CN105644674B - The master control borad of human-computer interaction sport(s) car and the control system of human-computer interaction sport(s) car - Google Patents
The master control borad of human-computer interaction sport(s) car and the control system of human-computer interaction sport(s) car Download PDFInfo
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- CN105644674B CN105644674B CN201610162195.9A CN201610162195A CN105644674B CN 105644674 B CN105644674 B CN 105644674B CN 201610162195 A CN201610162195 A CN 201610162195A CN 105644674 B CN105644674 B CN 105644674B
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- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 238000005070 sampling Methods 0.000 claims description 81
- 238000007600 charging Methods 0.000 claims description 32
- 230000002159 abnormal effect Effects 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
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- 238000004880 explosion Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0031—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using battery or load disconnect circuits
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of master control borad of human-computer interaction sport(s) car, including main control module, power module, external power source interface, charge-discharge modules, motor drive module and sensor module, charge-discharge modules and external power source interface, power module and motor drive module connection, charge-discharge modules are also used to connect with battery pack, sensor module includes gyroscope, acceleration transducer and Hall sensor, gyroscope is used to detect the drift angle information of car body, acceleration transducer is used to detect the acceleration information of car body, Hall sensor is used to detect the velocity information of car body, sensor module is connect with main control module, the PWM driving interface and motor drive module of main control module, main control module is for receiving drift angle information, acceleration information and velocity information simultaneously carry out data fusion and are used for output drive signal to motor drive module, motor Drive module is rotated according to driving signal drive motor, and safety coefficient is high.The invention further relates to a kind of control systems of human-computer interaction sport(s) car.
Description
Technical field
The invention belongs to the master control borad of human-computer interaction sport(s) car technical field more particularly to a kind of human-computer interaction sport(s) car and
The control system of human-computer interaction sport(s) car.
Background technique
It is quick with related fieldss such as computer technology, software technology, microelectric technique, the communication technology, material technologies
Development, and science and technology and people 's material life is horizontal is constantly progressive and improves, the modern vehicles just towards intelligently,
Small-sized, energy-saving and environmental protection trend developments.In recent years, with control system (the also known as two-wheeled balancing skateboard of human-computer interaction sport(s) car
Vehicle) research deepen continuously, applied field is more extensive, and the environment and task faced also becomes increasingly complex.Two-wheeled
Balancing skateboard vehicle is frequently encountered workplace that is some narrow, and having many big corners, therefore, balances and slides to two-wheeled
More stringent requirements are proposed for wooden handcart control system, however the control system of the two-wheeled balancing skateboard vehicle of the prior art is due to by cost
With the limitation of technology, control precision is not high and unstable, and the buffeting of system is very big, there is very big security risk.
Therefore for drawbacks described above present in currently available technology, it is really necessary to be studied, to provide a kind of scheme,
Solve defect existing in the prior art.
Summary of the invention
A kind of master control borad for human-computer interaction sport(s) car that the present invention proposes to overcome the prior art.
To achieve the goals above, the master control borad of a kind of human-computer interaction sport(s) car provided by the present invention, including main control module,
Power module, external power source interface, master control borad charge-discharge modules, motor drive module and sensor module, the master control borad fill
Discharge module is connect with the external power source interface, power module and motor drive module, and the master control borad charge-discharge modules are also
For connecting with battery pack, the sensor module includes gyroscope, acceleration transducer and Hall sensor, the gyroscope
For detecting the drift angle information of the car body of human-computer interaction sport(s) car, the acceleration transducer is used to detect the acceleration letter of car body
Breath, the Hall sensor are used to detect the velocity information of car body, and the sensor module is connected to the main control module, described
The PWM driving interface of main control module and the motor drive module, the main control module is for receiving the drift angle information, accelerating
Degree information and velocity information simultaneously carry out data fusion and are used to export PWM drive signal to the motor drive module, the electricity
Machine drive module is rotated according to the PWM drive signal drive motor.
Further, the master control borad further includes the first electronic switch, the control terminal of first electronic switch, input terminal
It is connect respectively with the main control module and the master control borad charge-discharge modules, the output end and the electricity of first electronic switch
Source module and motor drive module connection, what the main control module was used to control first electronic switch leads through and off
It opens.
Further, the master control borad further includes the second electronic switch, the control terminal of second electronic switch, input terminal
And output end is connect with the main control module, the external power source interface and the master control borad charge-discharge modules respectively, the master
Control module is used to control the conducting and disconnection of second electronic switch.
The present invention also provides a kind of control systems of human-computer interaction sport(s) car, including battery pack and above-mentioned master control borad, institute
Stating battery pack includes battery core and battery pack charge-discharge modules, and the battery core is connect with the battery pack charge-discharge modules, the electricity
Pond packet charge-discharge modules are connect with the master control borad charge-discharge modules.
It further, further include cell information sampling module, the cell information sampling module is for acquiring the battery core
Information and be sent to the main control module, the master control borad further includes the first electronic switch and the second electronic switch, described
The control terminal of one electronic switch, input terminal are connect with the main control module and the master control borad charge-discharge modules respectively, and described
The output end of one electronic switch is connect with the power module and the motor drive module, the control of second electronic switch
End, output end and input terminal are connect with the main control module, the master control borad charge-discharge modules and external power source interface respectively, institute
Whether the information for stating the battery core that main control module judgement receives is abnormal, and in the Information abnormity of the battery core, correspondingly
First electronic switch is disconnected in battery core electric discharge, turns off second electronic cutting in battery core charging
It opens.
Further, the battery pack further includes battery pack management module, discharge switch and charge switch, the battery pack
Charge-discharge modules are connect with the master control borad charge-discharge modules, are led to respectively between the battery core and the battery pack charge-discharge modules
The discharge switch is crossed to connect with the discharge switch, the control terminal of the discharge switch, the control terminal of the charge switch and
The cell information sampling module is connect with the battery pack management module, and the battery pack management module receives the battery core
Information and be sent to the main control module, while the battery pack management module judges whether the information of battery core abnormal, and
When the Information abnormity of the battery core, the discharge switch correspondingly is disconnected when the battery core is discharged, in battery core charging
Disconnect the charge switch.
Further, the cell information sampling module includes temperature sampling unit, and the temperature sampling unit is for adopting
Collect the temperature of the battery core and is sent to the battery pack management module, in battery core electric discharge, the main control module and institute
It states battery pack management module and judges that the temperature of the battery core is more than or equal to set temperature, the main control module disconnects described first
Electronic switch, the battery pack management module disconnect the discharge switch；In battery core charging, the main control module and institute
It states battery pack management module and judges that the temperature of the battery core is more than or equal to set temperature, the main control module disconnects described second
Electronic switch, the battery pack management module disconnect the charge switch.
Further, the master control borad further includes the master control borad temperature sampling interface being connected to the main control module, described
Battery pack further includes the battery pack temperature sampling interface connecting with the temperature sampling unit, the battery pack temperature sampling interface
It is connect with the master control borad temperature sampling interface by data line, the temperature of the collected battery core of temperature sampling unit is also logical
Excess temperature Sampling Interface is sent to the main control module.
Further, the cell information sampling module further includes voltage sampling unit, and the voltage sampling unit is used for
Acquire the voltage of the battery core and be sent to the battery pack management module, the battery core electric discharge when, the main control module with
The battery pack management module (judge the voltage of the battery core not in the output voltage range of setting, the main control module
First electronic switch is disconnected, the battery pack management module disconnects the discharge switch；In battery core charging, institute
State main control module and the battery pack management module judge the voltage of the battery core not in the input voltage range of setting, institute
It states main control module to disconnect second electronic switch, the battery pack management module disconnects the charge switch.
Further, the cell information sampling module further includes current sampling unit, and the current sampling unit is used for
It acquires the electric current of the battery core and the electric current of the collected battery core is sent to the main control module and assured with the battery
Module is managed, in battery core electric discharge, the main control module judges the electric current of the battery core with the battery pack management module
Not in the output current scope of setting, the main control module disconnects first electronic switch, the battery pack management module
The discharge switch is disconnected；In battery core charging, the main control module and the battery pack management module judge institute
The electric current of battery core is stated not within the scope of the input current of setting, the main control module disconnects second electronic switch, described
Battery pack management module disconnects the charge switch.
Due to the application of the above technical scheme, the present invention has following advantages:
1, compared with prior art, the master control borad of human-computer interaction sport(s) car of the invention acquires angle simultaneously, accelerates
Degree and speed signal, so that the speed of man-machine interactive movement vehicle and angle be enable to influence each other, when making man-machine interactive movement vehicle
Inclination angle it is excessive when, automatically return to equilbrium position, to guarantee the safety and stablization of system, and it is higher to control precision.
2, the control system of human-computer interaction sport(s) car of the invention is sampled in battery core charge or discharge by cell information
The information of module acquisition battery core is simultaneously transferred to main control module, and main control module is according to the collected battery core of cell information sampling module
Information judges whether the information of battery core is abnormal, and in the Information abnormity of battery core, corresponding to disconnect the first electronic switch and the second electricity
Sub switch makes battery core stop electric discharge and stop charging, can effectively be formed and be protected to battery core, it is particularly possible to avoid battery core because of temperature
Excessively high the problem of causing battery core to be exploded.
3, the control system of human-computer interaction sport(s) car of the invention is sampled in battery core charge or discharge by cell information
The information of module acquisition battery core is simultaneously transferred to battery pack management module, and battery pack management module is adopted according to cell information sampling module
The information of the battery core collected judges whether the information of battery core is abnormal, and in the Information abnormity of battery core, corresponding to disconnect discharge switch
With charge switch, make battery core stop electric discharge with stop charge, can effectively to battery core formed protect, it is particularly possible to avoid battery core because
Temperature excessively high the problem of causing battery core to be exploded.
4, the control system of human-computer interaction sport(s) car of the invention uses two-way protection circuit to protect battery core, Ke Yi
When any of them protects circuit to damage all the way, another road protects circuit can be with effective protection battery core.
5, the temperature of the collected battery core of temperature sampling unit passes through battery pack management module and temperature sampling interface respectively
It is sent to main control module, main control module judges whether battery core overheats according to two groups of temperature datas of battery core, improves protection precision.
Detailed description of the invention
Fig. 1 is the functional block diagram of the control system of the human-computer interaction sport(s) car of the embodiment of the present invention.
Fig. 2 is the block diagram of cell information sampling module in Fig. 1.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Please refer to Fig. 1 and Fig. 2, the control system of human-computer interaction sport(s) car provided in an embodiment of the present invention, including master control borad
1, battery pack 2 and cell information sampling module 3.
Wherein, master control borad 1 includes main control module 11, power module 12, external power source interface 15, master control borad charge-discharge modules
16, motor drive module 17 and sensor module.Wherein, master control borad charge-discharge modules 16 and power module 12 and motor driven mould
Block 17 connects, and master control borad charge-discharge modules 16 are also used to connect with battery pack 2, so that battery pack 2 can be filled by master control borad
Discharge module 16 is that power module 12 and motor drive module 17 provide electric energy.Sensor module is connect with main control module 11, main
Control the PWM driving interface and motor drive module 17 of module 11.Sensor module includes gyroscope, acceleration transducer and Hall
Sensor, gyroscope are used to detect the car body drift angle information of human-computer interaction sport(s) car, and acceleration transducer is for detecting car body
Acceleration information, Hall sensor are used to detect the velocity information of car body；Main control module 11 is for receiving the drift angle information, adding
Velocity information and velocity information simultaneously carry out data fusion and are used to export PWM drive signal to motor drive module 17, and motor drives
Dynamic model block 17 is rotated according to PWM drive signal drive motor.
In the present embodiment, master control borad 1 further includes the first electronic switch 13.The control terminal of first electronic switch 13, input
End is connect with the discharge end of main control module 11 and master control borad charge-discharge modules 16 respectively, the output end and electricity of the first electronic switch 13
Source module 12 and motor drive module 17 connect.Main control module 11 is used to control the conducting and disconnection of the first electronic switch 13, the
For one electronic switch 13 in conducting, battery pack 2 can be power module 12 and motor driven by master control borad charge-discharge modules 16
Module 17 provides electric energy.
In the present embodiment, master control borad 1 further includes the second electronic switch 14, the control terminal of the second electronic switch 14, input
End and output end are connect with the charging end of main control module 11, external power source interface 15 and master control borad charge-discharge modules 16 respectively.It is main
Control module 11 is used to control the conducting and disconnection of the second electronic switch 14, and external power source interface 15 is used to connect with external power supply,
When external power source interface 15 is connect with external power supply and the second electronic switch 14 is connected, external power supply charges to battery core 21.
In the present embodiment, battery pack 2 includes battery core 21, battery pack charge-discharge modules 22, battery pack management module 23, puts
Electric switch 25 and charge switch 26.Master control borad charge-discharge modules 16 are connect by battery pack charge-discharge modules 22 with battery core 21, main
It can for example be connected by data line between control plate charge-discharge modules 16 and battery pack charge-discharge modules 22.Battery core 21 and battery pack
It is connected between the discharge end of charge-discharge modules 22 by discharge switch 25, the control terminal and battery pack management module of discharge switch 25
23 connections, battery pack management module 23 are used to control the conducting and disconnection of discharge switch 25, and battery core 21 is to power module 12 and electricity
When machine drive module 17 is discharged, the first electronic switch 13 is tended to remain on discharge switch 25.Certainly, in other embodiments
In, discharge end and the battery core 21 of battery pack charge-discharge modules 22 can be directly connected to, and main control module 11 is only needed to control first in this way
The conducting of electronic switch 13 and disconnection can make the electric discharge of battery core 21 or stop electric discharge.Further, in other embodiments, master control
It does not include the first electronic switch 13 in plate 1, power module 12 and motor drive module 17 can be with master control borad charge-discharge modules 16
Discharge end be directly connected to, connected between the discharge end and battery core 21 of battery pack charge-discharge modules 22 by discharge switch 25, this
Sample only needs battery pack management module 23 to control the conducting and closure of discharge switch 25, and battery core 21 can be made to discharge or stop discharging.
In the present embodiment, connected between the charging end of battery pack charge-discharge modules 22 and battery core 21 by charge switch 26
It connects, the control terminal of charge switch 26 is connect with battery pack management module 23, and battery pack management module 23 is for controlling charge switch
26 conducting and disconnection, it is to be understood that when battery core 21 charges, the second electronic switch 14 is required to keep with charge switch 26
On state.Certainly, in other embodiments, the charging end of battery pack charge-discharge modules 22 can be directly connected to battery core 21,
Main control module 11 is only needed to control the conducting of the second electronic switch 14 and disconnect in this way, the charging even if battery core processed 21 charges or stops.Into
One step, in other embodiments, master control borad 1 can not include the second electronic switch 14, and external power source interface 15 can be with master
The charging end of control plate charge-discharge modules 16 is directly connected to, by filling between the charging end and battery core 21 of battery pack charge-discharge modules 22
Electric switch 26 connects, and only needs battery pack management module 23 to control the conducting and closure of charge switch 26 in this way, it can to make battery core
21 chargings stop charging.
Cell information sampling module 3 is for example set to the inside of battery pack 2, for acquiring the information of battery core 21, and will adopt
The information of the battery core 21 collected is sent to main control module 11, and main control module 11 is according to the collected electricity of cell information sampling module 3
The information of core 21 judges whether the information of battery core 21 is abnormal, and in the Information abnormity of battery core 21, correspondingly discharges in battery core 21
When disconnect the first electronic switch 13, battery core 21 charge when disconnect the second electronic switch 14, to avoid the Information abnormity of battery core 21
When, the temperature that battery core 21 continues to discharge or continue the battery core 21 for charging caused continues asking for the explosion of battery core 21 caused by increasing
Topic.
Specifically, cell information sampling module 3 is connect with battery pack management module 23, and cell information sampling module 3 will be adopted
The information of the battery core 21 collected is sent to battery pack management module 23 and is sent to main control module by battery pack management module 23
11, while battery pack management module 23 judges battery core 21 according to the information of the collected battery core 21 of cell information sampling module 3
Whether information is abnormal, and in the Information abnormity of battery core 21, discharge switch 25 is correspondingly disconnected when battery core 21 is discharged, in battery core
Charge switch 26 is disconnected when 21 charging, to avoid battery core 21 Information abnormity when, battery core 21 continues to discharge or continue charging and is drawn
The temperature of the battery core 21 risen continues the problem of battery core 21 caused by increasing is exploded.
In the present embodiment, cell information sampling module 3 includes temperature sampling unit 32, temperature sampling unit 32 and battery
Packet management module 23 connects, for acquiring the temperature of battery core 21 and the temperature of collected battery core 21 being sent to battery pack management
Module 23 and main control module 11 is sent to by battery pack management module 23, main control module 11 is acquired according to temperature sampling unit 32
To the temperature of battery core 21 judge whether the temperature of battery core 21 is more than or equal to set temperature, and be more than or equal in the temperature of battery core 21
When set temperature, the first electronic switch 13 correspondingly is disconnected when battery core 21 is discharged, disconnects the second electronics when battery core 21 charges
Switch 14, when the temperature is excessively high to avoid battery core 21, battery core 21 continue the temperature of battery core 21 for charging caused of discharging or continue
Continue the problem of battery core 21 caused by increasing is exploded.
Battery pack management module 23 judges battery core 21 also according to the temperature of the collected battery core 21 of temperature sampling unit 32
Whether temperature is more than or equal to set temperature, and when the temperature of battery core 21 is more than or equal to set temperature, correspondingly puts in battery core 21
Discharge switch 25 is disconnected when electric, and charge switch 26, when the temperature is excessively high to avoid battery core 21, battery core are disconnected when battery core 21 charges
21 temperature for continuing to discharge or continue the battery core 21 for charging caused continue the problem of battery core 21 caused by increasing is exploded.It needs
Bright, set temperature is the temperature that battery core 21 is easy explosion, which can adjust according to the characteristic of battery core 21 itself, with
Reach the normal charge and discharge that can be prevented battery core 21 from exploding while can guarantee battery core 21；Temperature collecting cell 32 is, for example, to contact
Formula temperature sensor, temperature collecting cell 32 are attached in battery core 21.
In the present embodiment, cell information sampling module 3 further includes voltage sampling unit 34, voltage sampling unit 34 and battery
Packet management module 23 connects, for acquiring the voltage of battery core 21 and the voltage of collected battery core 21 being sent to battery pack management
Module 23 and main control module 11 is sent to by battery pack management module 23, when battery core 21 is discharged, voltage sampling unit 34 is adopted
As the output voltage of battery core 21, main control module 11 is not being set the voltage of the battery core 21 integrated in the output voltage for judging battery core 21
When in fixed output voltage range, the first electronic switch 13 is disconnected, and then battery core 21 is made to stop electric discharge, can be discharged in battery core 21
Master control borad 1 is formed while the shield battery core 21 that Shi Youxiao is protected and is protected；When battery core 21 charges, voltage sampling unit 34 is collected
Battery core 21 battery core be battery core 21 input voltage, main control module 11 is in the input voltage for judging battery core 21 not in setting
When in input voltage range, the second electronic switch 14 is filled in disconnection, and battery core 21 is made to stop charging, can be effective when battery core 21 charges
Master control borad 1 is formed while protecting battery core 21 and is protected.
Battery pack management module 23 judges battery core 21 also according to the voltage of the collected battery core 21 of voltage sampling unit 34
Whether voltage is abnormal, and specifically, when battery core 21 is discharged, the voltage of the collected battery core 21 of voltage sampling unit 34 is battery core 21
Output voltage, battery pack management module 23 is in the output voltage for judging battery core 21 not in the output voltage range of setting
When, disconnect discharge switch 25, and then make battery core 21 stop electric discharge, can battery core 21 discharge when effectively protect shield battery core 21 it is same
When to master control borad 1 formed protect；When battery core 21 charges, the battery core of the collected battery core 21 of voltage sampling unit 34 is battery core 21
Input voltage, battery pack management module 23 is in the input voltage for judging battery core 21 not in the input voltage range of setting
When, disconnect charge switch 26, make battery core 21 stop charging, can battery core 21 charge when effective protection battery core 21 while to master
It controls plate 1 and forms protection
In the present embodiment, cell information sampling module 3 further includes current sampling unit 36, current sampling unit 36 and battery
Packet management module 23 connects, for acquiring the electric current of battery core 21 and the electric current of collected battery core 21 being sent to battery pack management
Module 23 and main control module 11 is sent to by battery pack management module 23, when battery core 21 is discharged, current sampling unit 36 is adopted
As the output electric current of battery core 21, main control module 11 is not being set the electric current of the battery core 21 integrated in the output electric current for judging battery core 21
When in fixed output current scope, the first electronic switch 25 is disconnected, battery core 21 is made to stop electric discharge, can be had when battery core 21 is discharged
Master control borad 1 is formed while imitating the shield battery core 21 protected and is protected；When battery core 21 charges, the collected battery core 21 of main control module 11
Battery core be battery core 21 input current, main control module 11 is in the input current for judging battery core not in the input current model of setting
When enclosing interior, disconnect the second electronic switch 26, battery core 21 made to stop charging, can when battery core 21 charges effective protection battery core 21
Master control borad 1 is formed simultaneously and is protected.
Battery pack management module 23 judges battery core 21 also according to the electric current of the collected battery core 21 of current sampling unit 36
Whether electric current is abnormal, and when battery core 21 is discharged, battery pack management module 23 is not being set in the output electric current for judging battery core 21
Output current scope in when, disconnect discharge switch 25, and then make battery core 21 stop electric discharge, can battery core 21 discharge when it is effective
Master control borad 1 is formed while the shield battery core 21 of guarantor and is protected；When battery core 21 charges, battery pack management module 23 is judging electricity
When the input current of core is not within the scope of the input current of setting, charge switch 26 is disconnected, battery core 21 is made to stop charging, Ke Yi
Master control borad 1 is formed while effective protection battery core 21 when battery core 21 charges and is protected.
The angle introduction for preventing the temperature of battery core 21 excessively high from the control system of human-computer interaction sport(s) car of the invention below
The working principle of the control system of human-computer interaction sport(s) car of the invention, specific as follows:
When starting switch for starting human-computer interaction sport(s) car, i.e., human-computer interaction sport(s) car enters operating status, at this time master control
The first electronic switch of control 13 corresponding with battery pack management module 23 of module 11 is connected with discharge switch 25, and battery core 21 starts to electricity
Source module 12 and motor drive module 17 provide electric energy, the electricity consumption that power module 12 is used for as entire human-computer interaction sport(s) car system
Element provides piezoelectric voltage.Specifically, the DC voltage of power module 12 exports battery core 21 voltage conversion 12V, 5V, 3.3V are defeated
Electric device is used into entire human-computer interaction sport(s) car system out.It is understood that entire human-computer interaction sport(s) car system
With electric device can be divided into 12V driving with electric device, 5V drive use electric device, 3.3V driving use electric device, power supply mould
Corresponding voltage output can be used electric device to corresponding by block 12.The vehicle of sensor die BOB(beginning of block) detection human-computer interaction sport(s) car
Body slip angle information, acceleration information and velocity information are simultaneously sent to main control module 11, main control module 11 by drift angle information, accelerate
Degree information and velocity information carry out data fusion and export corresponding PWM drive signal to motor drive module 17, motor driven
Module 17 is rotated according to PWM drive signal drive motor.
Meanwhile in 21 discharge process of battery core, temperature sampling unit 32 acquires the temperature of battery core 21 in real time and is sent to master
Module 11 and battery pack management module 23 are controlled, in battery core 21 because continuous discharge or the quality problems of itself cause temperature to increase
When, if main control module 11 judges that the temperature of battery core 21 is more than or equal to set temperature, main control module 11 is by the first electronic cutting
It closes 13 to disconnect, battery core 21 is made to stop electric discharge；If battery pack management module 23 judges that the temperature of battery core 21 is more than or equal to setting
Temperature, then battery pack management module 23 disconnects discharge switch 25, and battery core 21 is made to stop electric discharge.When external power source interface 15 passes through
When charger is connect with external power supply, main control module 11 is corresponding with battery pack management module 23 by the second electronic switch 14 and charging
Switch 26 is connected, and battery core 21 starts to charge at this time.
In 21 charging process of battery core, temperature sampling unit 32 acquires the temperature of battery core 21 in real time and is sent to main control module
11 with battery pack management module 23, when battery core 21 causes temperature to increase because of lasting charging or quality problems itself, if
Main control module 11 judges that the temperature of battery core 21 is more than or equal to set temperature, then main control module 11 breaks the second electronic switch 14
It opens, battery core 21 is made to stop charging；If battery pack management module 23 judges that the temperature of battery core 21 is more than or equal to set temperature,
Battery pack management module 23 disconnects charge switch 26, and battery core 21 is made to stop electric discharge.The control system of human-computer interaction sport(s) car exists
To the protection philosophy of battery core 21 and above-mentioned essentially identical to protection philosophy of the battery core 21 in terms of temperature in terms of voltage and electric current,
This is repeated no more.
In the present embodiment, master control borad 1 further includes the master control borad temperature sampling interface 19 connecting with main control module 11, battery
Packet 2 further includes the battery pack temperature sampling interface 29 connect with cell information sampling module 3, battery pack temperature sampling interface 29 and
Master control borad temperature sampling interface 19 is connected by data line, and the temperature of the collected battery core 21 of temperature sampling unit 32 is direct
Be transferred to main control module 11, main control module 11 also judge simultaneously by the transmitting of temperature sampling interface come battery core 21 temperature
Degree, and when the temperature for the battery core 21 that Sampling Interface transmitting comes is higher than set temperature, by the first electronic switch 13 or the second electronics
Switch 14 disconnects.
In the present embodiment, master control borad 1 further includes the master control borad communication module 18 connecting with main control module 11, battery pack 2
Including the battery pack communication module 28 being connect with battery pack management module 23, battery pack communication module 28 and master control borad communication module
It is connected between 18 by data line, so that the information of the collected battery core 21 of cell information sampling module 3 passes through battery pack management
Module 23 is sent to main control module 11.
In the above-described embodiments, the quantity of battery core 21 is multiple, 34 quantity of temperature sampling unit 32 and voltage sampling unit
Also to be multiple, to achieve the purpose that temperature, the voltage and current information that can collect each battery core 21, main control module 11 at this time
The temperature and information of voltage of multiple battery cores 21 will be received with battery pack management module 23, main control module 11 is judged wherein any
When any one Information abnormity of one battery core 21, control battery core 21 is stopped into charge and discharge, battery pack management module 23 is sentenced
It is disconnected go out wherein any one Information abnormity of any one battery core 21 when, control battery core 21 is stopped into charge and discharge.
In the present embodiment, master control borad 1 further includes alarm module 4, and alarm module 4 is connect with main control module 11, master control mould
When judging that battery core 21 is abnormal, main control module 11 controls alarm module 4 and alarms block 11, reminds operator's battery pack 2 abnormal.Report
Alert module 4 is, for example, buzzing alarm module, to beep in alarm, reminds operator's battery pack abnormal.It needs to illustrate
, the abnormal temperature for including battery core 21 of battery core 21 is higher than set temperature, and the input voltage of battery core 21 is not in the input electricity of setting
It presses in range, the output voltage of battery core 21 is not in the output voltage range of setting, and the input current of battery core 21 is not in setting
Within the scope of input current, the output electric current of battery core 21 is not in the output current scope of setting.
In the present embodiment, master control borad 1 further includes display module 5, and display module 5 is connect with main control module 11, master control borad 1
Information by battery core 21 be, for example, the battery core 21 that battery pack management module 23 is sent to main control module 11 temperature information, output/
Output voltage information and input/output current information show in display module 5, with convenient for users to understanding each of battery core 21 in real time
Kind information.
In the present embodiment, the first electronic switch 13 and the second electronic switch 14 are for example triode, the first electronic cutting
Control terminal, output end and the input terminal of pass 13 and the second electronic switch 14 respectively correspond base stage, emitter and the current collection of triode
Pole.
In the present embodiment, discharge switch 25 and charge switch 26 such as respectively electric discharge MOS and charging MOS.
The master control borad of human-computer interaction sport(s) car of the invention and the control system of human-computer interaction sport(s) car have following technology
Effect:
1, compared with prior art, the master control borad of human-computer interaction sport(s) car of the invention acquires angle simultaneously, accelerates
Degree and speed signal, so that the speed of man-machine interactive movement vehicle and angle be enable to influence each other, when making man-machine interactive movement vehicle
Inclination angle it is excessive when, automatically return to equilbrium position, to guarantee the safety and stablization of system, and it is higher to control precision.
2, the control system of human-computer interaction sport(s) car of the invention is adopted in 21 charge or discharge of battery core by cell information
Egf block 3 acquires the information of battery core 21 and is transferred to main control module 11, and main control module 11 is acquired according to cell information sampling module 3
To battery core 21 information and judge whether the information of battery core 21 abnormal, it is corresponding to disconnect the and in the Information abnormity of battery core 21
One electronic switch 13 and the second electronic switch 14 make battery core 21 stop electric discharge and stop charging, can be effectively to the formation of battery core 21
Protection, it is particularly possible to avoid the problem that battery core 21 causes battery core 21 to be exploded because temperature is excessively high.
3, the control system of human-computer interaction sport(s) car of the invention is adopted in 21 charge or discharge of battery core by cell information
Egf block 3 acquires the information of battery core 21 and is transferred to battery pack management module 23, and battery pack management module 23 is according to cell information
The information of the collected battery core 21 of sampling module 3 judges whether the information of battery core 21 is abnormal, and in the Information abnormity of battery core 21,
It is corresponding to disconnect discharge switch 25 and charge switch 26, so that battery core 21 is stopped electric discharge and is stopped charging, it can be effectively to 21 shape of battery core
At protection, it is particularly possible to avoid the problem that battery core 21 causes battery core 21 to be exploded because temperature is excessively high.
4, the control system of human-computer interaction sport(s) car of the invention uses two-way protection circuit and protects battery core 21, can be with
Wherein when any circuit damage of protection all the way, another road protects circuit can be with effective protection battery core 21.
5, the temperature of the collected battery core 21 of temperature sampling unit 32 passes through battery pack management module 23 respectively and temperature is adopted
Sample interface is sent to main control module 11, and main control module 11 judges whether battery core 21 overheats according to two groups of temperature datas of battery core 21,
Improve protection precision.
Although the present invention is disclosed above by preferred embodiment, however, it is not intended to limit the invention, this any known skill
Skill person can make some changes and embellishment without departing from the spirit and scope of the present invention, therefore protection scope of the present invention is worked as
Subject to claims range claimed.
Claims (8)
1. a kind of master control borad (1) of human-computer interaction sport(s) car, which is characterized in that including main control module (11), power module (12),
External power source interface (15), master control borad charge-discharge modules (16), motor drive module (17) and sensor module, the master control borad
Charge-discharge modules (16) are connect with the external power source interface (15), power module (12) and motor drive module (17), described
Master control borad charge-discharge modules (16) are also used to connect with battery pack (2), and the sensor module includes gyroscope, acceleration sensing
Device and Hall sensor, the gyroscope are used to detect the drift angle information of the car body of human-computer interaction sport(s) car, and the acceleration passes
Sensor is used to detect the acceleration information of car body, and the Hall sensor is used to detect the velocity information of car body, the sensor
Module is connect with the main control module (11), the PWM driving interface of the main control module (11) and the motor drive module
(17) it connects, the main control module (11) is for receiving the drift angle information, acceleration information and velocity information and carrying out data
It merges and is used to export PWM drive signal to the motor drive module (17), the motor drive module (17) is according to
The rotation of PWM drive signal drive motor；Wherein, the master control borad (1) further includes the first electronic switch (13), first electronics
The control terminal of switch (13), input terminal are connect with the main control module (11) and the master control borad charge-discharge modules (16) respectively,
The output end of first electronic switch (13) is connect with the power module (12) and the motor drive module (17), described
Main control module (11) is used to control the conducting and disconnection of first electronic switch (13)；The master control borad (1) further includes second
Electronic switch (14), control terminal, input terminal and the output end of second electronic switch (14) respectively with the main control module
(11), the external power source interface (15) and the master control borad charge-discharge modules (16) connection, the main control module (11) are used for
Control the conducting and disconnection of second electronic switch (14).
2. a kind of control system of human-computer interaction sport(s) car, including battery pack (2), the battery pack (2) include battery core (21) and
Battery pack charge-discharge modules (22), the battery core (21) connect with the battery pack charge-discharge modules (22), which is characterized in that also
Including master control borad as described in claim 1 (1), the battery pack charge-discharge modules (22) and the master control borad charge-discharge modules
(16) it connects.
3. the control system of human-computer interaction sport(s) car according to claim 2, which is characterized in that further include that cell information is adopted
Whether the information of egf block (3), the battery core (21) that main control module (11) judgement receives is abnormal, and in the battery core
(21) when Information abnormity, correspondingly when the battery core (21) discharge will first electronic switch (13) disconnection, described
Second electronic switch (14) is disconnected when battery core (21) charges.
4. the control system of human-computer interaction sport(s) car according to claim 3, which is characterized in that the battery pack (2) is also
Including battery pack management module (23), discharge switch (25) and charge switch (26), the battery pack charge-discharge modules (22) with
Master control borad charge-discharge modules (16) connection, leads to respectively between the battery core (21) and the battery pack charge-discharge modules (22)
It crosses the discharge switch (25) to connect with the charge switch (26), the control terminal of the discharge switch (25), the charging are opened
The control terminal and the cell information sampling module (3) for closing (26) are connect with the battery pack management module (23), the electricity
Pond packet management module (23) receives the information of the battery core (21) and is sent to the main control module (11), while the battery pack
Management module (23) judges whether the information of battery core (21) is abnormal, and in the Information abnormity of the battery core (21), correspondingly exists
The battery core (21) disconnects the discharge switch (25) when discharging, and disconnects the charge switch when the battery core (21) charge
(26)。
5. the control system of human-computer interaction sport(s) car according to claim 4, which is characterized in that the cell information sampling
Module (3) includes temperature sampling unit (32), and the temperature sampling unit (32) is used to acquire the temperature of the battery core (21) simultaneously
The battery pack management module (23) are sent to, when the battery core (21) discharge, the main control module (11) and the battery
Packet management module (23) judges that the temperature of the battery core (21) is more than or equal to set temperature, and the main control module (11) disconnects institute
It states the first electronic switch (13), the battery pack management module (23) disconnects the discharge switch (25)；In the battery core (21)
When charging, the main control module (11) and the battery pack management module (23) judge that the temperature of the battery core (21) is greater than
In set temperature, the main control module (11) disconnects second electronic switch (14), and the battery pack management module (23) is disconnected
Open the charge switch (26).
6. the control system of human-computer interaction sport(s) car according to claim 5, which is characterized in that the master control borad (1) is also
Including the master control borad temperature sampling interface (19) being connect with the main control module (11), the battery pack (2) further include with it is described
Temperature sampling unit (32) connection battery pack temperature sampling interface (29), the battery pack temperature sampling interface (29) with it is described
Master control borad temperature sampling interface (19) is connected by data line, the temperature of the collected battery core of the temperature sampling unit (32) (21)
Degree is also sent to the main control module (11) by temperature sampling interface.
7. the control system of human-computer interaction sport(s) car according to claim 4, which is characterized in that the cell information sampling
Module (3) further includes voltage sampling unit (34), and the voltage sampling unit (34) is used to acquire the voltage of the battery core (21)
And the battery pack management module (23) are sent to, and when the battery core (21) discharge, the main control module (11) and the electricity
Pond packet management module (23) judge the voltage of the battery core (21) not in the output voltage range of setting, the main control module
(11) first electronic switch (13) is disconnected, the battery pack management module (23) disconnects the discharge switch (25)；?
When the battery core (21) is charged, the battery core (21) are judged in the main control module (11) and the battery pack management module (23)
Voltage not in the input voltage range of setting, the main control module (11) disconnects second electronic switch (14), institute
Battery pack management module (23) is stated to disconnect the charge switch (26).
8. the control system of human-computer interaction sport(s) car according to claim 4, which is characterized in that the cell information sampling
Module (3) further includes current sampling unit (36), and the current sampling unit (36) is used to acquire the electric current of the battery core (21)
And the electric current of the collected battery core (21) is sent to the main control module (11) and the battery pack management module (23),
When the battery core (21) discharge, the battery core is judged in the main control module (11) and the battery pack management module (23)
(21) for electric current not in the output current scope of setting, the main control module (11) disconnects first electronic switch (13),
The battery pack management module (23) disconnects the discharge switch (25)；When the battery core (21) charge, the master control mould
Block (11) and the battery pack management module (23) judge the electric current of the battery core (21) not in the input current range of setting
Interior, the main control module (11) disconnects second electronic switch (14), and the battery pack management module (23) is filled described
Electric switch (26) disconnects.
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| CN201610162195.9A CN105644674B (en) | 2016-03-21 | 2016-03-21 | The master control borad of human-computer interaction sport(s) car and the control system of human-computer interaction sport(s) car |
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| US20170187204A1 (en) * | 2015-12-24 | 2017-06-29 | Hangzhou Chic Intelligent Technology Co., Ltd | Battery management system for human-machine interaction vehicles |
| CN105947046B (en) * | 2016-06-12 | 2018-12-21 | 北京美思安科技有限公司 | A kind of control system of balance car and balance car |
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