CN209182677U - A kind of double-wheel self-balancing truck control device - Google Patents
A kind of double-wheel self-balancing truck control device Download PDFInfo
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- CN209182677U CN209182677U CN201822156581.4U CN201822156581U CN209182677U CN 209182677 U CN209182677 U CN 209182677U CN 201822156581 U CN201822156581 U CN 201822156581U CN 209182677 U CN209182677 U CN 209182677U
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- control module
- wheel self
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Abstract
The utility model discloses a kind of double-wheel self-balancing truck control device, which includes main control module and motor drive module connected to it, speed measuring module, gyroscope；The gyroscope is set on double-wheel self-balancing vehicle, for acquiring its car body rotation angle and rotating angular acceleration, and by the data transmission measured to main control module；Speed measuring module is connect with the motor of double-wheel self-balancing vehicle, for measuring motor speed and feeding back to main control module；The main control module adjusts revolving speed and the steering of motor by motor drive module according to the car body rotation angle, corner acceleration and the motor speed that receive.The utility model structure is simple, direct torque that is at low cost and solving Self-Balancing vehicle very well and revolving speed matching problem.
Description
Technical field
The utility model belongs to automatic detection and field of intelligent control technology, in particular to a kind of double-wheel self-balancing vehicle control
Device processed.
Background technique
With the development and progress of science and technology, in these years recently, the development and innovation of mobile robot industry are maked rapid progress,
People's lives also increasingly be unable to do without miscellaneous robot.Self-Balancing vehicle is exactly one of numerous robots.Due to
Only there are two wheels can adapt to narrow space so volume can be made small with respect to other mobile robots.Together
When, due to using Two-wheeled, movement is got up also very flexibly, it might even be possible to accomplish to rotate in place.Since its is light, movement spirit
Living, adaptation is wide, and energy saving, the various advantages such as environmental protection make its development and application prospect wide in the extreme.However it is existing
Self-Balancing vehicle anti-interference ability it is not strong, stability is not high, cannot flexibly control steering and the revolving speed of car body, in body speed of vehicle
Speed cannot be reduced when too fast, in time to avoid danger.
Utility model content
The purpose of utility model: the revolving speed of car body and asking for steering cannot flexibly be controlled for above-mentioned double-wheel self-balancing vehicle
Topic；The utility model provides a kind of double-wheel self-balancing truck control device.
Technical solution: the utility model provides a kind of double-wheel self-balancing truck control device, the device include main control module and
Motor drive module connected to it, speed measuring module, gyroscope respectively；
The gyroscope is set on double-wheel self-balancing vehicle, for acquiring its car body rotation angle and rotating angular acceleration, and
By the data transmission measured to main control module；Speed measuring module is connect with the motor of double-wheel self-balancing vehicle, for measuring motor speed
And feed back to main control module；The main control module leads to according to the car body rotation angle, corner acceleration and the motor speed that receive
Cross revolving speed and the steering of motor drive module adjustment motor.
Further, the speed measuring module includes tachometer circuit and encoder, wherein tachometer circuit is connected to motor, will
The motor speed of acquisition is sent into encoder, and the motor speed is converted into the readable form of main control module and is sent to master by encoder
Control module.
Further, the tachometer circuit includes turntable, infrared emission end, infrared receiver end and Schmidt trigger,
In, turntable is installed on motor shaft, and can be rotated and be rotated with motor, is evenly distributed with fan-shaped slot on the turntable；It is infrared
The opposite two sides for being set to turntable of transmitting terminal and infrared receiver end, in turntable in motor rotation process, infrared receiver end is periodical
Receive the infrared signal of infrared emission end transmitting；The output end at infrared receiver end connects Schmidt trigger, infrared receiver end
The infrared signal received is inputted into Schmidt trigger, Schmidt trigger generates pulse signal and is sent to encoder.
Further, the gyroscope uses GY521MPU-6050 sensor.
Further, the main control module uses STM32F407 chip.
Further, which further includes client terminal, and the client terminal is communicated by bluetooth module with main control module.
The utility model has the advantages that the utility model structure is simple, it is at low cost；And solve very well Self-Balancing vehicle direct torque and
Revolving speed matching problem.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
As shown in Figure 1, the device includes main control module and divides the present embodiment provides a kind of double-wheel self-balancing truck control device
Bluetooth module not connected to it, motor drive module, speed measuring module, gyroscope, acceleration transducer；The control device is also
Including client terminal and motor；
The gyroscope is set on double-wheel self-balancing vehicle, for acquiring its car body rotation angle and rotating angular acceleration, and
By the data transmission measured to main control module；Speed measuring module is connect with the motor of double-wheel self-balancing vehicle, for measuring motor speed
And feed back to main control module；The above-mentioned car body received is rotated the revolving speed of angle, rotating angular acceleration and motor by main control module,
It is filtered, analyzes etc. whether operation judges need to adjust motor speed and turn to, if desired adjusting and then utilize motor driven mould
Block adjusts motor speed and turns to；Client terminal controls the speed and steering of double-wheel self-balancing vehicle by bluetooth module, and main
The revolving speed of motor and steering are sent to client terminal by bluetooth module and shown by control module.
Main control module uses STM32F407 single-chip microcontroller in the present embodiment, and the gyroscope is sensed using GY521MPU-6050
Device.Function of its inside simultaneous with gyro sensor and acceleration transducer；The measurable range of gyro sensor
+ 250dps is arrived for -250dps, -500dps arrives+500dps, and -1000dps arrives+1000dps, and -2000dps arrives+2000dps.This
The supply voltage of gyroscope is 3.3V in embodiment.
Speed measuring module includes tachometer circuit and encoder in the present embodiment；The tachometer circuit measures motor using raster method
Revolving speed, specifically are as follows: turntable is installed on motor shaft, which can rotate with the rotation of motor, uniformly divide on turntable
It is furnished with fan-shaped slot, places infrared emission end and infrared receiver end, the output at the infrared receiver end respectively in the two sides of turntable
End is connect with Schmidt trigger, which connects encoder；When turntable is rotated with motor, infrared receiver end
Pass through the infrared signal of fan-shaped slot transmitting with certain frequency reception infrared emission end, the infrared light is believed at infrared receiver end
Number it is input to Schmidt trigger, PULSE (pulse) signal corresponding with speed is generated by Schmidt trigger, and should
PULSE signal sends encoder to, exports PULSE information by the A phase of encoder, and the A of the encoder is connected single-chip microcontroller
The PACNT module of step-by-step counting mouth, single-chip microcontroller counts input pulse, to obtain the revolving speed of motor.
It is exported due to encoder using open collector in the present embodiment, output waveform is rectangular wave, it is therefore desirable to compiled
The signal output end of code device accesses a pull-up resistor, can just provide signals to single-chip microcontroller.
Above-mentioned main control module utilizes motor drive module adjustment motor speed and steering method particularly includes: in the present embodiment
Output level by changing SCM PWM module controls the positive and negative rotation of motor, and when PWM1 is high level, PWM2 is low level
When, motor rotates forward；When PWM1 is low level and PWM2 is high level, motor reversal.Simultaneously by changing the end PMW1 and PWM2
The drive waveforms duty ratio of mouth changes the revolving speed of motor；The present embodiment uses 7.2v power supply for motor drive module power supply.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (6)
1. a kind of double-wheel self-balancing truck control device, which is characterized in that the device includes that main control module and difference are connected to it
Motor drive module, speed measuring module, gyroscope；
The gyroscope is set on double-wheel self-balancing vehicle, for acquiring its car body rotation angle and rotating angular acceleration, and will be surveyed
The data transmission obtained is to main control module；Speed measuring module is connect with the motor of double-wheel self-balancing vehicle, for measuring motor speed and anti-
It is fed to main control module；The main control module passes through electricity according to the car body rotation angle, corner acceleration and the motor speed that receive
Machine drive module adjusts revolving speed and the steering of motor.
2. a kind of double-wheel self-balancing truck control device according to claim 1, which is characterized in that the speed measuring module includes
Tachometer circuit and encoder, wherein tachometer circuit is connected to motor, and the motor speed of acquisition is sent into encoder, encoder will
The motor speed is converted into the readable form of main control module and is sent to main control module.
3. a kind of double-wheel self-balancing truck control device according to claim 2, which is characterized in that the tachometer circuit includes
Turntable, infrared emission end, infrared receiver end and Schmidt trigger, wherein turntable is installed on motor shaft, and can be with motor
It rotates and rotates, fan-shaped slot is evenly distributed on the turntable；Infrared emission end and infrared receiver end are set to turntable two sides relatively,
In turntable with the infrared signal that in motor rotation process, infrared receiver end periodic receipt infrared emission end emits；It is infrared to connect
The output end of receiving end connects Schmidt trigger, and the infrared signal received is inputted Schmidt trigger by infrared receiver end,
Schmidt trigger generates pulse signal and is sent to encoder.
4. a kind of double-wheel self-balancing truck control device according to claim 1, which is characterized in that the gyroscope uses
GY521MPU-6050 sensor.
5. a kind of double-wheel self-balancing truck control device according to claim 1, which is characterized in that the main control module uses
STM32F407 chip.
6. a kind of double-wheel self-balancing truck control device according to claim 1, which is characterized in that the device further includes client
Terminal, the client terminal are communicated by bluetooth module with main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822156581.4U CN209182677U (en) | 2018-12-21 | 2018-12-21 | A kind of double-wheel self-balancing truck control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822156581.4U CN209182677U (en) | 2018-12-21 | 2018-12-21 | A kind of double-wheel self-balancing truck control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209182677U true CN209182677U (en) | 2019-07-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822156581.4U Expired - Fee Related CN209182677U (en) | 2018-12-21 | 2018-12-21 | A kind of double-wheel self-balancing truck control device |
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| CN (1) | CN209182677U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439209A (en) * | 2019-08-28 | 2021-03-05 | 深圳海星机器人有限公司 | Multifunctional intelligent programming toy car |
-
2018
- 2018-12-21 CN CN201822156581.4U patent/CN209182677U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439209A (en) * | 2019-08-28 | 2021-03-05 | 深圳海星机器人有限公司 | Multifunctional intelligent programming toy car |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190730 Termination date: 20211221 |
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| CF01 | Termination of patent right due to non-payment of annual fee |