CN212099196U

CN212099196U - Main control board for balance car, balance car control system and balance car

Info

Publication number: CN212099196U
Application number: CN201921868642.8U
Authority: CN
Inventors: 臧传美
Original assignee: Zhejiang Aerlang Technology Co Ltd
Current assignee: Zhejiang Aerlang Technology Co Ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-12-08
Anticipated expiration: 2029-11-01
Also published as: CN212992828U; CN212950155U

Abstract

The utility model discloses a main control board, balance car control system and balance car for balance car, wherein balance car control system, include: a main control board and a secondary control board; the main control board is connected with the auxiliary control board, and the main control board and the auxiliary control board are respectively connected with a motor. The main control board comprises a first main control chip, a first gyroscope chip, a first auxiliary control board interface, a first motor driving circuit, a first control detection element, and a first circuit board, wherein the first gyroscope chip, the first auxiliary control board interface, the first motor driving circuit and the first control detection element are all connected to the first main control chip; the secondary control board comprises a second main control chip, a second gyroscope chip, a second main control board interface, a second motor driving circuit and a second control detection element, and a second circuit board, wherein the second gyroscope chip, the second main control board interface, the second motor driving circuit and the second control detection element are all connected to the second main control chip. The utility model discloses an adopt dual system among the balance car control system, signal transmission is stable, and transmission quality is reliable, need not to set up third circuit board.

Description

Main control board for balance car, balance car control system and balance car

Technical Field

The utility model relates to a main control board, balance car control system and balance car for balance car.

Background

The left frame and the right frame of the existing two-wheeled balance car can be twisted relatively, and the existing two-wheeled balance car is commonly called as a swing car. In realizing the utility model discloses the in-process, utility model people discover to have following problem among the prior art at least. The control system of the balance car generally comprises a main board and two auxiliary boards, wherein a main control chip is arranged on the main board, sensors such as gyroscopes are arranged on each auxiliary board, the main board is used for sensing the postures of operators and a car body, each auxiliary board is communicated with the main board again, the signal transmission is unstable, the design is complex, the replacement is inconvenient, and the design of the three boards occupies the inner space of the car body of the balance car.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a main control board, vice control panel, balance car control system and balance car for the balance car, wherein control system adopts dual system's design, has main control board and vice control panel, and main control board and vice control panel all can be used to sensing automobile body gesture, need not to set up third board, have improved signal transmission's reliability.

The utility model discloses a realize through following technical scheme:

the main control board comprises a first circuit board, and a first main control chip, a first gyroscope chip, a first auxiliary control board interface, a first control detection element and a first motor driving circuit which are arranged on the first circuit board, wherein the first gyroscope chip, the first auxiliary control board interface, the first control detection element and the first motor driving circuit are all connected to the first main control chip.

Through adopting above-mentioned technical scheme, both set up main control chip one on the circuit board of main control board one, also be provided with gyroscope chip one, and be provided with vice control board interface, control detecting element one and motor drive circuit one, be different from current mainboard or subplate, the main control board integrated level of this scheme improves greatly, vice control board interface is used for being connected with vice control board, gyroscope chip one can be used to record acceleration and the angular velocity information of balance car automobile body, and then reachs the slope information, it can be used to the sensing operator in the lump to control detecting element and control the signal to control, motor drive circuit one is used for the motor drive of wheel, main control chip one is unified with each component ware and is allocated to carry out corresponding function, compact structure, and convenient popularization.

As a further improvement of the present invention, the first motor driving circuit includes a plurality of first MOS transistors, and the first MOS transistors are arranged in parallel at an edge of one side of the first circuit board of the main control board; a first insulating pad is laid on the surface of the same side of the MOS tubes, a first heat dissipation part is abutted to the surface of the other side of the first insulating pad, and the first heat dissipation part is connected with the first circuit board through a fastening part or is connected with the first MOS tubes through the fastening part. Through adopting above-mentioned technical scheme, the setting of MOS pipe can be used to the motor in the wheel of drive balance car, and the MOS pipe is as the drive tube, and its calorific capacity is great, and the setting of each radiating piece is favorable to the heat dissipation of MOS pipe, and the setting of each insulating pad then can play the effect of preventing the short circuit.

The utility model provides a vice control panel for balance car, vice control panel includes circuit board two to and, set up main control chip two, gyroscope chip two, main control board interface, control detection element two and motor drive circuit two on circuit board two, gyroscope chip two, main control board interface, control detection element two and motor drive circuit two all are connected to main control chip two. Through adopting above-mentioned technical scheme, both set up main control chip two on the circuit board two of vice control panel, also be provided with gyroscope chip two, and be provided with the main control board interface, control detecting element two and motor drive circuit two, be different from current mainboard or subplate, the vice control panel integrated level of this scheme improves greatly, the main control board interface is used for being connected with the main control board, gyroscope chip two can be used to record acceleration and the angular velocity information of balance car automobile body, and then reachs the slope information, control detecting element two and can be used to the sensing operator and control the signal, motor drive circuit two is used for the motor drive of wheel, main control chip two is unified with each component ware and is equipped with the corresponding function of execution, compact structure, and convenient popularization.

As a further improvement, including a plurality of MOS pipe two in the motor drive circuit two, each MOS pipe two sets up side by side in a side edge position of the circuit board two of vice control panel, and insulating pad two has been laid to one side surface of MOS pipe two, and the opposite side surface of insulating pad two supports and leans on there is heat dissipation piece two, is connected through the fastener between heat dissipation piece two and the circuit board two or is connected through the fastener between heat dissipation piece two and the MOS pipe two.

A balance car control system comprises the main control board and the auxiliary control board, wherein the main control board is connected with the auxiliary control board, and the main control board and the auxiliary control board are respectively connected with a motor. All have control chip and gyroscope chip on main control board and the vice control panel, main control board and vice control panel all can be used to the angular velocity and the acceleration of the corresponding automobile body of sensing, and then detect out the slope information of corresponding automobile body, gyroscope chip and each main control chip direct communication on each circuit board, signal transmission is stable, transmission quality is reliable, need not to set up third circuit board alone, make the cost reduce greatly, the quality has also been improved simultaneously, more need not additionally to occupy the space of automobile body, make the balance car more compact.

As a further improvement of the utility model, the edge position of the other side of the first circuit board of the main control board is provided with a magic color lamp strip interface and a lighting lamp interface; and the edge of the other side of the circuit board II of the secondary control board is provided with a neon lamp strip interface and an illuminating lamp interface. By adopting the technical scheme, the strip interface of the neon light and the interface of the illuminating lamp are positioned at the edge of each circuit board, so that the connection and the layout of each peripheral component are facilitated, and the arrangement is neat and not disordered.

As a further improvement, the circuit board of the main control board is provided with a Bluetooth chip or is connected with a Bluetooth module through a Bluetooth interface. Through adopting above-mentioned technical scheme, directly set up the bluetooth chip on the main control board, be favorable to the transmission stability of data.

As a further improvement, the first hall element interface that is used for detecting motor signals is provided with on the circuit board of main control board, be provided with the second hall element interface that is used for detecting another motor signal on the second circuit board of vice control board. By adopting the technical scheme, the circuit boards are correspondingly provided with the Hall element interfaces for detecting signals of the motors, and the Hall element interfaces can be connected to the Hall elements in the motors through the leads, so that data transmission is facilitated.

As a further improvement of the present invention, the first operation detection element is a photoelectric sensor or a pressure sensor; and the second control detection element is a photoelectric sensor or a pressure sensor. By adopting the technical scheme, each control detection element can be used for detecting whether an operator stands on the balance car and detecting the foot operation action of the operator.

The balance car comprises the balance car control system of any one of the above aspects;

the balance car also comprises a first car body and a second car body, wherein the first car body is rotationally connected with the second car body, the main control board is arranged in the first car body, and the auxiliary control board is arranged in the second car body;

or, the balance car still includes the automobile body, is provided with first footboard and the second footboard that can rotate or swing for the automobile body on the automobile body, and the main control board is located the below of first footboard, and vice control panel is located the below of second footboard, and main control board and vice control panel all are in the automobile body. Through adopting above-mentioned technical scheme, the balance car can be the swing car, adopts this balance car control system, need not to set up third circuit board, and the space utilization is more reasonable, and the structure can be more compact, has also reduced manufacturing cost effectively. The automobile body of balance car also can adopt the not rotatable automobile body, but each footboard can swing for the automobile body is rotatable, and then each circuit board can set up on each footboard, can reach equally the utility model discloses the purpose.

According to the utility model discloses balance car control system adopts main control board and vice control board all to set up control chip, gyroscope chip, controls detecting element's scheme, utilizes main control board and vice control board to realize controlling balance car, and each gyroscope chip is direct to communicate with each control chip, and data transmission is more stable, and transmission quality is more reliable, respectively controls detecting element can be used to sensing operator's the signal of controlling, has promoted the performance of controlling of balance car, is favorable to popularizing and applying.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

Fig. 1 is a schematic block diagram of a balance car control system according to an embodiment of the present invention.

Fig. 2 is a schematic block diagram of a main control board of a balance car control system according to an embodiment of the present invention.

Fig. 3 is a schematic block diagram of a secondary control board of the balance car control system according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a main control board of a balance car control system according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of the main control board in fig. 4 from another angle.

Fig. 6 is a schematic top view of the main control board in fig. 4.

Fig. 7 is an exploded view of the main control board of fig. 4.

Fig. 8 is a schematic structural diagram of a secondary control board of the balance car control system according to an embodiment of the present invention.

FIG. 9 is a schematic view of the secondary control panel of FIG. 8 at another angle.

FIG. 10 is a top view of the secondary control panel of FIG. 8.

Fig. 11 is an exploded view of the secondary control panel of fig. 8.

Fig. 12 is a schematic structural diagram of a main control board of a balance car control system provided in embodiment 2 of the present invention.

Fig. 13 is a top view of the main control board of fig. 12.

Fig. 14 is a schematic structural diagram of a secondary control board of a balance car control system according to embodiment 2 of the present invention.

FIG. 15 is a top view of the secondary control panel of FIG. 14.

Fig. 16 is a schematic structural diagram of a balance car according to an embodiment of the present invention.

Fig. 17 is a schematic structural view of a balance car according to another embodiment of the present invention.

In the figure: the control circuit comprises a main control board 1, a circuit board I101, a main control chip I102, a gyroscope chip I103, a MOS tube I104, a heat dissipation piece I105, a drive chip I106, a drive chip II 107, a drive chip III 108, an operational amplifier chip I109, a four-six lamp interface I110, a turn light interface I111, a tail light interface I112, a Hall element interface I113, a secondary control board interface 114, a voltage-stabilizing triode I115, a Bluetooth interface 116, a switch interface 117, an inductor 118, a charging interface 119, a buzzer 120, a control detection element I121, an insulation pad I122, a Bluetooth chip 123, a secondary control board 2, a circuit board II 201, a main control chip II 202, a gyroscope chip II 203, a MOS tube II 204, a heat dissipation piece II 205, a drive chip IV 206, a drive chip V207, a drive chip VI 208, an operational amplifier chip II 209, a four-six lamp interface II 210, a turn light interface II 211, a tail light interface II 212, a Hall element interface, The main control board interface 214, the second voltage stabilizing triode 215, the second operation detection element 221, the second insulating pad 222, the first vehicle body 3, the first upper shell 31, the first pedal 311, the first lower shell 32, the second vehicle body 4, the second upper shell 41, the second pedal 411, the second lower shell 42, the rotating mechanism 5, the vehicle body 6, the first pedal 7 and the second pedal 8.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the objects of the present invention, the following fastening drawings and preferred embodiments are provided to explain the detailed embodiments, structures, features and effects of the present invention.

It should be noted that the terms "a" and "an" are used herein for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "a", "an", or "two" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The term "connected" is to be understood broadly, e.g. as a wired connection, or a wireless connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Pulse Width Modulation (PWM) is an analog control method, which modulates the bias of the base of a transistor or the gate of a MOS transistor according to the change of a corresponding load to change the conduction time of the transistor or the MOS transistor, thereby changing the output of a switching regulator. The PWM signal is referred to as a pulse width modulation signal.

The MOS transistor is a Metal-Oxide-Semiconductor (Metal-Oxide-Semiconductor) field effect transistor, or so-called Metal-insulator-Semiconductor, and specifically this name describes the structure of the MOS transistor, namely: and adding silicon dioxide and metal on a semiconductor device with a certain structure to form a grid electrode.

Printed Circuit Boards (PCBs) are formed by connecting electronic components on a substrate with thin-layer metal conductors as wiring.

The interface in the application can be an interface seat with a socket, and can also be a bare wire connection part without the socket.

Example 1

Referring to fig. 4 to 7, a main control board for a balance car, where the main control board 1 includes a circuit board one 101, and a main control chip one 102, a gyroscope chip one 103, a MOS transistor one 104, a heat sink one 105, a driving chip one 106, a driving chip two 107, a driving chip three 108, an operational amplifier chip one 109, a four-six lamp interface one 110, a turn signal interface one 111, a tail lamp interface one 112, a hall element interface one 113, a sub-control board interface 114, a zener triode one 115, a bluetooth interface 116, a switch interface 117, an inductor 118, a charging interface 119, a buzzer 120, a control detection element one 121, an insulating pad one 122, a bluetooth chip 123, and a motor driving circuit one that are disposed on the circuit board one 101. In addition, still be provided with other components and parts such as electric capacity, resistance, inductance, diode, triode on the circuit board one, the model of these components and parts can be diversified, can match as required to be used for constituteing the components and parts in each functional circuit.

The first main control chip 102 is used for detecting signals, processing detection data, interacting with signals of the auxiliary control board and sending control signals to the outside, the first gyroscope chip 103 is used for detecting the angular speed and the acceleration of a corresponding vehicle body, and the first MOS transistor 104 is used for driving a motor of a wheel of the balance vehicle to operate. The first hall element interface 113 can be connected with hall elements in the wheels through wires so as to sense the rotating speed of the wheels. The secondary control board interface 114 may be used to interface with a primary control board interface on a secondary control board to connect to the secondary control board for communication with the secondary control board. The bluetooth interface 116 can be connected with the bluetooth module through a wire for data transmission or/and audio transmission, and the bluetooth module can communicate with an external device, such as controlling the balance car to move forward/backward by using a mobile phone, or controlling the balance car to play music. The switch interface 117 can be connected to a peripheral device such as a switch through a wire, and can be used for controlling the on/off of the balance car, and the charging interface 119 can be connected to a peripheral device such as a charging seat through a wire, and is used for charging the balance car. The buzzer 120 is used for reporting faults, and when the faults occur, the faults can be prompted through sounding of the buzzer, and different fault types can be prompted according to different sounding. The first operation detection element 121 can be used for sensing an operation signal of an operator, converting the operation signal into an electric signal and transmitting the electric signal to the first main control chip. The first insulating pad 122 may be used to prevent short circuits. The bluetooth chip 123 may be used for data transmission and/or audio transmission, and when the bluetooth chip 123 is directly disposed on the first circuit board, the bluetooth interface may be selectively discarded. Each MOS tube I104 and each driving chip form a motor driving circuit I so as to drive the corresponding wheel to rotate. All components and circuits are arranged on the first circuit board, and the first gyroscope chip 103, the first secondary control board interface 114, the first operation detection element 121 and the first motor driving circuit are connected to the first primary control chip 102.

In other embodiments, the steering lamp interface can be a magic color lamp (commonly called a marquee) interface, the tail lamp interface can be an illuminating lamp interface, and the names and positions of the interfaces of various lamps can be changed or exchanged according to needs.

Referring to fig. 6, the description will be made in the up-down and left-right directions shown in fig. 6. The first circuit board 101 is rectangular, and four corners of the first circuit board 101 are provided with fixing holes. The first main control chip 102 is located at a substantially central position of the first circuit board 101, and more specifically, the first main control chip 102 is located at a position lower than the first circuit board 101 in the vertical direction and at a position right than the left-right direction. The first gyroscope chip 103 is located below the first main control chip 102, as can be seen from fig. 7, six MOS transistors 104 are arranged in order along the vertical direction of the first circuit board 101 in fig. 6, a first insulating pad 122 is laid on the upper surface of the first MOS transistor 104 (the upper surface is aligned with the vertical direction shown in fig. 7), the upper surface of the first insulating pad 122 (the upper surface is aligned with the vertical direction shown in fig. 7) abuts against a first metal heat sink 105, the first heat sink 105 includes a flat rectangular plate 1051 and a plurality of heat dissipation fins 1052 located on two sides of the upper surface of the plate 1051 and perpendicular to the surface of the plate 1051, and the first heat sink has a good heat dissipation effect. The heat dissipation fins can be transversely arranged along the width direction of the first heat dissipation part or longitudinally or obliquely arranged along the length direction of the first heat dissipation part. The heat dissipation member one 105 is connected with the circuit board one 101 through a fastener, or the heat dissipation member one 105 is connected with the MOS tube one 104 through a fastener. When the first heat dissipation member 105 is connected with the first MOS transistor 104 through the fastener, the fastener is made of a non-metal material, so that short circuit can be avoided.

The first driving chip 106, the second driving chip 107 and the third driving chip 108 are located on the right side of the first MOS transistor and on the left side of the first main control chip 102, and are arranged from bottom to top, the position of the first driving chip 106 is lower than the position of the first main control chip 102, and the positions of the second driving chip and the third driving chip are higher than the position of the first main control chip. The operational amplifier chip one 109 is located above the driving chip three 108. The buzzer 120, the four-six lamp interface I110, the turn lamp interface I111, the tail lamp interface I112, the Hall element interface I113, the auxiliary control board interface 114, the voltage-stabilizing triode I115, the Bluetooth interface 116 and the switch interface 117 are arranged on the right edge of the first circuit board 101 from bottom to top, the buzzer 120 is located at the lower right corner of the first circuit board 101, the switch interface is located at the upper right corner of the first circuit board 101, the inductor 118 is located on the left side of the switch interface 117, and the charging interface 119 is located at the upper left corner of the first circuit board 101. The bluetooth chip 123 is located at a lower edge of the first circuit board 101, and in other embodiments, the bluetooth chip is not disposed on the first circuit board, and a bluetooth module is externally connected to the first circuit board through a bluetooth interface.

Referring to fig. 5, two first operation detecting elements 121 are disposed on the other surface of the first circuit board 101.

Example 2

Referring to fig. 8, 9, 10 and 11, the secondary control board 2 includes a second circuit board 201, a second main control chip 202, a second gyroscope chip 203, a second MOS transistor 204, a second heat sink 205, a fourth driving chip 206, a fifth driving chip 207, a sixth driving chip 208, a second operational amplifier chip 209, a second four-six lamp interface 210, a second turn light interface 211, a second tail light interface 212, a second hall element interface 213, a second main control board interface 214, a second voltage stabilization triode 215, a second operation detection element 221, a second insulation pad 222 and a second motor driving circuit. In addition, other components such as a capacitor, a resistor, an inductor, a diode, a triode and the like are further arranged on the second circuit board, the types of the components can be diversified, and the components can be selected and matched as required to form the components in each functional circuit.

The second main control chip 102 is used for detecting signals, processing the detected signals and sending control signals to the outside, and is used for performing signal interaction with the main control board 1, the second gyroscope chip 203 is used for detecting the angular speed and acceleration of a corresponding vehicle body, and the second MOS tube 204 is used for driving a motor of a wheel of the balance vehicle to operate. The second hall element interface 213 can be connected to the hall elements in the corresponding wheel through wires to sense the wheel rotation speed. The main control board interface 214 may be used to connect with a secondary control board interface on the main control board to connect with the main control board for communication with the main control board. The second control detection element 221 can be used for sensing a control signal of an operator, converting the control signal into an electric signal and transmitting the electric signal to the second main control chip. The second insulating pad 222 can be used to prevent short circuit. And each MOS tube II 204 and each driving chip form a motor driving circuit II so as to drive the corresponding wheel to rotate. All the components and circuits are arranged on the second circuit board, and the second gyroscope chip 203, the second main control board interface 214, the second control detection element 221 and the second motor driving circuit are connected to the second main control chip 202.

Referring to fig. 10, the description will be made in the up-down and left-right directions shown in fig. 10. The second circuit board 201 is rectangular, and four corners of the second circuit board 201 are provided with fixing holes. The second main control chip 202 is located at a substantially central position of the second circuit board 201, and more specifically, the first main control chip 202 is located at an upper position in the vertical direction and a left position in the left-right direction of the second circuit board 201. The second gyroscope chip 203 is located above the second main control chip 202, as can be seen from fig. 11, six MOS transistors 204 are provided, the six MOS transistors are regularly arranged at the right edge of the second circuit board 201 along the up-down direction of the second circuit board in fig. 10, two insulating pads 222 are laid on the upper surfaces of the two MOS transistors 204 (the upper surfaces are based on the up-down direction shown in fig. 11), the upper surfaces of the two insulating pads 222 (the upper surfaces are based on the up-down direction shown in fig. 11) abut against the second metal heat dissipation member 205, and the structure and shape of the second heat dissipation member 205 are the same as those of the first heat dissipation member, and a good heat dissipation effect is also provided. The second heat dissipation element 205 and the second circuit board 201 are connected through a fastener, or the second heat dissipation element 205 and the second MOS tube 204 are connected through a fastener.

The fourth driving chip 206, the fifth driving chip 207 and the sixth driving chip 208 are located on the left side of the second MOS transistor, are located on the right side of the first main control chip 202, and are arranged from top to bottom, the position of the fourth driving chip 206 is higher than the position of the second main control chip 202, and the positions of the fifth driving chip and the sixth driving chip are lower than the position of the second main control chip. The second operational amplifier chip 209 is located below the sixth driver chip 208. The left edge of the second circuit board 201 is provided with a second four-six lamp interface 210, a second turn light interface 211, a second tail light interface 212, a second hall element interface 213, a second main control board interface 214 and a second voltage stabilizing triode 215 from top to bottom.

Referring to fig. 9, two second operation detecting elements 221 are disposed on the other surface of the second circuit board 201.

Example 3

In this embodiment, referring to fig. 12 to 13, a main control board is provided, which is different from embodiment 1 in that, referring to fig. 13, a buzzer 120 in the main control board 1 is located below the first heat sink 105. Referring to fig. 12 and 13, the charging interface 119 is located at the upper right corner of the first circuit board 101. The layout of the other components is substantially equivalent to that of example 1, and the function is equivalent to that of example 1.

Specifically, referring to fig. 13, description will be made in the up-down and left-right directions shown in fig. 13. The first circuit board 101 is rectangular, and four corners of the first circuit board 101 are provided with fixing holes. The first main control chip 102 is located at a substantially central position of the first circuit board 101, and more specifically, the first main control chip 102 is located at a position lower than the first circuit board 101 in the vertical direction and at a position right than the left-right direction. The first gyroscope chip 103 is located below the first main control chip 102, and as can be seen from fig. 12, six MOS transistors 104 are regularly arranged at the left edge of the first circuit board 101 along the up-down direction of the first circuit board in fig. 13, a first insulating pad is laid on the upper surface of the first MOS transistor 104, and the upper surface of the first insulating pad abuts against the first metal heat sink 105. The first driving chip 106, the second driving chip 107 and the third driving chip 108 are located on the right side of the first MOS transistor and on the left side of the first main control chip 102, and are arranged from bottom to top, the position of the first driving chip 106 is lower than the position of the first main control chip 102, and the positions of the second driving chip and the third driving chip are higher than the position of the first main control chip. The right edge of the first circuit board 101 is provided with a first four-six lamp interface 110, a first turn light interface 111, a first tail light interface 112, a first hall element interface 113, a second control board interface 114, a bluetooth interface 116 and a switch interface 117 from bottom to top, and the switch interface 117 is positioned at the upper right corner of the first circuit board 101. The bluetooth chip 123 is located at a lower edge of the first circuit board 101, and in other embodiments, the bluetooth chip is not disposed on the first circuit board, and a bluetooth module is externally connected to the first circuit board through a bluetooth interface.

Example 4

In this embodiment, referring to fig. 14 to 15, a sub-control board is provided, which has a function equivalent to that of embodiment 2. The specific positions will be described with reference to fig. 14 and 15 in the up-down and left-right directions shown in fig. 15. The second circuit board 201 is rectangular, and four corners of the second circuit board 201 are provided with fixing holes. The second main control chip 202 is located at a substantially central position of the second circuit board 201, and more specifically, the first main control chip 202 is located at an upper position in the vertical direction and a left position in the left-right direction of the second circuit board 201. The second gyroscope chip 203 is located above the second main control chip 202. The six MOS tubes are orderly arranged at the edge position of the right side of the second circuit board 201 along the vertical direction of the second circuit board in fig. 15, the second insulating pad is laid on the upper surface of the second MOS tube, the upper surface of the second insulating pad abuts against the second metal heat dissipation piece 205, and the structure and the shape of the second heat dissipation piece 205 are the same as those of the first heat dissipation piece. The fourth driving chip 206, the fifth driving chip 207 and the sixth driving chip 208 are located on the left side of the second MOS transistor, are located on the right side of the first main control chip 202, and are arranged from top to bottom, the position of the fourth driving chip 206 is higher than the position of the second main control chip 202, and the positions of the fifth driving chip and the sixth driving chip are lower than the position of the second main control chip. The left edge of the second circuit board 201 is provided with a second four-six lamp interface 210, a second turn lamp interface 211, a second tail lamp interface 212, a second hall element interface 213 and a main control board interface 214 from top to bottom.

Example 5

Referring to fig. 1 to 15, a balance car control system includes the main control board 1 according to embodiment 1 and the sub-control board 2 according to embodiment 2, or includes the main control board 1 according to embodiment 3 and the sub-control board 2 according to embodiment 4. The main control board 1 is used for detecting signals and driving one motor of the balance car to operate, and the auxiliary control board 2 is used for detecting signals and driving the other motor of the balance car to operate.

As shown in fig. 1, a control system of a balance car is a schematic block diagram, wherein a motor is a hub motor in a wheel, and a two-wheel balance car is a balance car with two wheels, and each wheel is provided with one hub motor. The two motors are identical in circuit, one motor is connected to the main control board and can perform signal interaction with the main control board, the other motor is connected to the auxiliary control board and can perform signal interaction with the auxiliary control board, the main control board is connected with the auxiliary control board, and the battery is connected with the main control board and the auxiliary control board and can supply power to the main control board and the auxiliary control board.

Referring to fig. 2, the main control board is a schematic block diagram and comprises a first main control chip, a first auxiliary control board interface, a first voltage detection circuit, a first power supply circuit, a first switch interface, a first overcurrent protection circuit, a first current detection circuit, a first motor driving circuit, a first hall element interface inside a motor, a first control detection element, a magic color lamp strip interface, a lighting lamp interface, a first gyroscope chip, an in-board buzzer and a bluetooth chip. The in-board buzzer or the buzzer interface and the Bluetooth chip or the music Bluetooth interface can be used as an extended function circuit of the main control board to be connected with the main control chip, and the in-board buzzer means that the buzzer is directly arranged on the circuit board; in other embodiments, the extended function circuit may be disposed on other circuit boards, but not on the main control board. The intelligent control system comprises a first voltage detection circuit, a first auxiliary control board interface, a first power supply circuit, a first overcurrent protection circuit, a first current detection circuit, a first motor driving circuit, a first Hall element interface, a first control detection element, a first neon lamp strip interface, a lighting lamp interface, an in-board buzzer and a Bluetooth chip which are all connected to a first main control chip. The first voltage detection circuit is connected with the first power supply circuit, the first power supply circuit is connected with the first battery interface, and the second control board interface is connected with the first power supply circuit. The switch interface is connected with the first power supply circuit and the first main control chip. The battery interface I is connected with a milliohm-level sampling resistor, and the milliohm-level sampling resistor is connected with the overcurrent protection circuit I; the battery interface is connected with the first motor driving circuit, the first motor driving circuit is connected with the first current detection circuit and the motor interface, and the milliohm-level sampling resistor is connected with the first motor driving circuit.

The first main control chip is used for detecting signals, processing detection data, interacting with the auxiliary control board signals and sending control signals to the outside, the first gyroscope chip is used for detecting the corresponding angular speed and acceleration of the first vehicle body, the first power supply circuit is used for supplying voltage required by the main control board and peripheral devices, and the first motor driving circuit is used for converting battery voltage into corresponding PWM (pulse-width modulation) form to be output according to the PWM signals output by the first main control chip. The voltage detection circuit is used for detecting the voltage of a battery, and an auxiliary control board interface which is in signal interaction with an auxiliary control board is also used for supplying power to the auxiliary control board, matching the interface voltage of the main control board and the auxiliary control board and processing signals. The peripheral devices connected with the main control board include but are not limited to a colorful lamp strip, a lighting lamp, a motor, a hall element in the motor, a power-on switch, a loudspeaker and the like.

Referring to fig. 3, the functional block diagram of the secondary control board includes a second main control chip, a second main control board interface, a second voltage detection circuit, a second power supply circuit, a second overcurrent protection circuit, a second current detection circuit, a second motor driving circuit, a second hall element interface inside the motor, a second operation detection element, a second magic color lamp strip interface, an illuminating lamp interface and a second gyroscope chip. And the voltage detection circuit II, the main control board interface, the power supply circuit II, the overcurrent protection circuit II, the current detection circuit II, the motor drive circuit II, the Hall element interface II, the control detection element II, the neon lamp strip interface and the illuminating lamp interface are all connected to the main control chip II. The second power supply circuit is connected with the second battery interface, and the main control board interface is connected with the second power supply circuit. The battery interface II is connected with a milliohm-level sampling resistor, and the milliohm-level sampling resistor is connected with an overcurrent protection circuit II; the battery interface II is connected with the motor driving circuit II, the motor driving circuit II is connected with the current detection circuit II and the motor interface, and the milliohm-level sampling resistor is connected with the motor driving circuit II.

The main control chip II is used for detecting signals, processing detection data, performing signal interaction with the main control board and sending control signals to the outside, the gyroscope chip II is used for detecting the angular speed and acceleration of a corresponding second vehicle body, the power supply circuit II is used for supplying voltage required by the auxiliary control board and peripheral devices, the motor driving circuit II is used for converting the PWM signals of the main control chip II into PWM signals of battery voltage and sending the PWM signals to the motor through a motor interface to drive the hub motor to operate, the current detection circuit II is used for detecting the motor operating current, the overcurrent protection circuit II is used for protectively cutting off the PWM signals of the driving motor when the motor operating current is overlarge, and the voltage detection circuit II is used for detecting the battery voltage. Peripheral devices connected with the auxiliary control panel include but are not limited to a colorful lamp strip, a lighting lamp, a motor, a Hall element inside the motor, a loudspeaker and the like.

The Hall element in the hub motor detects signals of the Hall element, and the first main control chip and the second main control chip can calculate and obtain information such as an angle, a wheel speed and a driving speed controlled by the motor.

The first gyroscope chip 103 and the second gyroscope chip 203 detect the angular velocity and the acceleration of the vehicle by using an angular velocity meter and an accelerometer inside the gyroscope chip, and send related arbitrary information to respective main control chips, or through configuration of each gyroscope chip, calculate the inside of the gyroscope chip to obtain the angle value of the vehicle, and send arbitrary information such as the angle, the angular velocity, the acceleration and the like to each main control chip.

The current detection circuit detects the sampling resistor or the power-on voltage difference of the conducting MOS tube resistor, and the signal is amplified and sampled through the operational amplifier chip or the internal operational amplifier of the main control chip. Compared with the traditional current sensor, the scheme of the application can effectively reduce the volume of the circuit board.

Each main control chip collects data of each gyroscope chip, current data, overcurrent detection data, battery voltage data, Hall element data in the hub motor and the like, after the data are integrated and calculated, a driving signal is sent, each hub motor is driven to operate through each motor driving circuit, and the balance of the two-wheel balance vehicle body is kept. The data interacted between the first main control chip 102 and the second main control chip 202 includes, but is not limited to, data of a corresponding gyroscope chip and data of each motor.

Example 6

Referring to fig. 16, the balance car according to the embodiment 5 further includes a first car body 3, a second car body 4, and a battery, the first car body 3 is rotatably connected to the second car body 4, and more specifically, the first car body 3 is connected to the second car body 4 through a rotating mechanism 5, so that the first car body 3 and the second car body 4 can rotate relatively, the battery is disposed in the first car body or the second car body, each of the first car body and the second car body includes a wheel, each of the wheels has a built-in motor (i.e., a hub motor), and the main control board 1 and the sub-control board 2 are respectively disposed in different car bodies.

More specifically, the first vehicle body 3 includes a first upper case 31 and a first lower case 32, the second vehicle body 4 includes a second upper case 41 and a second lower case 42, one end of the rotating mechanism 5 is located in a space surrounded by the first upper case 31 and the first lower case 32, and the other end of the rotating mechanism 5 is located in a space surrounded by the second upper case 41 and the second lower case 42.

The balance car adopts the control system, has compact structure and convenient control, and is beneficial to popularization and application.

Example 7

Referring to fig. 17, the balance car adopting the control system of the balance car according to embodiment 5 further includes a car body 6, the car body 6 is provided with a first pedal 7 and a second pedal 8 which can rotate or swing relative to the car body 6, the main control panel 1 is located below the first pedal 7, the auxiliary control panel 2 is located below the second pedal 8, and the main control panel 1 and the auxiliary control panel 2 are both located in the car body 6. The vehicle body 6 is of a non-rotatable structure, but may be divided into an upper case and a lower case to facilitate installation of internal devices.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and although the present invention has been disclosed with preferred embodiments, it is not intended to limit the present invention, and any simple modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still belong to the protection scope of the technical solution of the present invention.

Claims

1. The main control board for the balance car is characterized in that the main control board (1) comprises a first circuit board (101), a first main control chip (102), a first gyroscope chip (103), a first auxiliary control board interface (114), a first control detection element (121) and a first motor driving circuit, wherein the first main control chip (102), the first gyroscope chip (103), the first auxiliary control board interface (114), the first control detection element (121) and the first motor driving circuit are arranged on the first circuit board (101), and are all connected to the first main control chip (102); the main control board (1) is connected with an auxiliary control board (2), the auxiliary control board (2) comprises a second circuit board (201), a second main control chip (202), a second gyroscope chip (203) and a second motor driving circuit which are arranged on the second circuit board (201), and the second gyroscope chip (203) and the second motor driving circuit are both connected to the second main control chip (202).

2. The main control board for the balance car according to claim 1, wherein the first motor driving circuit comprises a plurality of first MOS transistors (104), and each first MOS transistor (104) is arranged side by side at an edge of one side of the first circuit board (101) of the main control board (1); the surface of the same side of the MOS tubes I (104) is paved with an insulating pad I (122), the surface of the other side of the insulating pad I (122) abuts against a heat dissipation member I (105), and the heat dissipation member I (105) is connected with the circuit board I (101) through a fastener or the heat dissipation member I (105) is connected with the MOS tubes I (104) through a fastener.

3. A balance car control system, characterized in that, comprises the main control board (1) according to any one of claims 1-2, and further comprises the secondary control board (2), and the main control board (1) and the secondary control board (2) are respectively connected with a motor.

4. The balance car control system according to claim 3, wherein the edge position of the other side of the first circuit board (101) of the main control board (1) is provided with a color lighting strip interface and a lighting lamp interface; and a magic color lamp strip interface and an illuminating lamp interface are arranged at the edge of the other side of the second circuit board (201) of the secondary control board (2).

5. The balance car control system according to claim 3, wherein a Bluetooth chip is arranged on the first circuit board (101) of the main control board (1) or a Bluetooth module is connected through a Bluetooth interface (116).

6. The balance car control system according to claim 3, wherein a first Hall element interface (113) for detecting a motor signal is provided on the first circuit board (101) of the main control board (1), and a second Hall element interface (213) for detecting another motor signal is provided on the second circuit board (201) of the sub-control board (2).

7. The balance car control system according to claim 3, wherein the first manipulation detection element (121) is a photoelectric sensor or a pressure sensor.

8. Balance car, characterized by comprising a balance car control system according to any of claims 3-7;

the balance car further comprises a first car body (3) and a second car body (4), the first car body (3) is rotatably connected with the second car body (4), the main control panel (1) is arranged in the first car body (3), and the auxiliary control panel (2) is arranged in the second car body (4);

or the balance car further comprises a car body (6), a first pedal (7) and a second pedal (8) which can rotate or swing relative to the car body (6) are arranged on the car body (6), the main control board (1) is located below the first pedal (7), the auxiliary control board (2) is located below the second pedal (8), and the main control board (1) and the auxiliary control board (2) are both located in the car body (6).