be used as
Experimental facilities is applied to the problem of field of Education and teaching.The utility model is simple in construction, multiple functional, manufacturing cost is relatively low, control
System response speed processed is fast, and control is accurate, can control the upright self-balancing trolley fast reaction of two-wheeled and balance movement.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the functions of modules figure of embodiment double-wheel self-balancing dolly of the present utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Referring to Fig. 1, a kind of double-wheel self-balancing dolly 1 that embodiment of the present utility model provides, including trolley body
100, trolley body 100 connects double-wheel self-balancing control device 200, and double-wheel self-balancing control device 200 includes：
Power supply module 10, for the consuming parts power supply to double-wheel self-balancing control device 200；
Sensor package module 20, for gathering the information to the vehicle body attitude of trolley body 100；
Controller module 30, the rotation for the information controlled motor according to vehicle body attitude；
Moving parts module 40, for realizing the motion of trolley body 100.
According to a specific embodiment, the double-wheel self-balancing control device 200 also includes being connected with controller module 30
Communication module 50, communication module 50 can receive the instruction of host computer, so as to control trolley body 100 complete forward motion, after
Move back is made, action of turn-taking.
According to a specific embodiment, the communication module 50 is GPRS Mo Kuai ﹑ 3G Mo Kuai ﹑ 4G Mo Kuai ﹑ WIFI modules and indigo plant
At least one of tooth module.
According to a specific embodiment, the host computer is objective for Android APP or the Ios APP or wechat of default mobile phone
Family end or computer application program.
It is explained further below：
What the utility model was realized in：Double-wheel self-balancing dolly, including to provide the 7.4V power supplys of the energy including
Motor drive to the main control chip of controlled motor driving, to detect the sensor of vehicle body attitude, be rotated to drive motor
Dynamic chip, to drive the motor of body movement, for detecting the sensor of motor speed.
The principle of double-wheel self-balancing dolly：Use ARM (full name is Acorn RISC Machine) 32 single-chip microcomputers of kernel
STM32F103C8T6 or enhanced 51 single-chip microcomputer IAP15W4K61S4 or the Arduino Nano of high-performance increases income hardware module conduct
Main control chip, using the axle motion process component sensors MPU-6050 of high-performance conformability six as sensor, use Toshiba half
The TB6612FNG motor drive ic motors of conductor production, wireless remote control communication mould is used as using SPP-C bluetooth modules
Block, executing agency is used as using DC speed-reducing TT motors.It is certainly flat that two-wheeled is obtained by combining six axle motion process components
Weigh dolly attitude information, is rotated by pid algorithm controlled motor, double-wheel self-balancing dolly is kept upright poised state, simultaneously
Instruction is assigned to double-wheel self-balancing dolly by bluetooth module, double-wheel self-balancing dolly can be controlled to complete advance, retreat, turn-taking
Deng a series of actions.
Implement a kind of double-wheel self-balancing dolly of the present utility model, there is technique effect beneficial below：
It is single, costly to be different from double-wheel self-balancing vehicle structure complexity, function in the prior art.The utility model knot
Structure is simple, multiple functional, manufacturing cost is relatively low, and control system reaction speed is fast, and control is accurate, can control the upright self-balancing of two-wheeled
Dolly fast reaction and balance movement.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (4)
1. a kind of double-wheel self-balancing dolly, including trolley body, the trolley body connects double-wheel self-balancing control device, described
Double-wheel self-balancing control device includes：
Power supply module, for the consuming parts power supply to the double-wheel self-balancing control device；
Sensor package module, for gathering the information to the vehicle body attitude of the trolley body；
Controller module, the rotation for the information controlled motor according to the vehicle body attitude；
Moving parts module, for realizing the motion of the trolley body.
2. double-wheel self-balancing dolly according to claim 1, it is characterised in that the double-wheel self-balancing control device also wraps
The communication module being connected with the controller module is included, the communication module can receive the instruction of host computer, so as to control
State trolley body and complete forward motion, backward movement, action of turn-taking.
3. double-wheel self-balancing dolly according to claim 2, it is characterised in that the communication module is GPRS Mo Kuai ﹑ 3G
At least one of Mo Kuai ﹑ 4G Mo Kuai ﹑ WIFI modules and bluetooth module.
4. double-wheel self-balancing dolly according to claim 2, it is characterised in that the host computer is default mobile phone
Android APP or Ios APP or wechat client or computer application program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720583396.6U CN206741309U (en) | 2017-05-24 | 2017-05-24 | A kind of double-wheel self-balancing dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720583396.6U CN206741309U (en) | 2017-05-24 | 2017-05-24 | A kind of double-wheel self-balancing dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206741309U true CN206741309U (en) | 2017-12-12 |
Family
ID=60566765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720583396.6U Expired - Fee Related CN206741309U (en) | 2017-05-24 | 2017-05-24 | A kind of double-wheel self-balancing dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206741309U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871023A (en) * | 2019-03-27 | 2019-06-11 | 乐山师范学院 | Body-sensing remote operated vehicle apparatus control system |
| CN110119146A (en) * | 2019-04-30 | 2019-08-13 | 西安工程大学 | A kind of control system and method following balancing trolley certainly |
-
2017
- 2017-05-24 CN CN201720583396.6U patent/CN206741309U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871023A (en) * | 2019-03-27 | 2019-06-11 | 乐山师范学院 | Body-sensing remote operated vehicle apparatus control system |
| CN110119146A (en) * | 2019-04-30 | 2019-08-13 | 西安工程大学 | A kind of control system and method following balancing trolley certainly |
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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: 20171212 Termination date: 20180524 |