KR101533258B1 - Self-stabilized vehicle having two wheels including intelligent battery management system - Google Patents

Abstract

The self-balanced two-wheeled mobile vehicle including the intelligent battery management system according to the present invention can prevent overcharging, overdischarge, and overcurrent of the battery pack, and perform sal balancing upon recharging.

Description

[0001] SELF-STABILIZED VEHICLE HAVING TWO WHEELS INCLUDING INTELLIGENT BATTERY MANAGEMENT SYSTEM [0002]

The present invention relates to a self-balancing two-wheeled vehicle, and more particularly, to a self-balanced two-wheeled vehicle, which is capable of maintaining balance while controlling the driving of a wheel through a sensing sensor such as a gyro sensor and an acceleration sensor Self-balanced two-wheeled mobile car.

The Segway is a single-person movement released by US inventor Dean Kamen in 2001 and is a scooter-like device that automatically centers, moves forward, reverses and rotates with body movement .

The Segway has two wheels on each side, and the user taps the digital key, climbs over the footboard, and tilts the body slightly in the desired direction. And stopping is done by tilting the body backward without any brake. It uses electric power and the microprocessor functions as a control command between the gyroscope and the wheel and can speed up speeds up to 19 (12 miles) per hour.

More specifically, for the operation of the Segway, five gyro sensors and two acceleration sensors detect the tilt and the acceleration, and the control of the Segway according to the detection uses the principle of the pendulum pendulum control. An inverted pendulum refers to a pendulum above the center of gravity, and the Segway accelerates or stops with the same principle of balancing these weights.

In recent years, the development of devices such as Segway has been developed in Korea due to the increasing interest in environmental problems due to the use of fossil fuels and the development of low-emission energy technologies. Also, in order to solve the unstable elements of the dual- Development is underway.

In this connection, Korean Patent Laid-Open No. 10-2011-0088827 discloses a " tricycle self-balancing mobile car ", specifically, a platform of a self-balancing mobile car, and is rotatably coupled to a fixed hinge located on a front upper surface of the platform A chassis portion including a guide plate having a protruding length linearly changed at a lower portion thereof and at least one auxiliary wheel mounted on a lower rear surface of the platform; A torque sensor installed on the steering wheel to sense the steering force applied to the steering wheel in the left and right directions and a moment sensor installed on the connection portion between the steering wheel and the chassis to sense the moment applied to the front and rear directions of the steering wheel, Two DC motors respectively fixed to both sides of the internal space of the chassis portion, and a DC motor which receives power from the DC motor, A ball screw rotatably fixed to a lower surface of the chassis; a driving motor for rotating the ball screw in normal and reverse directions; a ball screw screwed to the ball screw, And a guide block mounted on the guide plate, the guide block including a guide block mounted on the guide plate and a guide block rotatably supported on the guide plate, The motor is independently driven to control the front, rear, left and right and rotational motion of the chassis part, and the inclination angle of the chassis part with respect to the ground surface is determined by the signal inputted from the tilt sensor fixed to the chassis part, A control unit including a microprocessor for controlling the leveling unit to be horizontal; And a power supply unit including a steering unit, a driving unit, a footstool variable unit, and a battery for supplying power to the control unit. According to the present invention, And that the vehicle can maintain a stable state even in a static state.

The self-balancing moving vehicle generally includes a battery pack that supplies electric power to the driving motor. However, there is a risk of a safety accident if an overcurrent, overcharge, or overdischarge of the battery pack occurs.

Japanese Patent Application Laid-Open No. 2010-228523 (October 14, 2010)

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a battery pack for preventing overcurrent, overdischarge, and overcharging of a battery pack for motor driving and performing cell balancing at the time of recharging, The present invention provides a self-balanced two-wheeled mobile vehicle including an extendable battery management system.

The technical objects to be achieved by the present invention are not limited to the technical matters mentioned above, and other technical subjects which are not mentioned can be clearly understood by those skilled in the art from the following description. There will be.

According to an aspect of the present invention, there is provided a self-balancing two-wheeled vehicle including an intelligent battery management system, including: first and second drive motors for providing rotational power to left and right wheels; A battery pack for supplying power to the first and second driving motors, the battery pack including a plurality of battery cell groups connected in parallel to each other and including a plurality of battery cells connected in series; And performs a battery protection operation to eliminate the detected dangerous state when a dangerous state including overcharge, overdischarge, and overcurrent is detected, performs a dangerous state sensing operation for the pack every first period, And a battery management system that performs a dangerous state sensing operation on each of the battery cells every third period shorter than the first and second periods, .

The battery protection operation performed by the battery management system is to interrupt charging / discharging operations of the battery pack when a dangerous state for the entire battery pack is sensed during charge / discharge, and when the battery pack is recharged, A first protection operation for balancing the charging voltage of the battery cells included in the same battery cell group to a predetermined level; Discharging operation of the specific battery cell group is blocked when a dangerous state for a specific battery cell group is detected during charging / discharging, and charging voltage of the battery cells included in the specific cell group is re- A second protection operation for balancing with the second protection operation; And charging / discharging operations of the battery cell group including the specific cell are blocked when the dangerous state for the specific battery cell is detected, and charging / discharging operations of the battery cells included in the battery cell group including the specific battery cell And a third battery protection operation that balances the voltage to the predetermined level.

The battery management system includes: a first current sensing unit sensing a current supplied from the battery pack; A first switching unit for controlling whether the battery pack is supplied with current; And a controller for opening the first switch when the overcurrent of the battery pack is sensed.

The battery management system includes: a plurality of second current sensing units sensing a current supplied from each of the plurality of battery cell groups; A second switching unit including a plurality of switching elements for controlling whether current is supplied to each of the plurality of battery cell groups; And a controller for opening a switching element corresponding to a battery cell group in which the overcurrent is sensed by the plurality of second current sensing elements, among the plurality of switching elements.

The battery management system may further include: a third current sensing unit sensing a current for each of the plurality of battery cells included in each of the battery cell groups; A third switching unit including a plurality of switching elements for controlling whether current is supplied to each of the plurality of cell groups; And

And a controller for opening a switching element corresponding to a battery cell group including the specific cell among the plurality of switching elements when an overcurrent is sensed in a specific cell.

The battery management system includes: a voltage sensing unit configured to sense a voltage of each of a plurality of battery cells included in each of the plurality of battery cell groups; And a control unit that determines whether the battery cell is overcharged or overdischarged based on the battery voltage sensed by the voltage sensing unit, and determines whether the overcharge or overdischarge of the battery cell is detected based on the battery voltage sensed by the voltage sensing unit, And a control unit for interrupting the control signal.

Wherein the battery management system comprises: a plurality of balancing means provided for each of the plurality of battery cell groups, for balancing a voltage of a plurality of battery cells included in each battery cell group to a predetermined level; And a plurality of balancing means for performing a balancing operation on a plurality of battery cells included in a rechargeable battery cell group when recharging a battery cell group in which charge / discharge is blocked due to a dangerous state detection during charging / discharging, And a control unit for controlling the display unit.

The self-balanced two-wheeled mobile vehicle including the intelligent battery management system according to the present invention includes a battery management system capable of preventing overcurrent, overdischarge, and overcharge of the battery pack for driving the motor and performing cell balancing upon recharging. Therefore, the self-balancing two-wheel moving vehicle can provide stability of operation, prevention of safety accidents, and prolongation of battery life.

1 is a perspective view illustrating a self-balancing two-wheel moving vehicle according to an embodiment of the present invention.
2 is an exploded perspective view showing the self-balancing two-wheel moving vehicle shown in Fig.
FIG. 3 is a cross-sectional view of the self-balancing two-wheeled vehicle shown in FIG.
FIG. 4 is a view showing a grip portion of the self-balancing two-wheeled vehicle shown in FIG. 1;
FIG. 5 is a view showing a display window in the self-balancing two-wheeled vehicle shown in FIG. 1. FIG.
6 is a diagram showing a connection relationship between the configurations of the self-balanced two-wheeled vehicle according to the present invention.
7 is a block diagram showing an example of a battery pack of a self-balancing two-wheeled vehicle according to the present invention.
8 is a block diagram showing an example of a self-balancing two-wheel moving vehicle according to the present invention.
9 is a block diagram for explaining an example of a battery protection operation of the self-balancing two-wheeled vehicle according to the present invention.
10 is a flowchart showing an example of a battery protection operation performed in the self-balanced two-wheeled vehicle shown in FIG.
11 is a block diagram for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle according to the present invention.
12 is a flowchart for explaining the battery protection operation of the self-balanced two-wheeled vehicle shown in FIG.
13 is a flowchart for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle according to the present invention.
14 is a block diagram for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle according to the present invention.
Fig. 15 is a flowchart for explaining the battery protection operation of the self-balancing two-wheeled vehicle shown in Fig. 14;
16 is a flowchart for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle according to the present invention.
FIG. 17 is a conceptual diagram for explaining a cell balancing operation according to the battery protection operation of the self-balancing two-wheeled vehicle shown in FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the well-known functions or constructions are not described in order to simplify the gist of the present invention.

FIG. 1 is a perspective view showing a self-balancing two-wheeled mobile vehicle 1 according to an embodiment of the present invention, FIG. 2 is an exploded perspective view showing the self- Is a cross-sectional view of the self-balancing two-wheeled vehicle 1 shown in Fig. 1 in which the body 100 is exploded.

The self-balancing two-wheeled vehicle 1 according to the present invention comprises a body 100, a left wheel 200 and a right wheel 300, a support column 400, and a first sensing sensor 500.

The body 100 is a center of the self-balancing two-wheeled vehicle 1 according to the present invention, and includes a battery pack 170, a first driving motor 150 that receives power from the battery pack 170, And the second drive motor 160 and various substrates and sensors constituting a control circuit for controlling the operation of the respective components of the mobile vehicle 1 are provided.

A charging terminal 101 for charging the battery pack 170 is formed on one side of the body 100, and a power switch 102 is formed.

In addition, the support leg 103 supported on the ground can be hinged to the body 100 for stable mounting when the self-baling two-wheeled vehicle 1 is unused.

The first driving motor 150 is disposed on the left side of the body 100 and the second driving motor 160 is disposed on the right side of the body 100. The first driving motor 150 and the second driving motor 160, So that the self-balancing two-wheeled vehicle 1 is rotated. The first drive motor 150 and the second drive motor 160 may be made of a normal DC motor.

In the self-balanced two-wheeled mobile vehicle 1 according to the present invention, the left wheel 200, the right wheel 300 and two wheels are provided, and the two wheels are basically driven. The left wheel 200 is connected to the first driving motor 150 (may be connected by a direct connection, a combination of gears or a belt and a pulley) and rotates, and the right wheel 300 is connected to the second driving motor 160 And the left wheel 200 and the first driving motor 150 and the right wheel 300 and the second driving motor 160 are symmetrical with respect to each other on the body 100.

The support pillar 400 is formed long on the upper side of the body 100 and the handle 410 is formed on the upper side. The support pillars 400 are not combined with the body 100 in a completely fixed form, but can be rotated to the left or right within a predetermined range with respect to the body 100. That is, the rotation shaft of the support pillar 400 is formed in the front-rear direction at the lower end of the support pillar 400, so that the support pillar 400 can be rotated to the left or right of the body 100. When no additional load is applied to the support column 400, the support column 400 is centered without being shifted to the left or the right with respect to the body 100. Even when the support column 400 is rotated in either direction, In the state, it is restored to the central position again. A separate elastic means (not shown), such as a spring, is provided to restore the position of the support column 400.

The rotational speed of the second drive motor 160 is increased compared to the first drive motor 150 when the support column 400 is tilted to the left so that the self-balancing two-wheeled vehicle 1 is rotated to the left, When the support pillar 400 is tilted to the right, the rotation speed of the first drive motor 150 is increased compared to the second drive motor 160, and the self-balancing two-wheeled vehicle 1 is rotated to the right.

The inclination of the supporting column 400 is sensed by the first sensing sensor 500 and the speed of the first driving motor 150 and the second driving motor 160 is controlled by the microprocessor 700.

The supporting column 400 may be inclined forward or backward together with the body 100. When the supporting column 400 is tilted forward, the first driving motor 150 and the second driving The rotational speed of the motor 160 is increased so that the self-balancing two-wheeled vehicle 1 is accelerated forward, and when the support column 400 is inclined backward, the first drive motor 150 and the second drive motor 160 The deceleration or stopping is performed.

1, the supporting column 400 is divided into an upper column 400a and a lower column 400b, and the upper column 400a is divided into a lower column 400a and a lower column 400b. 400a and the lower column 400b are slidably coupled to each other and a fixing dial 401 for fixing the upper column 400a and the lower column 400b to each other may be combined.

The first sensing sensor 500 may include a gyro sensor and an acceleration sensor so as to sense the tilt and acceleration of the self-balancing two-wheeled vehicle 1. [ The first sensing sensor 500 may be formed inside the body 100.

The self-balancing two-wheeled mobile vehicle 1 according to the present invention basically includes four gyro sensors for detecting inclination toward the front, back, left, and right, and further includes one gyro sensor .

The self-balancing two-wheeled mobile vehicle 1 according to the present invention performs the operation of the first sensing sensor 500 and the operation of the moving vehicle 1 when the user stands on the foot plate 110 and becomes ready for running The body 100 includes a foot plate 110, a center plate 120, and a switch 140.

The footrest 110 is a portion where the user's feet are seated, and can be separately provided on the left and right sides, and is formed by forming a long face in the forward and backward directions to fit the shape of the user's sole. It is preferable that the upper surface of the pedestal 110 is provided with concavities and convexities to prevent slippage.

The footrest 110 is divided into a left footrest 111 on which the left foot of the user is seated and a right footrest 112 on which the right foot is seated, and the left footrest 111 and the right footrest 112 are divided into a left foot 111, It has a size of about 20 ~ 40cm in front and back length, and about 15 ~ 30cm in width.

The left footrest 111 and the right footrest 112 are generally formed in the form of a flat plate, and may be in the form of a metal plate or a rubber plate so as to be elastically deformed in the vertical direction. However, it is preferable that it is in the form of a rubber plate for stable support of the user's feet, ease of manufacture, weight reduction, and easy elastic deformation.

The deformation of the left footplate 111 and the right footplate 112 in the vertical direction can be made in a range of approximately 5 to 30 mm.

The center plate 120 is positioned on the lower side of the foot plate 110 and is entirely flat and has a pushing key 130 at a position corresponding to the left footplate 111 and the right footplate 112. The center plate 120 is provided with a through hole 121 formed to pass through the center plate 120 so that the push key 130 is fixed on the center plate 120. The push key 130 is inserted into the through hole 121, do.

The center plate 120 is made of a metal such as steel and is preferably stably fixed on the body 100 so as not to be spaced apart in the vertical direction.

The pushing key 130 is configured such that the upper end of the pushing key 130 can move up and down while being pressed or pressed by the foot plate 110 in close contact with or close to the footing plate 110 and elastically deformable. That is, when the pushing key 130 is pressed downward by an external force, it moves downward, and when the external force is removed, the pushing key 130 is elastically restored to its original position. For this purpose, the pushing key 130 may be formed to include a separate elastic spring (coil spring or the like). However, as shown in FIG. 2 for the sake of simple construction and manufacturing convenience, .

The pushing keys 130 are smaller in area than the footplate 110 (each of the left footplate 111 and the right footplate 112) and have a diameter of about 3 to 7 cm, for example. The area occupied by the pushing key 130 may be set to occupy about 5 to 10% of the area of the foot plates 111 and 112. That is, a substantial portion of the bottom surface of the foot plates 111 and 112 is supported by the center plate 120, and is configured to press the pushing key 130 only at a part of the foot plates 111 and 112. Thus, the user's foot can be stably mounted on the foot plate 110, and the pushing key 130 can be stably pressurized while minimizing the foreign object or inconvenience caused by the pushing key 130.

The pushing key 130 according to the present invention includes a rim portion 131, an elastic deforming portion 132 and a pressing portion 133 and includes a rim portion 131, an elastic deformation portion 132, 133 are all integrally formed.

The rim portion 131 is a portion that fits in the through hole 121 of the center plate 120 and has a groove along the circumferential periphery of the rim portion 131. A peripheral portion of the through hole 121 is inserted into the rim And is coupled to the center plate 120 while being rotated.

The elastic deforming part 132 is formed on the inner side of the rim 131. As shown in Fig. 3, the elastic deforming part 132 starts from the lower side of the rim 131 and has a central portion convex upward. The through hole 121 of the center plate 120 is sealed by the elastic deformation part 132.

A head portion 134 further projected upward is formed at the center of the elastic deforming portion 132, and the upper end surface of the head portion 134 is flat.

The resiliently deformed portion 132 and the head portion 134 protrude upward from the center plate 120 while the pushing key 130 is coupled to the center plate 120 and the center plate 120 and the foot plate 110 The upper end of the head portion 134 comes into close contact with the bottom surface of the foot plate 110 or comes in a very close state. At this time, the center plate 120 around the pushing key 130, that is, the pushing key 130, is in a state of being separated from the bottom surface of the footing plate 110.

The left footplate 111 and the right footplate 112 (particularly, the respective central portions of the left footplate 111 and the right footplate 112) move downward as a whole when the user's foot is seated on the footplate 110 Key 130 is pressed.

The pressing portion 133 protrudes downward from the central bottom surface of the elastic deforming portion 132. [ When the pushing key 130 is pressed downward, that is, when the pushing part 133 moves downward, the lower end of the pushing part 133 presses the switch 140 on the body 100 so that the switch 140 is turned on on state, and the switch 140 transmits an operation signal of the first sensing sensor 500. That is, when the switch 140 is pressed by the pushing part 133, the first sensing sensor 500 is operated and the first drive motor 150 and the second drive motor 160 are in a rotatable state do.

When the pushing part 133 moves upward again, the pressed switch 140 is also restored to the original state and turned off, and does not transmit the operation signal of the first monitoring sensor. That is, the operation of the first sensing sensor 500 including the gyro sensor, the first driving motor 150, and the second driving motor 160 is stopped.

In the self-balancing two-wheeled mobile vehicle 1 according to the present invention, a plurality of pushing keys 130 and switches 140 are provided below the left footrest 111 and the right footrest 112, respectively. For example, four push buttons 130 and switches 140 may be provided in total, and two push switches 130 and two switches may be provided below the left foot 111 and the right foot 112, respectively. One of the pushing key 130 and the switch 140 is disposed between the front end and the center of the left footrest 111 and the right footrest 112 and the other is disposed between the left footrest 111 and the right footrest 112, As shown in FIG.

Accordingly, when the user's feet are seated at the correct positions of the left footrest 111 and the right footrest 112, the entire switch 140 is turned on, and even if it is seated forward or backward on the footrests 110 Any one pushing key 130 is pressed and the switch 140 can be turned on.

As described above, according to the self-balancing two-wheeled mobile vehicle 1 of the present invention, the pushing key 130 is moved downward while being pressed by the footrest 110 elastically deformed when the user's foot is seated on the footrest 110, And the switch 140 for transmitting the operation signal of the first sensing sensor 500 is activated so that the user's foot is not seated on the foot plate 110 even if the power of the self- The first sensing sensor 500 is not operated and the left wheel 200 and the right wheel 300 are not rotated so that a safety accident can be prevented.

Even if an arbitrary portion is pressed on the foot plate 110 by pushing the pushing key 130 through the footing 110, the self-balancing two-wheeled moving vehicle 1 can be operated, 1 detection sensor 500 can be operated.

Fig. 4 is a view showing a part of the handle 410 in the self-balancing two-wheeled mobile car 1 shown in Fig. 1, and Fig. 5 is a view showing a state in which the display window 610 And FIG. 6 is a diagram showing the connection relationship between the configurations of the self-balancing two-wheeled vehicle 1 according to the present invention.

In the self-balancing two-wheeled mobile vehicle 1 according to the present invention, the handle 410 protrudes leftward and rightward from the upper end of the support pillar 400 and is formed in a bilaterally symmetrical shape.

The handle 410 may be integrally formed with the handle 410. The handle 410 may be integrally formed with the handle 410. The handle 410 may be integrally formed with the handle 410. [ The protruding length L of the impact preventing part 420 is longer than the thickness of the palm of the user and is preferably longer than twice the thickness of the palm of the user.

By providing the impact preventing portion 420, when the self-balancing two-wheeled vehicle 1 falls sideways, the user's hands can be prevented from touching the ground, thereby protecting the hands. In addition, It is possible to prevent the user's hand from being damaged by the front end of the portion 420 touching the ground.

The second sensing sensor 430 may be formed on the handle 410 of the self-balancing two-wheeled mobile vehicle 1 according to the present invention. The second sensing sensor 430 may be in the form of a temperature sensor or a pressure sensor. The second sensing sensor 430 senses whether or not the user holds the handle 410 and transmits the sensed information to the microprocessor The microprocessor 700 can control the operation of the first driving motor 150 and the second driving motor 160 accordingly.

That is, when the second sensing sensor 430 does not sense whether the grip 410 is held or not, the operation of the first driving motor 150 and the second driving motor 160 is stopped, So that the running of the vehicle can be blocked.

In the self-balancing two-wheeled mobile vehicle 1 according to the present invention, the boundary step 600 is formed between the left footrest 111 and the right footrest 112. The boundary step 600 is formed to be long in the front-rear direction and protrudes upward.

A display window 610 is formed on the upper surface of the boundary stop 600 and a battery indicator 611, a sensor indicator 612 and a speed limit indicator 613 are formed on the display window 610.

The battery indicator unit 611 may be configured as a plurality of lamps and may be configured to have a different number of lamps depending on the remaining battery power of the battery pack 170. That is, in a state where the charging of the battery pack 170 is completed, all the lamps of the battery display unit 611 are turned on, and as the use of the battery progresses, each lamp is continuously turned off so that the user can intuitively know the remaining battery level do.

The battery display unit 611 can be used as a means for preventing the use of the self-balanced two-wheeled vehicle 1 in a state in which the battery is insufficient, as well as for checking whether the battery is charged or not.

The sensor display unit 612 indicates whether the first sensing sensor 500 is operated, and may correspond to the number and position of the first sensing sensors 500. That is, when the first sensing sensor 500 is composed of four gyro sensors and the respective gyro sensors are arranged back and forth and left and right, the sensor display unit 612 is in the form of a lamp arranged in front and rear and right and left, It may be made to be turned on when the operation of the power source is good and turned off when it is bad.

The sensor display unit 612 displays whether the state of the first sensing sensor 500 is good or not and thereby prevents use of the self-balanced two-wheeled vehicle 1 in a state where the first sensing sensor 500 is in a poor state Lt; / RTI >

The speed limit display unit 613 indicates whether the speed limit of the first drive motor 150 and the second drive motor 160 is set.

In the self-balancing two-wheeled mobile vehicle 1 according to the present invention, as shown in FIG. 2, two battery packs 170 are provided in the body 100 in the forward and backward directions, 1 drive motor 150 and the second drive motor 160 are arranged. That is, considering the space occupied by the first driving motor 150 and the second driving motor 160, the respective battery packs 170 may be arranged in the front-rear direction to increase the space utilization efficiency.

The two battery packs 170 are controlled by respective battery management systems (BMSs), thereby enabling easy control of the battery.

For example, in a case where a plurality of battery cells are divided into battery cell groups again to be controlled by the BMS rather than one battery pack 170 comprising a plurality of battery cells is controlled by one BMS, Can be easily controlled and the charging and use efficiency of the battery can be increased.

7 is a block diagram showing an example of the battery pack 170 of the self-balancing two-wheeled vehicle 1 according to the present invention. Referring to FIG. 7A, the battery pack 170 includes a plurality of battery cell groups 171 to 174. The plurality of battery cell groups 171 to 174 may be connected in parallel to supply power to the driving motors 150 and 160.

Each of the plurality of battery cell groups 171 to 174 includes a plurality of battery cells (cell 1 to cell 19) as shown in FIG. 7 (b). 7, four battery cell groups are included in the battery pack 170, and 19 battery cells are included in each of the battery cell groups. This is only an example of the implementation of the battery pack 170 according to the present invention. That is, the scope of the present invention is not limited thereto.

8 is a block diagram showing an example of the self-balancing two-wheeled vehicle 1 according to the present invention. 8, the self-balancing two-wheeled mobile vehicle 1 includes drive motor units 150 and 160, a BMS 800, a battery pack 170, and a charger unit 900. 8, the components of the self-balancing two-wheeled vehicle 1 are shown only as necessary to explain the battery management operation of the self-balancing two-wheeled vehicle 1. [ That is, the self-balancing two-wheeled vehicle 1 may include more components than the components shown in FIG.

The BMS 800 may control the charging unit 900 to charge the battery pack 170 or may allow the battery pack 170 to supply power to the driving motor units 150 and 160. That is, the BMS 800 can control charging / discharging operations of the battery pack 170.

The BMS 800 may perform a battery protection operation to remove the sensed dangerous state when a dangerous state such as overcharge, overdischarge, or overcurrent is detected during charging / discharging of the battery pack 170. The BMS 800 may perform the dangerous state winding operation in units of the battery pack 170 as a whole unit, a battery cell group included in the battery pack 170, or a battery cell included in the battery cell group.

For example, the BMS 800 performs a dangerous condition sensing operation for every first battery cycle of the battery pack 170, performs a hazardous condition sensing operation for each second battery cell group, For each of them, a dangerous state detection operation can be performed every third cycle. At this time, the third period may be shorter than the first and second periods. This is because the possibility that the dangerous state for each battery cell is detected is higher than the possibility that the dangerous state for the whole battery pack unit or the battery cell group unit is detected.

If the dangerous condition of the whole unit of the battery pack 170 is sensed, the BMS 800 blocks the charge / discharge operation of the battery pack 170. [ When the battery pack 170 is recharged, a cell balancing operation is performed in units of battery cells included in the battery pack 170.

Here, the cell balancing operation refers to an operation in which the charging voltage of a plurality of battery cells included in the battery cell group is equalized at a constant level at the time of charging, and then the charging is continued. This is to overcome charging unbalance between battery cells due to overcharging, overdischarge, and overcurrent, thereby securing stability of battery operation and extending battery life.

More specifically, it is assumed that the first battery cell is overdriven, the second battery cell is normally discharged, and then the first and second battery cells are charged. If the cell balancing operation is not performed, the first battery cell starts charging in an overdischarged state, so that the charging voltage always has to be lower than the second battery cell. If the first battery cell is overcharged, the voltage of the first battery cell must be higher than that of the second battery cell. This imbalance in charging between the battery cells may shorten the service life of the battery pack 170 and further deteriorate the operational safety of the battery pack 170. [

In order to solve this problem, the BMS 800 of the self-balancing two-wheeled mobile vehicle 1 according to the present invention is configured to charge the overcharged or overcharged first battery cell and the normally charged / Balancing is performed with the same charging voltage, and charging is continued for the first and second battery cells.

Meanwhile, if a dangerous state for a specific battery cell group is detected during charging / discharging, the BMS 800 blocks the charge / discharge operation for the specific battery cell group. At this time, the BMS 800 may not block charge / discharge operations of other battery cell groups included in the battery pack 170. [

When recharging the specific battery cell group, cell balancing may be performed on a plurality of battery cells included in the specific battery cell group. The cell balancing operation may not be performed for the other battery cell groups.

In addition, if a dangerous state for a specific battery cell is sensed during charge / discharge, the BMS 800 blocks charge / discharge operations for the battery cell group including the specific battery cell. At this time, the BMS 800 may not block charge / discharge operations for other battery cell groups included in the battery pack 170. [

When recharging the specific battery cell group, cell balancing may be performed on a plurality of battery cells included in the specific battery cell group. The cell balancing operation may not be performed for the other battery cell groups.

In the foregoing, the dangerous state detection and battery protection operation of the BMS 800 included in the self-balancing two-wheel vehicle 1 according to the present invention has been described with reference to FIG. Hereinafter, specific examples of the dangerous state sensing operation and the battery protection operation of the BMS 800 will be described.

9 is a block diagram for explaining an example of the battery protection operation of the self-balancing two-wheeled vehicle 1 according to the present invention. FIG. 10 is a flowchart showing an example of the battery protection operation performed in the self-balancing two-wheeled vehicle 1 shown in FIG.

9, the BMS 800 of the self-balanced two-wheeled mobile vehicle 1 includes a control unit 801, a first current sensing unit 802, and a first switching unit 803. The controller 801 senses a current Isen1 supplied from the battery pack 170 to the drive motor units 150 and 160 through the first current sensing unit 802. [

More specifically, the control unit 801 senses a voltage Vsen1 generated based on the current Isen1 by the first current sensing unit 802 implemented by a resistor Rsen1 every first period, The current of the entire battery pack 170 is sensed based on the sensed voltage Vsen1 (S100). Meanwhile, the method of sensing the current supplied by the battery pack 170 is not limited to the above-described method using the sensing resistor Rsen1.

Then, the controller 801 determines whether the overcurrent is sensed (S110). If the overcurrent is sensed, the controller 801 cuts off the charging / discharging operation of the battery pack 170 (S120). Thus, damage or malfunction of the battery pack 170 due to the overcurrent can be prevented.

The discharge operation interruption of the entire battery pack 170 may be performed by opening the switch SW1 based on the control signal CON1 generated by the control unit 801. [ Meanwhile, the method of interrupting charge / discharge of the battery pack 170 is not limited to the above-described method using the switch SW1.

The method of interrupting the charging of the battery pack 170 may be performed by controlling the charging unit 900 to block the charging of the battery pack 170.

11 is a block diagram for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle 1 according to the present invention. 12 is a flowchart for explaining the battery protection operation of the self-balancing two-wheeled vehicle 1 shown in Fig.

11, the BMS 800 of the self-balanced two-wheeled mobile vehicle 1 includes a control unit 801, a plurality of second current sensing units 804 and 806, a second switching unit 805 and 807). The control unit 801 senses currents Isen2 and Isen3 supplied by the battery cell groups 171 and 172 through the second current sensing units 804 and 806, respectively.

More specifically, the control unit 801 generates a voltage (e.g., a voltage) generated based on the currents Isen2 and Isen3 by the second current sensing units 804 and 806 implemented with resistors Rsen2 and Rsen3 Vsen2 and Vsen3) and senses the currents of the first battery cell group 171 and the second battery cell group 172 based on the sensed voltage Vsen1 (S200). Meanwhile, the method of sensing the current supplied by the battery cell group is not limited to the above-described method using the sensing resistors Rsen2 and Rsen3.

Then, the controller 801 determines whether the overcurrent for the battery cell groups 171 and 172 is sensed (S210). If the overcurrent is sensed, the control unit 801 interrupts the charge / discharge operation of the battery cell group in which the overcurrent is sensed (S220). Thus, damage or malfunction of the battery cell group due to the overcurrent can be prevented.

The discharge operation interruption for the battery cell group can be performed by opening the switches SW2 and SW3 based on the control signals CON2 and CON3 generated in the control unit 801. [ Meanwhile, the method of interrupting the discharge of the battery cell group is not limited to the above-described method using the switches SW2 and SW3.

The method of interrupting the charging of the battery cell groups 171 and 172 may be performed by controlling the charging unit 900 to block the charging of the battery groups 171 and 172. [

13 is a flowchart for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle 1 according to the present invention. Hereinafter, the battery protection operation will be described with reference to necessary drawings.

The BMS 800 of the self-balancing two-wheel-drive vehicle 1 transmits a current to battery cells included in a plurality of battery cell groups included in the battery pack 170 every third period, (S300).

Then, the control unit 801 of the BMS 800 determines whether an over-current battery cell among the plurality of battery cells is generated (S310). If an overcurrent occurs for a specific battery cell, the controller 801 blocks the charge / discharge operation of the battery cell group including the overcurrent sensed battery cell at step S320.

For example, the control unit 801 may open a switching element corresponding to a specific battery cell group including a battery cell in which an overcurrent is generated among a plurality of third switching devices corresponding to a plurality of battery cell groups, It is possible to block the discharge to the < / RTI > In addition, the controller 801 can block the charging of the specific battery cell group by controlling the charger 900. [

Fig. 14 is a block diagram for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle 1 according to the present invention. Fig. 15 is a flowchart for explaining the battery protection operation of the self-balancing two-wheeled vehicle 1 shown in Fig.

14, a voltage sensing unit 808 for sensing the charging voltage of each of the battery cells (cell 1 to cell 19) included in the battery cell group 171 among the components of the BMS 800, 801 and only the switching element SW4 that has blocked the discharge of the battery cell group 171 has been shown.

The controller 801 senses voltages V1 to V19 of the plurality of battery cells cell1 to cell19 using the voltage sensing unit 808 every third period at step S400. Then, the control unit 801 determines whether an overcharge or overdischarge cell is generated among the plurality of battery cells (cell1 to cell19) included in the battery cell group 171 based on the sensed voltage (S410).

If overcharge or overdischarge is detected for a specific cell, the controller 801 disables charging / discharging operations of the specific battery cell group including the overcharged or overdischarged battery cell (S420). For example, the control unit 801 may block the discharging operation of the battery cell group by opening a switching element connecting between the specific battery cell group and the driving motors 150 and 160. The control unit 801 may control the charging unit 900 to block the charging of the specific battery cell group.

14 and 15, the BMS 800 of the self-balancing two-wheeled mobile vehicle 1 according to the present invention can prevent overcharge or overcharge of the battery cell group unit or the battery pack 170 It is possible to perform the battery protection operation in accordance with the overdischarge. This can be easily achieved by those skilled in the art based on the battery protection operation described with reference to FIGS. Therefore, a detailed description thereof will be omitted.

16 is a flowchart for explaining another example of the battery protection operation of the self-balancing two-wheeled vehicle 1 according to the present invention. FIG. 17 is a conceptual diagram for explaining the cell balancing operation according to the battery protection operation of the self-balancing two-wheeled vehicle 1 shown in FIG.

During the charging / discharging, the charging / discharging operation of the battery cell group is interrupted due to the detection of the dangerous state (S500). Then, recharging of the battery cell group is started (S510).

Then, the BMS 800 performs cell balancing of the battery cells included in the battery cell group (S520). After the cell balancing is performed, the BMS 800 resumes charging the battery cell group (battery cells) (S530).

17A shows that the first battery cell cell A is overcharged to a maximum charge voltage Vmax or more while the second battery cell cell B is overcharged to a minimum charge voltage Vmin during charge / And the third battery cell (cell C) indicates a normal charging or discharging state. A dangerous state is detected for the first battery cell A and the second battery cell B so that the charge / discharge operation for the battery cell group including the battery cells is interrupted. Then, recharging of the battery cell group is started, and cell balancing is performed on the cells (cells A to C) (FIG. 17 (b)).

The control unit 801 may control the plurality of balancing units 810 and 811 to balance the voltages between the battery cells (cell A to cell C) with the balancing voltage Vbal. FIG. 17C shows that the voltage of the battery cells (cell A to cell C) is balanced with the balancing voltage Vbal when the cell balancing is ended.

After the cell balancing is completed, the controller 801 continues to charge the battery cell group including the battery cells (cell A to cell C).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is obvious to those who have. Accordingly, it should be understood that such modifications or alterations should not be understood individually from the technical spirit and viewpoint of the present invention, and that modified embodiments fall within the scope of the claims of the present invention.

1: self-balancing two-wheeled vehicle 100: body
110: foot plate 111: left foot plate
112: right foot plate 120: center plate
121: through hole 130: pushing key
131: rim 132: elastic deformation part
133: pressing portion 134: head portion
140: Switch 150: First drive motor
160: Second drive motor 170: Battery pack
200: left wheel 300: right wheel
400: support column 410: handle
420: shock prevention part 430: second detection sensor
500: first sensing sensor 600: threshold jaw
610: display window 611: battery indicator
612: Sensor display section 613: Speed limit display section
800: Battery management system 900:

Claims (6)

First and second drive motors for providing rotational forces to the left and right wheels;
A battery pack for supplying power to the first and second driving motors, the battery pack including a plurality of battery cell groups connected in parallel to each other and including a plurality of battery cells connected in series; And
And performs a battery protection operation for eliminating the sensed dangerous state when a dangerous state including overcharge, overdischarge, and overcurrent is detected, and performs a battery protection operation for each battery cell every first period, And a battery management system (Battery Management System) for performing a dangerous state detection operation every third cycle for battery cells,
The battery protection operation performed by the battery management system includes:
The battery pack is charged / discharged when a dangerous state for the entire battery pack is sensed during charging / discharging, and performs cell balancing for each of the plurality of battery cell groups at the time of recharging. 1 protection operation;
When a dangerous state for a specific battery cell group is detected during charging / discharging, the charging / discharging operation for the specific battery cell group is blocked while the charging / discharging operation for the other battery cell group is not blocked, A second protection operation for performing cell balancing on the group; And
When a dangerous state for a specific battery cell is sensed, the charge / discharge operation for the battery cell group including the specific cell is blocked but the charge / discharge operation for the other battery cell group is not interrupted, And a third battery protection operation for performing cell balancing on the battery cell group including the battery cell group.
Self-balancing two-wheeler with intelligent battery management system. The battery management system according to claim 1,
A first current sensing unit sensing a current supplied from the battery pack;
A first switching unit for controlling whether or not a current is supplied by the battery pack; And
And a controller for opening the first switch when the overcurrent supplied from the battery pack is sensed by the first current sensing unit.
Self-balancing two-wheeler with intelligent battery management system. The battery management system according to claim 1,
A plurality of second current sensing units sensing a current supplied from each of the plurality of battery cell groups;
A second switching unit including a plurality of switching elements for controlling whether current is supplied by each of the plurality of battery cell groups; And
And a control unit for opening a switching element corresponding to the specific battery cell group among the plurality of switching elements when an overcurrent supplied from a specific cell group among the plurality of battery cell groups is sensed by the plurality of second current sensing units doing,
Self-balancing two-wheeler with intelligent battery management system. The battery management system according to claim 1,
A third current sensing unit sensing a current supplied from each of the plurality of battery cells included in each of the battery cell groups;
A third switching unit including a plurality of switching elements for controlling whether current is supplied by each of the plurality of cell groups; And
When the overcurrent supplied from a specific battery cell among the plurality of battery cells is sensed by the third current sensing unit, the control unit opens a switching element corresponding to a battery cell group including the specific battery cell among the plurality of switching elements / RTI >
Self-balancing two-wheeler with intelligent battery management system. The battery management system according to any one of claims 2 to 4,
A voltage sensing unit for sensing a voltage of each of a plurality of battery cells included in each of the plurality of battery cell groups; And
And a control unit that determines whether the battery cell is overcharged or overdischarged based on the battery voltage sensed by the voltage sensing unit, and determines whether the overcharge or overdischarge of the battery cell is detected based on the battery voltage sensed by the voltage sensing unit, And a control unit for interrupting the operation of the control unit.
Self-balancing two-wheeler with intelligent battery management system. 6. The battery management system according to claim 5,
A plurality of balancing means provided for each of the plurality of battery cell groups and balancing a voltage of a plurality of battery cells included in each battery cell group to a predetermined level; And
The plurality of balancing means are controlled so as to perform a balancing operation on a plurality of battery cells included in the battery cell group to be recharged when recharging the battery cell group whose charge / discharge is blocked due to the dangerous state detection during charge / ,
Self-balancing two-wheeler with intelligent battery management system.

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