CN208737283U - A kind of balance car is advanced and obstruction-avoiding control system - Google Patents
A kind of balance car is advanced and obstruction-avoiding control system Download PDFInfo
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- CN208737283U CN208737283U CN201821819188.2U CN201821819188U CN208737283U CN 208737283 U CN208737283 U CN 208737283U CN 201821819188 U CN201821819188 U CN 201821819188U CN 208737283 U CN208737283 U CN 208737283U
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Abstract
The utility model belongs to control system of balance car field, and in particular to a kind of balance car is advanced and obstruction-avoiding control system.The utility model uses motion sensor module, cell measurement block, avoiding obstacles by supersonic wave module and bluetooth communication module are as resource module, control selections abundant are provided for the system of balance car, improve the scalability of balance car system, pose awareness tool using motion sensor module as balance car, guarantee that vehicle can keep balancing during exercise, the cell measurement block of setting is for monitoring battery level information entrained by balance car, allow users to facilitate to check the service condition of battery, avoid the generation of overdischarge, the avoiding obstacles by supersonic wave module of setting provides the hardware foundation of monitoring barrier for balance car, and the bluetooth communication module being arranged can facilitate user and balance car to interact communication, improve the playability of balance car.
Description
Technical field
The utility model belongs to control system of balance car field, and in particular to a kind of balance car is advanced and avoidance obstacle system
System.
Background technique
Balance car is a kind of new-type advance system, and compared to traditional walking vehicle body, balance car is using two wheel drivings, row
It walks that mode class is anthropoid to walk upright, has occupied area small, action is convenient, turns round flexibly, and the good feature of passability can be with
For the automatic semiautomatic machine people such as autonomous transport robot, mining exploration robot, household automatic cleaning robot design with
It is universal to have certain reference significance.Balance car can be used as the development object of toy simultaneously, be Chinese toy Market and Technology content
Shortage carry out it is certain make up, realize economic well-being of workers and staff, commercial value formed, in various applications as can providing one for balance car
Fully functional hardware system is covered, the application scenarios of balance car will be promoted, obtains better market value.
Utility model content
For the utility model in order to solve above-mentioned problems of the prior art, the utility model provides a kind of balance car
Traveling and obstruction-avoiding control system, rich hardware resource is fully functional, so that balance car has wider application scenarios.
The specific technical solution that the utility model uses is:
A kind of balance car is advanced and obstruction-avoiding control system, including battery, the power regulator module being connect with battery and
By power regulator module power single-chip microcontroller, resource module and motor drive module, the output end of the resource module with
The input terminal of single-chip microcontroller connects, and the output end of the motor drive module and single-chip microcontroller connects, and the resource module includes
Motion sensor module, cell measurement block, avoiding obstacles by supersonic wave module and bluetooth communication module, the motor drive module packet
The driving chip of model TB6612FNG is included, the motion sensor module includes the sensing chip of model MPU6050,
The cell measurement block includes pressure divider circuit, and the pressure divider circuit is connected between the output end of battery and ground, institute
The pressure divider circuit stated includes the resistance R7 being arranged in series and resistance R6, the series connection point and single-chip microcontroller of the resistance R7 and resistance R6
The connection of AD input terminal, be also connected with filter capacitor C17 between the series connection point and ground that the resistance R7 and resistance R6 are formed.
The end VM of the driving chip is grounded by the capacitor C14 and capacitor C15 being arranged in parallel, the driving chip
The end PGND1, PGND2, PGND3 be grounded respectively, the end VCC of the driving chip is connect with positive pole VCC, the drive
The end GND of dynamic chip is connected to ground, and is in series with capacitor between the end VCC of the driving chip and the end GND of driving chip
C16, PWMA, AIN1, AIN2 and PWMB of the driving chip, the end BIN1, BIN2 are connect with single-chip microcontroller respectively.
The ratio between resistance of the resistance R7 and resistance R6 is 10:1, the resistance R6 with connect.
The end SCl, SDA of sensing chip is respectively by resistance R1 and resistance R2 and power supply in the motion sensor module
Positive VCC connection, the end SCl, SDA, INT, XCL, XDA and AD0 of the sensing chip are connect with single-chip microcontroller respectively.
The cell measurement block further includes power indicating circuit, and the power indicating circuit includes indicator light LED0
And divider resistance R8, the indicator light LED0 and divider resistance R8 are connected between battery and ground.
The beneficial effects of the utility model are:
The utility model uses motion sensor module, cell measurement block, avoiding obstacles by supersonic wave module and bluetooth communication mould
Block provides control selections abundant as resource module, for the system of balance car, improves the scalability of balance car system,
Pose awareness tool using motion sensor module as balance car guarantees that vehicle can keep balancing during exercise, is arranged
Cell measurement block for monitoring battery level information entrained by balance car, allow users to facilitate to check battery
Service condition, avoids the generation of overdischarge, and the avoiding obstacles by supersonic wave module of setting provides the hardware of monitoring barrier for balance car
Basis, and the bluetooth communication module being arranged can facilitate user and balance car to interact communication, improve the playability of balance car.
Detailed description of the invention
Fig. 1 is the principles of the present invention block diagram；
Fig. 2 is the circuit diagram of motor drive module；
Fig. 3 is the circuit diagram of motion sensor module；
Fig. 4 is the circuit diagram of cell measurement block；
In attached drawing, 1, power regulator module, 2, single-chip microcontroller, 3, motor drive module, 4, motion sensor module, 5, battery
Measurement module, 6, avoiding obstacles by supersonic wave module, 7, bluetooth communication module.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the utility model is described in further detail:
Specific embodiment is as shown in Figure 1, the utility model is a kind of traveling of balance car and obstruction-avoiding control system, including electric power storage
Pond, the power regulator module 1 being connect with battery and single-chip microcontroller 2, resource module and the motor powered by power regulator module 1
The output end of drive module 3, the resource module is connect with the input terminal of single-chip microcontroller 2, the motor drive module 3 and list
The output end of piece machine 2 connects, and the resource module includes motion sensor module 4, cell measurement block 5, avoiding obstacles by supersonic wave
Module 6 and bluetooth communication module 7, the motor drive module 3 includes the driving chip of model TB6612FNG, described
Motion sensor module 4 includes the sensing chip of model MPU6050, and the cell measurement block 5 includes pressure divider circuit, institute
The pressure divider circuit stated is connected between the output end of battery and ground, the pressure divider circuit include the resistance R7 being arranged in series and
Resistance R6, the resistance R7 are connect with the series connection point of resistance R6 with the AD input terminal of single-chip microcontroller 2, the resistance R7 and resistance
Filter capacitor C17 is also connected between the series connection point and ground that R6 is formed.
Hardware adaptations provided by the utility model are powered, when voltage mistake in balance car using the model airplane battery of 1100mah
It will cause cell damage when low, cause permanent over-discharge, therefore be additionally arranged for the cell measurement block 5 to battery coarse verification,
Work as electricity so that monolithic function obtains the voltage change situation of current battery in time by the sampling to battery output voltage
Pressure issues alarm signal when reaching preset value, and the hardware foundation of the utility model is divided by resistance R7 and resistance R6, will be compared with
High battery voltage is split, and guarantees that the voltage signal for being input to Chip Microcomputer A/D input terminal is smaller, single-chip microcontroller is avoided to hit damage,
The filter capacitor C17 of setting makes voltage signal more smooth, can reduce the monitoring error of single-chip microcontroller and improve single-chip microcontroller
Stability in use.
Further, as shown in Fig. 2, the end VM of the driving chip is by the capacitor C14 and capacitor C15 being arranged in parallel
Ground connection, the end PGND1, PGND2, PGND3 of the driving chip are grounded respectively, the end VCC of the driving chip and power supply
Positive VCC connection, the end GND of the driving chip are connected to ground, the end VCC of the driving chip and driving chip
Be in series with capacitor C16 between the end GND, PWMA, AIN1, AIN2 and PWMB of the driving chip, the end BIN1, BIN2 respectively with
Single-chip microcontroller 2 connects.By the driving chip of model TB6612FNG, while two motors are driven, single-chip microcontroller is according to motion-sensing
The pose signal that device module 4 inputs, is adjusted flexibly the rotation direction and velocity of rotation of two motors of balance car or so, plays stabilization
The effect of vehicle body realizes the control to balance car to rely on hardware foundation provided by the utility model.
Further, as shown in figure 4, the ratio between resistance of the resistance R7 and resistance R6 is 10:1, the resistance R6
It connects with ground.It is formed and is divided by resistance R7 and resistance R6, so that the voltage into single-chip microcontroller 2 is the ten of battery virtual voltage
1/1st, avoid the higher voltage of battery from directly impacting single-chip microcontroller 2, avoid single-chip microcontroller 2 break down, guarantee single-chip microcontroller compared with
To accurately acquire voltage value.
Further, as shown in figure 3, in the motion sensor module 4 end SCl, SDA of sensing chip respectively by
Resistance R1 and resistance R2 are connect with positive pole VCC, the end SCl, SDA, INT, XCL, XDA and AD0 point of the sensing chip
It is not connect with single-chip microcontroller 2.The motion sensor module 4 uses MPU6050 sensor, is integrated with 3 axis MEMS gyroscopes and 3
Axis mems accelerometer enables current various of 2 comprehensive collection of single-chip microcontroller to realize collection to multi-direction acceleration
Posture information provides perfect Informational support for subsequent development person, is convenient for subsequent Persisting exploitation, improves balance car
Balance and passage capacity.
Further, as shown in figure 4, the cell measurement block 5 further includes power indicating circuit, the power supply refers to
Show that circuit includes that indicator light LED0 and divider resistance R8, the indicator light LED0 and divider resistance R8 are connected on battery and ground
Between.When battery connection rear indicator light LED0 electroluminescent, play the role of the present power-up situation of instruction.
The utility model knows the motion conditions of current balance car by motion sensor module, and single-chip microcontroller 2 is according to current
The difference for leaning forward or swinging back controls two motors in left and right according to preset program, is controlled by motor acceleration and realize vehicle
Direction of traffic control may be implemented secondly by motor differential control in balance and stability.
The avoiding obstacles by supersonic wave module 6 of setting is installed on car body advanced side, and when detecting front obstacle, single-chip microcontroller 2 is connect
The on-off model of avoiding obstacles by supersonic wave module 6 is received, and then controls the differential of two motors to form turning, is played to barrier
It is avoided, balance body construction is simple, the posture information of vehicle body is detected by gyroscope and accelerometer combination, then by list
Piece machine 2 issues instruction, and driving motor does the movement such as advance, retreat, accelerate, slow down, keeping the balance of balance car.Two wheels are certainly
Balance car can be realized homeostasis, no-radius revolution, and travel speed and turning velocity can be adjusted.It realizes good
Operability, may be implemented quickly to move, the functions such as flexible avoidance.
Claims (5)
1. a kind of balance car is advanced and obstruction-avoiding control system, including battery, the power regulator module being connect with battery (1) and
By power regulator module (1) power single-chip microcontroller (2), resource module and motor drive module (3), the resource module
Output end is connect with the input terminal of single-chip microcontroller (2), and the motor drive module (3) is connect with the output end of single-chip microcontroller (2),
Be characterized in that: the resource module includes motion sensor module (4), cell measurement block (5), avoiding obstacles by supersonic wave module
(6) and bluetooth communication module (7), the motor drive module (3) includes the driving chip of model TB6612FNG, described
Motion sensor module (4) include model MPU6050 sensing chip, the cell measurement block (5) include partial pressure
Circuit, the pressure divider circuit are connected between the output end of battery and ground, and the pressure divider circuit includes being arranged in series
Resistance R7 and resistance R6, the resistance R7 are connect with the series connection point of resistance R6 with the AD input terminal of single-chip microcontroller (2), the electricity
Filter capacitor C17 is also connected between the series connection point and ground that resistance R7 and resistance R6 is formed.
2. a kind of balance car according to claim 1 is advanced and obstruction-avoiding control system, it is characterised in that: the driving core
The end VM of piece is grounded by the capacitor C14 and capacitor C15 being arranged in parallel, PGND1, PGND2, PGND3 of the driving chip
End is grounded respectively, and the end VCC of the driving chip is connect with positive pole VCC, and the end GND and ground of the driving chip are even
It connects, capacitor C16 is in series between the end VCC of the driving chip and the end GND of driving chip, the driving chip
PWMA, AIN1, AIN2 and PWMB, the end BIN1, BIN2 are connect with single-chip microcontroller (2) respectively.
3. a kind of balance car according to claim 1 is advanced and obstruction-avoiding control system, it is characterised in that: the resistance R7
Be 10:1 with the ratio between the resistance of resistance R6, the resistance R6 with connect.
4. a kind of balance car according to claim 1 is advanced and obstruction-avoiding control system, it is characterised in that: the movement passes
The end SCl, SDA of sensing chip is connect by resistance R1 and resistance R2 with positive pole VCC respectively in sensor module (4), described
The end SCl, SDA, INT, XCL, XDA and AD0 of sensing chip connect respectively with single-chip microcontroller (2).
5. a kind of balance car according to claim 1 is advanced and obstruction-avoiding control system, it is characterised in that: the battery is surveyed
Measuring module (5) further includes power indicating circuit, and the power indicating circuit includes indicator light LED0 and divider resistance R8, described
Indicator light LED0 and divider resistance R8 be connected between battery and ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821819188.2U CN208737283U (en) | 2018-11-06 | 2018-11-06 | A kind of balance car is advanced and obstruction-avoiding control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821819188.2U CN208737283U (en) | 2018-11-06 | 2018-11-06 | A kind of balance car is advanced and obstruction-avoiding control system |
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| Publication Number | Publication Date |
|---|---|
| CN208737283U true CN208737283U (en) | 2019-04-12 |
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ID=66035698
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821819188.2U Expired - Fee Related CN208737283U (en) | 2018-11-06 | 2018-11-06 | A kind of balance car is advanced and obstruction-avoiding control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082952A1 (en) * | 2019-11-01 | 2021-05-06 | 浙江阿尔郎科技有限公司 | Self-balancing vehicle control system and self-balancing vehicle |
-
2018
- 2018-11-06 CN CN201821819188.2U patent/CN208737283U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082952A1 (en) * | 2019-11-01 | 2021-05-06 | 浙江阿尔郎科技有限公司 | Self-balancing vehicle control system and self-balancing vehicle |
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| 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: 20190412 Termination date: 20191106 |