CN209567022U - A kind of control circuit of photoelectric intelligent balance car - Google Patents

Abstract

The utility model discloses a kind of control circuits of photoelectric intelligent balance car, including controller, debugging module, gyroscope and accelerometer module, encoder speed measuring module, motor drive module and linear CCD module；The signal output end of linear CCD module, gyroscope and the accelerometer module and encoder speed measuring module is separately connected three signal input parts of controller, the control signal of the control output end connection motor drive module of the controller, the debugging module are interacted with controller signals.The advantage is that: the utility model can control the walking of balance car automatic steady.

Description

A kind of control circuit of photoelectric intelligent balance car

Technical field

The utility model relates to intelligent vehicles, and in particular to a kind of control circuit of photoelectric intelligent balance car.

Background technique

Intelligent vehicle needs not move through artificial manipulation can be according to setting, and automatic running, can voluntarily intelligent decision on road Handle the road conditions that various fronts occur.And a large amount of research test of development need investment of intelligent vehicle.Therefore, one kind is designed There can be important meaning for the research test of intelligent vehicle according to the intelligent balance vehicle model of the path smooth-ride of setting Justice.

Intelligent balance vehicle will realize automatically walk, and multiple module is needed to cooperate jointly, and be focused on by controller Each signal controls the walking of motor driven balance car according to each signal.Therefore, a kind of control electricity of intelligent balance vehicle is designed Road is the key that realize intelligent balance vehicle automatically walk.

Utility model content

In order to solve the above-mentioned problems of the prior art, the utility model aim is to provide a kind of photoelectric intelligent balance The control circuit of vehicle.The utility model can control the walking of balance car automatic steady.

A kind of control circuit of photoelectric intelligent balance car described in the utility model, including controller, debugging module, gyro Instrument and accelerometer module, encoder speed measuring module, motor drive module and linear CCD module；The linear CCD module, Three signals that the signal output end of gyroscope and accelerometer module and encoder speed measuring module is separately connected controller input End, the control signal of the control output end connection motor drive module of the controller, the debugging module and control Device signal interaction.

It preferably, further include power module, the power module includes the first voltage stabilizing chip, the second voltage stabilizing chip, the Three voltage stabilizing chips and the 4th voltage stabilizing chip, first voltage stabilizing chip connect external with the voltage input end of the second voltage stabilizing chip The voltage output end of power supply, first voltage stabilizing chip is separately connected the voltage of linear CCD module and encoder speed measuring module Input terminal；The voltage output end of second voltage stabilizing chip is separately connected the voltage of third voltage stabilizing chip and the 4th voltage stabilizing chip Input terminal, the voltage input end of the voltage output end connection controller of the third voltage stabilizing chip, the 4th pressure stabilizing core The voltage input end of voltage output end the connection gyroscope and accelerometer module of piece.

Preferably, the motor drive module includes driving chip and motor, the control output end of the controller Connect the control signal of driving chip, the control signal of the control output end connection motor of the driving chip.

Preferably, the controller is XS128 single-chip microcontroller.

Preferably, the encoder speed measuring module includes two encoders being separately positioned at two wheels, wherein The step-by-step counting channel of the signal output end connection controller of one encoder, the signal output end connection one of another encoder The signal input part of a counter, the signal input part of the signal output end connection controller of the counter.

A kind of control circuit of photoelectric intelligent balance car described in the utility model, the advantage is that:

1, encoder speed measuring module obtains the velocity of rotation of wheel, since balance car is upright walking, so setting top The tilt angle of spiral shell instrument and accelerometer module calculated equilibrium vehicle, linear CCD module obtains balance car walking path information, above-mentioned The information that modules obtain is sent to controller and is handled, and information controls motor drive module to controller based on the received, And then it controls balance car and advances.By above-mentioned circuit design, so that balance car is can be realized automatic upright and steadily walk.

2, power module is made of multi-disc voltage stabilizing chip.External power supply is 7.2V supplying cell, can be directly as motor Power supply.The operating voltage as needed for modules is different, so setting voltage stabilizing chip converts the voltage of external power supply For the voltage of 5V and 3.3V, works and use for required module.

3, controller selects XS128 single-chip microcontroller, and the single-chip microcontroller of the series, which controls, to be stablized, and cost is relatively low.But since it only has The channel PT7 has the function of step-by-step counting.The utility model needs to carry out step-by-step counting to two encoders, so needing to be arranged one A counter carries out step-by-step counting to another wheel, to obtain the rotary speed information of the wheel.Obtain the revolving speed letter of two wheels Number, balance car is controlled according to the signal and is steadily advanced.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of the control circuit of photoelectric intelligent balance car of the utility model；

Fig. 2 is a kind of circuit diagram of the power module of the control circuit of photoelectric intelligent balance car of the utility model；

Fig. 3 is a kind of circuit diagram of the gyroscope of the control circuit of photoelectric intelligent balance car of the utility model；

Fig. 4 is a kind of circuit diagram of the accelerometer of the control circuit of photoelectric intelligent balance car of the utility model.

Description of symbols: 1- controller, 2- debugging module, 3- gyroscope and accelerometer module, 4- encoder test the speed Module, 5- motor drive module, 6- linear CCD module.

Specific embodiment

As shown in Figure 1, a kind of control circuit of photoelectric intelligent balance car described in the utility model, including controller 1, tune Die trial block 2, gyroscope and accelerometer module 3, encoder speed measuring module 4, motor drive module 5 and linear CCD module 6；Institute The signal output end of linear CCD module 6, gyroscope and the accelerometer module 3 and encoder speed measuring module 4 stated is separately connected control Three signal input parts of device 1 processed, the control signal of the control output end connection motor drive module 5 of the controller 1, The debugging module 2 and 1 signal interaction of controller.

The interlock circuit and specific structure of the encoder speed measuring module are the prior arts, and how to operate is also existing skill Art can be used as corresponding in first patent CN201120416014.3, CN201611149175.4, CN201710512277.6 Identical encoder speed measuring module.Each functional module mentioned in the utility model is the prior art, and the utility model is not The specific structure and relative program of each functional module are improved, the connection relationship between each functional module is only improved.And each function The relative program of module can be known from technology web sites or technology textbook, be the common knowledge of those skilled in the art.

Controller is the core of control circuit.MC9S12XS128 is 16 single-chip microcontrollers of MC9S12 series, by 16 Central processing unit (CPU12X), 128KB program Flash (P-Flash), 8KB RAM, 8KB data Flash (D-Flash) group It at on-chip memory, while further including 2 asynchronous serial communication interfaces (SCI), 1 Serial Peripheral Interface (SPI) (SPI), 18 channel (IC/OC) timer module (TIM), 16 Channel 12-Bit A/D converters (ADC), a 8 channel arteries and veins are compared in input capture/output Rush I/O mouthfuls of width modulation module (PWM) and independent input/output number.The various sensor acquisitions of monolithic function processing The data that transmission comes are (velocity information, gyroscope and the accelerometer of the runway information, encoder acquisition that acquire such as CCD acquire Obliquity information etc.), and these data are handled, it is formed and the control information of present case is suitble to be sent to motor, driving electricity Machine completes automatically walk.It is the prior art, as disclosed previously for director demon relevant to object of which movement and physical circuit Patent CN201320014920.X, CN201610330129.8, CN201210411842.7, CN201520116279.X, CN201210526736.3 etc..

Motor drive module 5 is mainly used for the signal exported according to controller, control motor operating, and then controls balance car Traveling.Motor drive module 5 is mainly made of driving chip, and driving chip selects BTS7960 driving chip, which has The advantage that driving current is big, chip internal resistance is small and switching frequency is high.It is suitable as the driving chip of the utility model.Balance car is Upright two-wheeled balance car, is arranged two motors and respectively drives two wheels.Driving chip is arranged four, and every two panels drives an electricity Machine.

It since balance car is to walk upright, needs to be acquired the inclination data of balance car, so being provided with gyroscope It is acquired with inclination data of the accelerometer module 3 to balance car.Gyroscope and accelerometer module 3 include 3-axis acceleration The ENC-03 gyroscope of sensor MMA7260 and Murata production.The signal of MMA7260 sensor output is sufficiently large, so Gyroscope signal is mainly amplified filtering by accelerometer circuit shown in Fig. 4.Gyroscope block is as shown in figure 3, by top The signal of spiral shell instrument acquisition is sent in controller 1.

Encoder is arranged two, is separately positioned at two wheels of balance car.Two encoders are required to carry out pulse It counts, but since XS128 single-chip microcontroller only has the channel PT7 to can be carried out step-by-step counting, is carried out so needing to be arranged a counter Count results are being sent in controller by external counting by counter.

Linear CCD module is using TSL1401CL linear transducer.The photodiode that the sensor is arranged by 128 × 1 The information of 128 pixels of a line can be read when composition, an i.e. channel AD of reading linear CCD connection single-chip microcontroller.And The acquisition of runway information just relies on this sensor to be constantly collected and transmitted to single-chip microcontroller, which is that balance car tracking is walked extremely Important module.

Debugging module mainly based on AccessPort, uses USB to turn the module board of TTL, the physical circuit of module board It is the prior art, such as CN201721444562.0, CN201320860399.1 with structure, can helps to check in debugging process The variation of data.

Further include power module, the power module as shown in Fig. 2, include the first voltage stabilizing chip, the second voltage stabilizing chip, Third voltage stabilizing chip and the 4th voltage stabilizing chip, first voltage stabilizing chip connect outer with the voltage input end of the second voltage stabilizing chip Connect power supply, the voltage output end of first voltage stabilizing chip is separately connected linear CCD module 6 and encoder speed measuring module 4 Voltage input end；The voltage output end of second voltage stabilizing chip is separately connected third voltage stabilizing chip and the 4th voltage stabilizing chip Voltage input end, the voltage input end of the voltage output end connection controller 1 of the third voltage stabilizing chip, the described the 4th is steady Press the voltage input end of voltage output end the connection gyroscope and accelerometer module 3 of chip.Balance car is powered using battery, electricity The supply voltage in pond is 7.2V, and voltage needed for modules is had nothing in common with each other, and is mentioned so needing to be arranged voltage stabilizing chip to battery The voltage of confession carries out pressure stabilizing and conversion.Voltage needed for motor is 7.2V, can directly be powered by battery.Linear CCD module 6 and volume Required voltage needed for code device speed measuring module 4 is 5V, carries out conversion and pressure stabilizing to voltage so needing to be arranged voltage stabilizing chip.First Voltage stabilizing chip and the second voltage stabilizing chip use 7815 voltage stabilizing chips, and the burning voltage for converting 5V for the supply voltage of battery is defeated Out.Third chip and fourth chip use 1117 voltage stabilizing chips, convert 3.3V for the voltage of the 5V of the second voltage stabilizing chip output Voltage, be supplied to controller, gyroscope and accelerometer use.

The control flow of balance car is as described below: gyroscope and the signal of the acquisition of accelerometer module 3 are in balance car Upright state.Car body is set to reach the requirement of balance of different moments, it is necessary to know the tilt angle of car body this moment.This is practical new Type has selected gravity accelerometer MMA7260 to measure vehicle mould inclination angle.MMA7260 is a three axis accelerometer, can be with Measure the analog acceleration signal on three directions.In the utility model, only it need to use what MMA7260 was generated in the Z-axis direction Acceleration value.Because car is shaken larger in motion, can make through the calculated acceleration of accelerometer and actual number Value is not inconsistent, so that the inclination angle of vehicle mould can not accurately be obtained according to output signal.So being further added by the basis of accelerometer Gyroscope ENC-03, the object in rotating coordinate system, which is utilized, in ENC-03 will receive the principle of Coriolis force, sharp in the devices It is made into vibration unit with piezoelectric ceramics, vibration frequency can be changed when rotary device to reflect the angular speed of object rotation. The angular acceleration of gyroscope is integrated, is allowed to follow the measured value of gravitational accelerometer, a smooth inclination angle can be obtained Value.PD calculating is carried out using the inclination value and controls motor positive and inverse to maintain balance car upright.

Tracking module of the linear CCD as balance car in the utility model, it can acquire the change information of runway, and will Collected information sends single-chip microcontroller to, so that monolithic function is judged according to current runway information variation, and is done with this The control instruction of present case can be coped with out.Runway is made of the travel region of white and the black surround (boundary) on both sides, due to White 255 and the color value of black 0 differ greatly, and in the collected numerical value of CCD, the edge of runway are had apparent prominent Become.This mutation be can use to judge path locus.The midpoint goed off the course is calculated using the mutation sampled, the midpoint with setting It carrying out asking poor, then carries out PID control, output is made to be added to left and right two-wheeled (one-plus-one subtracts), two-wheeled will generate speed difference, thus Achieve the purpose that the steering of needs.This method is also referred to as are as follows: two-value method.

The rotary speed information for two wheels that the control of balance car travel speed is then obtained by controller according to encoder and combination The feedback signal of above-mentioned two module carries out comprehensively control to motor driven.

For those skilled in the art, it can make other each according to the above description of the technical scheme and ideas The corresponding change of kind and deformation, and all these changes and deformation all should belong to the guarantor of the utility model claims Within the scope of shield.

Claims (5)

1. a kind of control circuit of photoelectric intelligent balance car, which is characterized in that including controller (1), debugging module (2), gyro Instrument and accelerometer module (3), encoder speed measuring module (4), motor drive module (5) and linear CCD module (6)；Described The signal output end of linear CCD module (6), gyroscope and accelerometer module (3) and encoder speed measuring module (4) is separately connected Three signal input parts of controller (1), the control of control output end connection motor drive module (5) of the controller (1) Input terminal processed, the debugging module (2) and controller (1) signal interaction.

2. a kind of control circuit of photoelectric intelligent balance car according to claim 1, which is characterized in that further include power supply mould Block, the power module include the first voltage stabilizing chip, the second voltage stabilizing chip, third voltage stabilizing chip and the 4th voltage stabilizing chip, institute The first voltage stabilizing chip stated connects external power supply, the electricity of first voltage stabilizing chip with the voltage input end of the second voltage stabilizing chip Pressure output end is separately connected the voltage input end of linear CCD module (6) and encoder speed measuring module (4)；Second pressure stabilizing The voltage output end of chip is separately connected the voltage input end of third voltage stabilizing chip and the 4th voltage stabilizing chip, the third pressure stabilizing The voltage input end of voltage output end connection controller (1) of chip, the voltage output end connection of the 4th voltage stabilizing chip The voltage input end of gyroscope and accelerometer module (3).

3. a kind of control circuit of photoelectric intelligent balance car according to claim 1, which is characterized in that the motor driven Module (5) includes driving chip and motor, the control input of the control output end connection driving chip of the controller (1) End, the control signal of the control output end connection motor of the driving chip.

4. a kind of control circuit of photoelectric intelligent balance car according to claim 1, which is characterized in that the controller It (1) is XS128 single-chip microcontroller.

5. a kind of control circuit of photoelectric intelligent balance car according to claim 4, which is characterized in that the encoder is surveyed Fast module (4) includes two encoders being separately positioned at two wheels, the signal output end connection of one of encoder The step-by-step counting channel of controller (1), the signal output end of another encoder connect the signal input part of a counter, institute The signal input part of signal output end connection controller (1) for the counter stated.