CN208630789U - Control mechanism and balance car applied to balance car - Google Patents
Control mechanism and balance car applied to balance car Download PDFInfo
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- CN208630789U CN208630789U CN201821278488.4U CN201821278488U CN208630789U CN 208630789 U CN208630789 U CN 208630789U CN 201821278488 U CN201821278488 U CN 201821278488U CN 208630789 U CN208630789 U CN 208630789U
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Abstract
The utility model relates to a kind of control mechanisms and balance car applied to balance car, wherein being applied to the control mechanism of balance car, comprising: attitude detection module, controller module and metal-oxide-semiconductor driving circuit；Controller module is electrically connected with attitude detection module and metal-oxide-semiconductor driving circuit respectively；And controller module is suitable for receiving the posture information of the balance car of attitude detection module detection, and controls motor by metal-oxide-semiconductor driving circuit according to posture information, so that balance car be made to reach balance.It realizes that an attitude detection module and a driving motor make single wheel balance car reach balance by the control mechanism, is not communicated between two single wheel balance cars, reduce the chip of communication, reduce the production cost of balance car.
Description
Technical field
The utility model relates to balance car fields, in particular to a kind of control mechanism applied to balance car and put down
Weigh vehicle.
Background technique
Traditional balance car is all by one piece of drive control mainboard while to control two motors in left and right, and the left and right of balance car
Two attitude detection modules are also installed respectively above the foot pedal of both sides, the posture information of the right and left is detected respectively, are driven
The information that dynamic control mainboard will detect two attitude detection modules is analyzed, when using the single wheel balance car occurred in pairs
Che Shi, when the information of two attitude detection modules detection is by two control mainboard processing, two control mainboard needs are mutually communicated
Letter, needs additionally to increase communication module at this time, causes the circuit of the control mechanism of single wheel balance car complicated, at high cost.
How to solve the above problems, is urgently to be resolved at present.
Utility model content
The purpose of the utility model is to provide a kind of control mechanisms and balance car applied to balance car, to realize to single wheel
The control of balance car.
To achieve the goals above, the utility model embodiment the technical solution adopted is as follows:
The utility model embodiment provides a kind of control mechanism applied to balance car, comprising: attitude detection module, control
Device module processed and metal-oxide-semiconductor driving circuit；
The controller module is electrically connected with the attitude detection module and metal-oxide-semiconductor driving circuit respectively；And
The controller module is suitable for receiving the posture information of the balance car of the attitude detection module detection, and according to institute
It states posture information and motor is controlled by the metal-oxide-semiconductor driving circuit, so that balance car be made to reach balance.
In the utility model preferred embodiment,
The attitude detection module is gyroscope；
The data terminal and clock end of the gyroscope are connected separately with pull-up resistor R32 and pull-up resistor R33.
In the utility model preferred embodiment, the controller module includes main control chip and reset circuit；
The receiving end of the main control chip and the attitude detection module are electrically connected, and are suitable for receiving the attitude detection
The posture information that module is sent；
The reset terminal of the reset circuit and the main control chip is electrically connected, and is suitable for resetting main control chip.
In the utility model preferred embodiment, the reset circuit includes resistance R31 and capacitor C26；
One end of the resistance R31 and high level are electrically connected, and the other end of the resistance R31 is grounded by capacitor C26；
The reset terminal of the main control chip is electrically connected between the resistance R31 and the capacitor C26.
In the utility model preferred embodiment, the quantity of the metal-oxide-semiconductor driving circuit is three, and respectively with motor
A phase, B phase and C phase be electrically connected.
In the utility model preferred embodiment,
The metal-oxide-semiconductor driving circuit includes driving chip；
The receiving end of the driving chip and the controller module are electrically connected, and are suitable for receiving the controller module
The control signal of transmission；
The high output terminal of the driving chip is electrically connected by the grid of resistance R7 and metal-oxide-semiconductor V1；
The low output end of the driving chip is electrically connected by the grid of resistance R19 and metal-oxide-semiconductor V2
The voltage output end of the driving chip and the A phase of motor are electrically connected；
The drain electrode of the metal-oxide-semiconductor V2 is electrically connected with the source electrode of the metal-oxide-semiconductor V1；
The source electrode of the metal-oxide-semiconductor V2 is grounded by resistance R42；
The drain electrode of the metal-oxide-semiconductor V1 and the anode of power supply are electrically connected.
In the utility model preferred embodiment, the control mechanism further includes being electrically connected with the controller module
Pedal switch circuit；
The pedal switch circuit is suitable for starting the circuit of the control applied to balance car.
In the utility model preferred embodiment, the pedal switch circuit includes two pedals；
It is electrically connected after two pedals are in parallel with the controller module.
In the utility model preferred embodiment, the control circuit applied to balance car further includes and the control
The current sampling circuit that device module is electrically connected；
The quantity of the current sampling circuit is two, and is adapted to detect for the electric current of the two-phase of motor and is sent to the control
Device module processed.
The utility model embodiment additionally provides a kind of balance car, including such as above-mentioned control machine applied to balance car
Structure.
Compared with the existing technology, the utility model embodiment has the advantages that
The utility model embodiment provides a kind of control mechanism and balance car applied to balance car, wherein being applied to flat
The control mechanism of weighing apparatus vehicle, comprising: attitude detection module, controller module and metal-oxide-semiconductor driving circuit；Controller module respectively with
Attitude detection module and metal-oxide-semiconductor driving circuit are electrically connected；And controller module is suitable for receiving the detection of attitude detection module
The posture information of balance car, and motor is controlled by metal-oxide-semiconductor driving circuit according to posture information, so that balance car be made to reach flat
Weighing apparatus.Realize that an attitude detection module and a driving motor make single wheel balance car reach balance, single wheel by the control mechanism
Balance car is to occur in pairs when in use, using control mechanism provided by the utility model, is not had between two single wheel balance cars
Communication, reduces the chip of communication, reduces the production cost of balance car.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 shows the circuit diagram of attitude detection module provided by the utility model embodiment.
Fig. 2 shows the circuit diagrams of controller module provided by the utility model embodiment.
Fig. 3 shows the circuit diagram of metal-oxide-semiconductor driving circuit provided by the utility model embodiment.
Fig. 4 shows pedal switch circuit provided by the utility model embodiment.
Fig. 5 shows current sampling circuit provided by the utility model embodiment.
Fig. 6 shows the control mechanism for being applied to balance car provided by the utility model embodiment.
Specific embodiment
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
Embodiment
Fig. 1 to Fig. 6 is please referred to, the utility model embodiment provides a kind of control mechanism applied to balance car.Using
In the control mechanism of balance car include: attitude detection module, controller module and metal-oxide-semiconductor driving circuit；The controller mould
Block is electrically connected with the attitude detection module and metal-oxide-semiconductor driving circuit respectively；And the controller module is suitable for receiving institute
The posture information of the balance car of attitude detection module detection is stated, and passes through the metal-oxide-semiconductor driving circuit according to the posture information
Motor is controlled, so that balance car be made to reach balance.An attitude detection module and a driving electricity are realized by the control mechanism
Machine makes single wheel balance car reach balance, and single wheel balance car is to occur in pairs when in use, using control provided by the utility model
Mechanism does not communicate between two single wheel balance cars, reduces the chip of communication, reduce the production cost of balance car.
Referring to Fig. 1, in the present embodiment, the attitude detection module is gyroscope U7, and the type of the gyroscope U7
Number be SOT23-6；The data terminal of the gyroscope is 14 pins, and clock end is that 13 pins pass through I2The mode of C bus with it is described
The electric connection of controller module；And data terminal and clock end are connected separately with pull-up resistor R32 and pull-up resistor R33.
Referring to Fig. 2, the controller module includes main control chip U6 and reset circuit；The type of the main control chip U6
Number be GD32F130C8T6；The receiving end (G sensor SCL/SDA) of the main control chip U6 and attitude detection module electricity
Property connection, and be suitable for receiving the posture information that the attitude detection module is sent；The reset circuit and the main control chip
Reset terminal NRST is electrically connected, and is suitable for resetting main control chip U6.
Specifically, the reset circuit includes resistance R31 and capacitor C26；One end of the resistance R31 and high level electricity
Property connection, the other end of the resistance R31 is grounded by capacitor C26；The reset terminal of the main control chip is electrically connected at described
Between resistance R31 and the capacitor C26.Reset circuit is electrification reset, resets controller module after powering on.
Referring to Fig. 3, in the present embodiment, the quantity of the metal-oxide-semiconductor driving circuit is three, and respectively with the A of motor
Phase, B phase and C phase are electrically connected.
Specifically, the metal-oxide-semiconductor driving circuit includes driving chip U4；The receiving end of the driving chip and the control
Device module is electrically connected, and is suitable for receiving the control signal that the controller module is sent；The low output end of the driving chip
It is electrically connected by the grid of diode D5 and metal-oxide-semiconductor V2；The low output end of the driving chip passes through resistance R19 and metal-oxide-semiconductor
The grid of V2 is electrically connected；The high output terminal of the driving chip is electrically connected by the grid of diode D3 and metal-oxide-semiconductor V1；Institute
The high output terminal for stating driving chip is electrically connected by the grid of resistance R7 and metal-oxide-semiconductor V1；The voltage output of the driving chip
It holds and is electrically connected with the A phase of motor；The drain electrode of the metal-oxide-semiconductor V2 is electrically connected with the source electrode of the metal-oxide-semiconductor V1；The metal-oxide-semiconductor
The source electrode of V2 is grounded by resistance R42；The drain electrode of the metal-oxide-semiconductor V1 and the anode of power supply are electrically connected.Pass through driving chip U4
The first metal-oxide-semiconductor V2 and the second metal-oxide-semiconductor V1 on or off are controlled, to realize the inversion that direct current is become to three-phase electricity
Journey.
Wherein, the model STP110N7F6 of the metal-oxide-semiconductor.
Driving chip U5 and driving chip U6 in driving chip U4 and Fig. 3 can use FD2103.
Referring to Fig. 4, the control mechanism applied to balance car further includes being electrically connected with the controller module
Pedal switch circuit；The pedal switch circuit is suitable for starting the circuit of the control applied to balance car.Wherein, described to step on
Switching plate circuit includes two pedals (J7 and J13 in figure)；Electrically connect after two pedals are in parallel with the controller module
It connects.When any one in two pedals starts, that is, control signal is sent to controller module, controller module begins through appearance
State detection module test pose information, control balance car reach balance.
Referring to Fig. 5, in the present embodiment, the control circuit applied to balance car further includes and the controller mould
The current sampling circuit that block is electrically connected；The quantity of the current sampling circuit is two, and be adapted to detect for the two-phase of motor
Electric current is simultaneously sent to the controller module.In figure, two current sampling circuits are respectively connected to A phase and B phase.
The utility model embodiment additionally provides a kind of balance car, including the above-mentioned control mechanism applied to balance car.
The balance car include two single wheel balance cars, each single wheel balance car be all made of the above-mentioned control mechanism applied to balance car into
Row balance control.Realize that an attitude detection module and a driving motor make single wheel balance car reach flat by the control mechanism
It weighs, is not communicated between two single wheel balance cars, reduce the chip of communication, reduce the production cost of balance car.
In conclusion the utility model embodiment provides a kind of control mechanism and balance car applied to balance car,
In, the control mechanism applied to balance car includes: attitude detection module, controller module and metal-oxide-semiconductor driving circuit；Controller
Module is electrically connected with attitude detection module and metal-oxide-semiconductor driving circuit respectively；And controller module is suitable for receiving attitude detection
The posture information of the balance car of module detection, and motor is controlled by metal-oxide-semiconductor driving circuit according to posture information, to make to balance
Vehicle reaches balance.Realize that an attitude detection module and a driving motor make single wheel balance car reach flat by the control mechanism
It weighs, is not communicated between two single wheel balance cars, reduce the chip of communication, reduce the production cost of balance car.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection,
Or it is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of control mechanism applied to balance car characterized by comprising
Attitude detection module, controller module and metal-oxide-semiconductor driving circuit；
The controller module is electrically connected with the attitude detection module and metal-oxide-semiconductor driving circuit respectively；And
The controller module is suitable for receiving the posture information of the balance car of the attitude detection module detection, and according to the appearance
State information controls motor by the metal-oxide-semiconductor driving circuit, so that balance car be made to reach balance.
2. being applied to the control mechanism of balance car as described in claim 1, which is characterized in that
The attitude detection module is gyroscope；
The data terminal and clock end of the gyroscope are connected separately with pull-up resistor R32 and pull-up resistor R33.
3. being applied to the control mechanism of balance car as described in claim 1, which is characterized in that
The controller module includes main control chip and reset circuit；
The receiving end of the main control chip and the attitude detection module are electrically connected, and are suitable for receiving the attitude detection module
The posture information of transmission；
The reset terminal of the reset circuit and the main control chip is electrically connected, and is suitable for resetting main control chip.
4. being applied to the control mechanism of balance car as claimed in claim 3, which is characterized in that
The reset circuit includes resistance R31 and capacitor C26；
One end of the resistance R31 and high level are electrically connected, and the other end of the resistance R31 is grounded by capacitor C26；
The reset terminal of the main control chip is electrically connected between the resistance R31 and the capacitor C26.
5. being applied to the control mechanism of balance car as described in claim 1, which is characterized in that
The quantity of the metal-oxide-semiconductor driving circuit is three, and is electrically connected respectively with the A phase of motor, B phase and C phase.
6. being applied to the control mechanism of balance car as claimed in claim 5, which is characterized in that
The metal-oxide-semiconductor driving circuit includes driving chip；
The receiving end of the driving chip and the controller module are electrically connected, and are suitable for receiving the controller module and are sent
Control signal；
The high output terminal of the driving chip is electrically connected by the grid of resistance R7 and metal-oxide-semiconductor V1；
The low output end of the driving chip is electrically connected by the grid of resistance R19 and metal-oxide-semiconductor V2
The voltage output end of the driving chip and the A phase of motor are electrically connected；
The drain electrode of the metal-oxide-semiconductor V2 is electrically connected with the source electrode of the metal-oxide-semiconductor V1；
The source electrode of the metal-oxide-semiconductor V2 is grounded by resistance R42；
The drain electrode of the metal-oxide-semiconductor V1 and the anode of power supply are electrically connected.
7. being applied to the control mechanism of balance car as described in claim 1, which is characterized in that
The control mechanism further includes the pedal switch circuit being electrically connected with the controller module；
The pedal switch circuit is suitable for starting the circuit of the control applied to balance car.
8. the use as claimed in claim 7 in the control mechanism of balance car, which is characterized in that
The pedal switch circuit includes two pedals；
It is electrically connected after two pedals are in parallel with the controller module.
9. being applied to the control mechanism of balance car as described in claim 1, which is characterized in that
The control circuit applied to balance car further includes the current sampling circuit being electrically connected with the controller module；
The quantity of the current sampling circuit is two, and is adapted to detect for the electric current of the two-phase of motor and is sent to the controller
Module.
10. a kind of balance car, which is characterized in that including the described in any item controls applied to balance car of such as claim 1-9
Mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821278488.4U CN208630789U (en) | 2018-08-08 | 2018-08-08 | Control mechanism and balance car applied to balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821278488.4U CN208630789U (en) | 2018-08-08 | 2018-08-08 | Control mechanism and balance car applied to balance car |
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| Publication Number | Publication Date |
|---|---|
| CN208630789U true CN208630789U (en) | 2019-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821278488.4U Active CN208630789U (en) | 2018-08-08 | 2018-08-08 | Control mechanism and balance car applied to balance car |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082954A1 (en) * | 2019-11-01 | 2021-05-06 | 浙江阿尔郎科技有限公司 | Main control system and control system for self-balancing vehicle, and self-balancing vehicle |
-
2018
- 2018-08-08 CN CN201821278488.4U patent/CN208630789U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082954A1 (en) * | 2019-11-01 | 2021-05-06 | 浙江阿尔郎科技有限公司 | Main control system and control system for self-balancing vehicle, and self-balancing vehicle |
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