CN203244742U - Electric self-balancing double-wheel scooter - Google Patents

Abstract

The utility model discloses an electric self-balancing double-wheel scooter, which carries out attitude balance control on the scooter through a dynamic balance principle, outputs a scooter balance control signal through a scooter balance control module, outputs a scooter speed control signal through a speed control module, outputs the scooter balance control signal and the scooter speed control signal to a motor driving circuit through a PWM interface circuit after the signal superposition module is superposed, thereby enabling the scooter to run in a self-balancing way and enabling a driver to run more safely; the scooter is controlled to turn by arranging the steering control module, an infrared receiving module in the steering control module is used for receiving steering control signals sent by a wireless remote controller, the infrared receiving module sends the received steering control signals to the motor differential control unit, and the motor differential control unit outputs corresponding left and right motor differential control voltage signals according to the steering control signals, so that the left and right motors rotate in opposite directions, and the steering of the scooter is realized.

Description

Electric self-balancing two-wheel scooter

technical field

The utility model relates to the field of two-wheel scooter, in particular to an electric self-balancing two-wheel scooter.

Background technique

The scooter is another new product form of skateboarding after the traditional skateboard. It is a simple labor-saving exercise device. It is one of the sports products that teenagers like, and it can also be used as a means of transportation. With the development of electric vehicles, electric scooter has also been developed, which is more convenient and labor-saving when used as a means of transportation. Existing scooter generally has two or more wheels, and the scooter itself with more than two wheels is balanced, so that the driver can keep his balance without skill when driving the scooter, and will not fall down. However, the number of wheels has led to an increase in the gravity of the vehicle body. As a small product, the scooter is inconvenient for users to carry due to the increase in gravity; secondly, the scooter itself with two wheels is unbalanced. When driving, Skills are required to maintain the balance of the body and the body, and the self-balancing driving of the body cannot be achieved.

In addition, the steering of the scooter also needs to be realized through skill, and the existing scooter cannot realize automatic steering.

Utility model content

The main purpose of the utility model is to provide an electric self-balancing two-wheeled scooter, which can realize the self-balancing driving function, acceleration function and automatic steering function of the electric two-wheeled scooter, and make the electric scooter run more safely.

The utility model proposes an electric self-balancing two-wheel scooter, which includes a scooter frame, left and right wheels installed on both sides of the back of the scooter frame, and left and right motors for driving the left and right wheels to rotate. The control circuit board and the power supply module are used to control the power output of the left and right motors; the control circuit board is provided with a left motor drive circuit for driving the left motor and a right motor drive circuit for driving the right motor. The control circuit board is provided with a skateboard balance control module, a speed control module, a steering control module and an automatic locking and unlocking module;

The skateboard balance control module is used to maintain the balance of the skateboard, including an acceleration sensor for detecting the inclination angle of the skateboard frame, an angular velocity sensor for measuring the tilted angular velocity of the skateboard frame, and an acceleration sensor for measuring the tilt angle of the skateboard frame. The detected acceleration signal and the angular velocity signal detected by the angular velocity sensor perform logical operations and output a logical operation unit corresponding to the balance control signal according to the logical operation. The acceleration sensor and the angular velocity sensor are connected to the logical operation unit. The output terminal of the logic operation unit is connected with the left motor drive circuit and the right motor drive circuit;

The speed control module is used to control the rotation speed of the wheels, including a left rotation speed sensor for measuring the rotation speed of the left motor, a right rotation speed sensor for measuring the rotation speed of the right motor, and a device for receiving the left rotation speed sensor and the right rotation speed sensor. The left and right motor speed signals detected by the sensor are PID speed control modules that perform PID calculation control. The left speed sensor and the right speed sensor are connected to the PID speed control module, and the output terminals of the PID speed control module connected with the left motor drive circuit and the right motor drive circuit;

The output terminal of the logic operation unit and the output terminal of the PID speed control module are connected to a signal superposition module, and the output terminal of the signal superposition module is connected with the input terminal of the left motor drive circuit and the right motor drive circuit respectively. input connection.

The steering control module is used to control the driving direction of the scooter, including a motor differential control unit for outputting left and right motor differential control voltage signals, and the motor differential control unit is respectively connected with the left motor drive The input end of the circuit is connected to the input end of the right motor drive circuit;

The automatic locking and unlocking module is used to automatically detect whether someone is using it, and control the scooter to enter the locked state or driving state according to the detection result, including a pressure sensor for detecting whether someone steps on the scooter, and for receiving The detection signal of the pressure sensor and the locking and unlocking switching unit that performs corresponding control according to the received detection signal, the pressure sensor is connected with the locking and unlocking switching unit, and the locking and unlocking switching unit is respectively driven by the left motor circuit and the right motor drive circuit are connected; when the pressure sensor detects that someone steps on the scooter frame, the locking and unlocking switching unit controls the left motor drive circuit and the right motor drive circuit to start work, so that the scooter enters the driving state; when the pressure sensor detects that no one is stepping on the scooter frame, the locking and unlocking switching unit controls the left motor drive circuit and the right motor drive The circuit stops working, and the scooter is locked.

Preferably, the logic operation unit, the PID speed control module, the signal superposition module, the motor differential control unit and the locking and unlocking switching unit are all integrated in a microprocessor, and the microprocessor The device is provided with an analog-to-digital conversion interface and a PWM output interface, and the acceleration sensor, the angular velocity sensor and the pressure sensor are all connected to the analog-to-digital conversion interface, and the acceleration sensor and the angular velocity sensor pass through the analog The digital conversion interface is connected to the logic operation unit, and the pressure sensor is connected to the locking and unlocking switching unit through the analog-to-digital conversion interface; both the left motor drive circuit and the right motor drive circuit are connected to the PWM The signal superposition module, the motor differential control unit and the locking and unlocking switching unit are all connected to the left motor drive circuit and the right motor drive circuit through the PWM output interface.

The acceleration sensor is used to output the detected acceleration voltage signal to the logic operation unit through the analog-to-digital conversion interface;

The angular velocity sensor is used to output the detected angular velocity voltage signal to the logical operation unit through the analog-to-digital conversion interface;

The analog-to-digital conversion interface is used to convert the acceleration voltage signal and the angular velocity voltage signal into corresponding acceleration values and angular velocity values.

The logic operation module is used to convert the input acceleration value into a coefficient to form an inclination value, and perform a Kalman filter operation on the inclination value and the input angular velocity value to calculate the exact inclination value of the scooter frame, and Perform logic operations on the accurate inclination value to calculate the skateboard balance control signal at the speed required to maintain the balance of the skateboard frame, and output it;

The PID speed control module is used to perform PID calculation on the feedback left motor speed signal, right motor speed signal and given speed signal, and output a skateboard speed control signal for controlling the motor speed according to the PID calculation result;

The signal superposition module is used to superimpose the skateboard balance control signal and the skateboard speed control signal, and output the superimposed control signal to the left motor drive circuit and the right motor drive circuit through the PWM output interface. The motor drive circuit enables the scooter to run in a self-balancing manner.

Preferably, the acceleration sensor is an inclination sensor, the left rotation speed sensor and the right rotation speed sensor are both photoelectric encoders, and the photoelectric encoder shafts are connected to the corresponding output shafts of the left motor and the right motor Above, the output terminal of the photoelectric encoder is connected with the PID speed control module through the counter port of the microprocessor.

Preferably, there are four PWM output interfaces, two of which are connected to the left motor, and one PWM output interface connected to the left motor is used to output PWM control for controlling the forward rotation of the left motor signal, another PWM output interface connected with the left motor is used to output the PWM control signal for controlling the reverse rotation of the left motor; the other two PWM output interfaces are connected with the right motor, and one is connected with the right motor The PWM output interface is used to output the PWM control signal for controlling the forward rotation of the right motor, and the other PWM output interface connected to the right motor is used for outputting the PWM control signal for controlling the reverse rotation of the right motor.

Preferably, an overspeed protection module is also provided in the microprocessor, and the input terminal of the overspeed protection module is connected to the output terminal of the photoelectric encoder through the counter port of the microprocessor CPU to receive the The speed of the left motor and the right motor; the output terminal of the overspeed protection module is connected with the PID speed control module, and the maximum protection speed is set in the overspeed protection module, when the received left and right motors are detected When the speed exceeds the maximum protection speed, the overspeed protection module controls the PID speed control module to output a PWM control signal for deceleration, so that the output voltage of the motor drive circuit decreases.

Preferably, a buzzer is provided on the control circuit board, the overspeed protection module is connected to the buzzer, and when it is detected that the received motor speed exceeds the maximum protection speed, the overspeed protection module Drive the buzzer to sound.

Preferably, it also includes a wireless remote controller for adjusting the driving direction, the wireless remote controller includes a rocker potentiometer and an infrared sending module, the steering control module also includes an infrared receiving module, and the infrared receiving module is arranged on On the control circuit board, the infrared receiving module is connected to the motor differential control unit.

Preferably, the scooter frame is a strip-type scooter frame, and the left and right wheels are installed on the central balance point of the scooter frame.

The beneficial effects of the electric self-balancing two-wheel scooter of the utility model are as follows: the utility model performs posture balance control on the scooter through the principle of dynamic balance, adopts an angular velocity sensor to detect the inclination angular velocity of the scooter frame, and adopts an acceleration sensor to monitor the scooter frame. The tilt angle is detected, and the detected angular velocity voltage signal and acceleration voltage signal are converted into angular velocity value and acceleration value through the analog-to-digital conversion interface, and then the input acceleration value is converted by a logic operation module to form an inclination value, and the inclination value is converted into Carry out Kalman filter operation with the input angular velocity value, so that the two detection values can be fused to calculate the accurate inclination value of the scooter in the static state and high-speed motion state, and perform logical operations on the accurate inclination value to calculate the balance of the scooter frame. The skateboard balance control signal of the speed to be run is output; at the same time, the left and right speed sensors are used to detect the speed of the left and right motors, and the detected speed signals of the left and right motors are fed back to the PID speed control module. The PID speed control module performs PID calculation on the feedback left motor speed signal, right motor speed signal and given speed signal, and outputs the skateboard speed control signal for controlling the motor speed according to the PID calculation result; The balance control signal and the skateboard speed control signal are superimposed, and the superimposed control signal is output to the left motor drive circuit and the right motor drive circuit through the PWM output interface. The left and right motor drive circuits drive the left and right motors according to the superimposed control signal. The motor rotates, the skateboard balance control signal keeps the scooter in balance all the time, and the skateboard speed control signal makes the scooter run within the set speed range, so that the scooter always keeps balanced and drives more safely.

Moreover, the utility model is provided with a steering control module, and the infrared receiving module in the steering control module is used to receive the steering control signal sent by the wireless remote controller, and the infrared receiving module sends the received steering control signal to the motor differential control unit, and the motor differential The dynamic control unit outputs corresponding left and right motor differential control voltage signals according to the steering control signal, so that the left and right motors rotate in opposite directions, thereby realizing the steering of the scooter.

Description of drawings

Fig. 1 is the perspective view of an embodiment of the utility model electric self-balancing two-wheel scooter;

Fig. 2 is another perspective view of an embodiment of the utility model electric self-balancing two-wheeled scooter;

Fig. 3 is the rear view of an embodiment of the utility model electric self-balancing two-wheel scooter;

Fig. 4 is the right side view of an embodiment of the utility model electric self-balancing two-wheel scooter;

Fig. 5 is the front view of an embodiment of the utility model electric self-balancing two-wheel scooter;

Fig. 6 is a circuit block diagram of an embodiment of the electric self-balancing two-wheeled scooter of the present invention.

The realization of the purpose of the utility model, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

Referring to Fig. 1 to Fig. 6, an embodiment of a kind of electric self-balancing two-wheeled scooter of the present invention is proposed. The left wheel 101, the right wheel 102, the left motor 201 and the right motor 202 for driving the left wheel 101 and the right wheel 102 to rotate, the control circuit board 30 and the power supply module 20 for controlling the power output of the left motor 201 and the right motor 202, The skateboard frame 10 is a strip type skateboard frame 10, the left wheel 101 and the right wheel 102 are installed on the central balance point of the skateboard frame 10, and the power supply module 20 supplies power for the control circuit board 30 and the motor. The motor is a geared motor, and the geared motor drives the wheels to rotate through a gear box. On the control circuit board 30, be provided with the left motor drive circuit 203 for driving the left motor 201 to rotate and the right motor drive circuit 204 for driving the right motor 202 to rotate, the left motor drive circuit 203 is connected with the left motor 201, and the right motor drive circuit 204 is connected with the right motor 202.

The utility model controls the attitude balance of the scooter through the principle of dynamic balance, that is, when the scooter frame 10 is tilted, the wheels accelerate to the direction in which the scooter frame 10 tilts to offset the tilting trend of the scooter frame 10, thereby keeping the skateboard The vehicle frame 10 is balanced, and the acceleration required by the wheels can be calculated by measuring the inclination angle of the scooter frame 10 when it is tilted, so that the acceleration movement of the wheels can generate a restoring force opposite to the inclination direction of the vehicle frame, so that the scooter frame 10 can maintain balance. In order to realize the self-balancing operation of the scooter, a skateboard balance control module 40, a speed control module 50 and a signal superposition module 80 are set on the control circuit board 30, and the output terminal of the skateboard balance control module 40 and the output terminal of the speed control module 50 are connected with the signal The stacking module 80 is connected. The skateboard balance control module 40 is used to keep the skateboard balanced, and includes an acceleration sensor 401 for detecting the inclination angle of the skateboard frame 10, an angular velocity sensor 402 for measuring the tilted angular velocity of the skateboard frame 10, and an angular velocity sensor 402 for detecting the acceleration sensor 401. The acceleration signal and the angular velocity signal detected by the angular velocity sensor 402 carry out logical operation and output the logical operation unit 404 of the corresponding balance control signal according to the logical operation. Connection, the output terminal of the logic operation unit 404 is connected with the left motor drive circuit 203 and the right motor drive circuit 204 through the signal superposition module 80 .

The angular velocity sensor 402 is used to detect the tilt angular velocity of the skateboard frame 10 , and the acceleration sensor 401 is used to detect the acceleration of the skateboard frame 10 . The acceleration sensor 401 is an inclination sensor, and the acceleration sensor 401 outputs the detected acceleration voltage signal to the logical operation unit 404 through the analog-to-digital conversion interface 403; the angular velocity sensor 402 outputs the detected angular velocity voltage signal to the logical operation through the analog-to-digital conversion interface 403 The unit 404 and the analog-to-digital conversion interface 403 are used to convert the acceleration voltage signal and the angular velocity voltage signal into corresponding acceleration values and angular velocity values. The logical operation module is used to convert the input acceleration value into a coefficient to form an inclination value, and perform a Kalman filter operation on the inclination value and the input angular velocity value to calculate the exact inclination value of the scooter frame 10, and perform logic on the accurate inclination value Calculate and calculate the skateboard balance control signal at the speed required to maintain the balance of the skateboard frame 10 , and output it to the signal superposition module 80 . The operation process of the skateboard balance control module 40 is as follows: the acceleration voltage signal and the angular velocity voltage signal detected by the acceleration sensor 401 and the angular velocity sensor 402 are converted into an angular velocity value and an acceleration value through the analog-to-digital conversion interface 403, and the logic operation module performs coefficient calculation of the input acceleration value. Convert and form the inclination value, and perform the Kalman filter operation on the inclination value and the input angular velocity value, so that the two detection values can be fused to calculate the exact inclination value of the scooter in the static state and high-speed motion state, and the accurate inclination value will be logically operated , calculate the skateboard balance control signal at the speed required to maintain the balance of the skateboard frame 10 , and output it to the signal superposition module 80 .

The speed control module 50 is used to control the rotational speed of the wheels, including a left rotational speed sensor 501 for measuring the rotational speed of the left motor 201, a right rotational speed sensor 502 for measuring the rotational speed of the right motor 202, and a left rotational speed sensor 501 and a right rotational speed sensor for receiving 502 detects the left and right motor speed signals and performs PID operation control PID speed control module 504, the left speed sensor 501, the right speed sensor 502 are connected with the PID speed control module 504, and the output terminal of the PID speed control module 504 is superimposed by signals The module 80 is connected with the left motor drive circuit 203 and the right motor drive circuit 204 . The left and right rotational speed sensors 502 are used to measure the rotational speeds of the left motor 201 and the right motor 202, and feed back the measured left and right motor rotational speed signals to the PID speed control module 504; the PID speed control module 504 is used to feed back the left The motor speed signal, the right motor speed signal and the given speed signal are subjected to PID calculation, and the skateboard speed control signal for controlling the motor speed is output according to the PID calculation result. The operation process of the speed control module 50 is: the left and right speed sensors 502 feed back the detected speed signals of the left motor 201 and the right motor 202 to the PID speed control module 504, and the PID speed control module 504 feeds back the left motor speed signals, The speed signal of the right motor and the given speed signal are subjected to PID calculation, and the skateboard speed control signal for controlling the motor speed is output according to the PID calculation result.

The output end of the logical operation unit 404 and the output end of the PID speed control module 504 are connected with the signal superposition module 80, and the output end of the signal superposition module 80 is respectively connected with the input end of the left motor drive circuit 203 and the right motor drive circuit through the PWM output interface 90. 204 input connection. The signal superposition module 80 is used for superimposing the skateboard balance control signal and the skateboard speed control signal, and outputting the superimposed control signal to the left motor drive circuit 203 and the right motor drive circuit 204 through the PWM output interface 90, the left motor 201, The right motor driving circuit 204 drives the left motor 201 and the right motor 202 to rotate according to the superimposed control signal, the skateboard balance control signal keeps the scooter in balance all the time, and the skateboard speed control signal makes the scooter run within the set speed range, so that the skateboard The car always maintains a balanced driving, which makes the driver's driving safer.

For the convenience of controlling the driving direction of the scooter, the utility model is provided with a steering control module 60 and a wireless remote controller for adjusting the driving direction. The steering control module 60 includes a differential control voltage for outputting the left motor 201 and the right motor 202 Signal motor differential control unit 602 and infrared receiving module 601, the infrared receiving module 601 is arranged on the control circuit board 30, the infrared receiving module 601 is connected with the motor differential control unit 602 through the analog-to-digital conversion interface 403, the motor differential control unit 602 is respectively connected with the input end of the left motor drive circuit 203 and the input end of the right motor drive circuit 204; the wireless remote controller includes a rocker potentiometer and an infrared sending module, and the rocker potentiometer outputs a steering control signal through a voltage change, and through the rocker The rocker potentiometer swings left and right to output different voltages. When the rocker potentiometer is at the midpoint, the voltage is 1.5V. When the rocker potentiometer swings left and right, the output voltage of the rocker potentiometer changes between 0-3V. When the rocker potentiometer swings to the left, the output voltage of the rocker potentiometer is 0-1.5V, and the steering control signal for turning left is output; when the rocker potentiometer swings to the right, the output voltage of the rocker potentiometer is 1.5V -3V, output steering control signal for turning right. The infrared sending module is used to send the steering control signal to the infrared receiving module 601, and the infrared receiving module 601 is used to receive the steering control signal sent by the infrared sending module and output it to the analog-to-digital conversion interface 403, and the analog-to-digital conversion interface 403 converts the steering control signal Converted into a steering value signal, and output to the motor differential control unit 602, the motor differential control unit 602 outputs the corresponding differential control voltage signal of the left motor 201 and the right motor 202 according to the steering value signal, so that the left motor 201 and the right motor 202 Rotate in opposite directions to realize the steering of the scooter. The driver can use the wireless remote control to control the electric self-balancing two-wheeled scooter to turn left and right, and make a 360-degree U-turn on the spot, which is convenient for the driver.

In order to make the use of the scooter safer, the utility model is also provided with an automatic locking and unlocking module 70 for automatically detecting whether someone is using it, and controlling the scooter to enter the locked state or driving state according to the detection result. The automatic locking and unlocking module 70 It includes a pressure sensor 701 for detecting whether someone steps on the scooter, and a locking and unlocking switching unit 702 for receiving the detection signal of the pressure sensor 701 and performing corresponding control according to the received detection signal. The pressure sensor 701 is connected with the locking and unlocking The switch unit 702 is connected, and the lock and unlock switch unit 702 is connected with the left motor drive circuit 203 and the right motor drive circuit 204 respectively; when the pressure sensor 701 detects that someone steps on the scooter frame 10, the lock and unlock switch unit 702 controls the The motor drive circuit 203 and the right motor drive circuit 204 start work to make the scooter enter the driving state; when the pressure sensor 701 detects that no one is stepping on the scooter frame 10, the locking and unlocking switching unit 702 controls the left motor drive circuit 203 and The right motor drive circuit 204 stops working, so that the scooter enters the locked state, thereby ensuring that the scooter will not be driven by anyone.

The logic operation unit 404, the PD speed control module 504, the signal superposition module 80, the motor differential control unit 602 and the locking and unlocking switching unit 702 are all integrated in a microprocessor, and the analog-to-digital conversion interface 403 and the PWM output interface 90 are set in On the microprocessor, the acceleration sensor 401, the angular velocity sensor 402 and the pressure sensor 701 are all connected to the analog-to-digital conversion interface 403, and the acceleration sensor 401 and the angular velocity sensor 402 are connected to the logical operation unit 404 through the analog-to-digital conversion interface 403, and the pressure sensor 701 is connected to the logic unit 404 through the analog-to-digital conversion interface 403. The analog-to-digital conversion interface 403 is connected to the locking and unlocking switching unit 702; the left motor drive circuit 203 and the right motor driving circuit 204 are connected to the PWM output interface 90, and the signal superposition module 80, the motor differential control unit 602 and the locking and unlocking switching unit 702 are connected to the left motor drive circuit 203 and the right motor drive circuit 204 through the PWM output interface 90 .

The above-mentioned PWM output interface 90 is provided with four, wherein two PWM output interfaces 90 are connected with the left motor 201, and one PWM output interface 90 connected with the left motor 201 is used to output the PWM control signal for controlling the forward rotation of the left motor 201, and the other A PWM output interface 90 connected to the left motor 201 is used to output a PWM control signal for controlling the reverse rotation of the left motor 201, and is used to control the forward and reverse rotation of the left motor 201; the other two PWM output interfaces 90 are connected to the right motor 202, A PWM output interface 90 connected to the right motor 202 is used to output a PWM control signal for controlling the forward rotation of the right motor 202, and another PWM output interface 90 connected to the right motor 202 is used for outputting a PWM control signal for controlling the reverse rotation of the right motor 202 , used to control the forward and reverse rotation of the right motor 202.

The left rotational speed sensor 501 and the right rotational speed sensor 502 are all photoelectric encoders, and the photoelectric encoder shafts are connected on the output shafts of the corresponding left motor 201 and the right motor 202, and the output ends of the photoelectric encoders are connected with the counter port 503 of the microprocessor. PID speed control module 504 is connected. The photoelectric encoder directly outputs digital pulse signals to the counter port 503 of the microprocessor, and the microprocessor accumulates the number of input digital pulse signals through the counter port 503 within a fixed time to calculate the motor speed. When the motor rotates forward, the photoelectric encoder outputs a forward rotation pulse signal, and when the motor reverses, the photoelectric encoder outputs a reverse pulse signal; the waveform of the forward rotation pulse signal and the reverse rotation pulse signal are the same, but the phase difference is 90°, that is, in When the motor is rotating forward, the second pulse is 90° behind; when the motor is rotating in reverse, the second pulse is ahead of 90°, so as to determine the direction of rotation of the motor.

Also be provided with overspeed protection module in the microprocessor, the input end of overspeed protection module is connected with the output end of photoelectric encoder by the counter port 503 of microprocessor CPU, is used for receiving the speed of left motor 201 and right motor 202; Overspeed protection The output end of the module is connected with the PID speed control module 504, a buzzer is provided on the control circuit board 30, and the overspeed protection module is connected with the buzzer. There is a maximum protection speed in the overspeed protection module. When it is detected that the received speed of the left motor 201 and the right motor 202 exceeds the maximum protection speed, the overspeed protection module will drive the buzzer to sound to remind the driver to pay attention to safety; The protection module controls the PID speed control module 504 to output a PWM control signal for deceleration, so as to reduce the output voltage of the motor drive circuit, thereby reducing the driving speed of the wheels.

The above descriptions are only preferred embodiments of the present utility model, and are not therefore limiting the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the specification of the utility model and the contents of the accompanying drawings may be directly or indirectly used in Other relevant technical fields are all included in the patent protection scope of the present utility model in the same way.

Claims (8)

1. electronic self-balancing two-wheel scooter, comprise the slide plate vehicle frame, be installed on the left and right wheel of both sides, the described slide plate vehicle frame back side, be used for driving the left and right motor of described left and right vehicle wheel rotation, be used for controlling control circuit board and the power module of described left and right motor power output; Be provided be used to the left motor-drive circuit that drives left motor with for the right motor-drive circuit that drives right motor at described control circuit board, it is characterized in that, be provided with slide plate balance control module, rate control module, turn to control module and automatically lock the solution lock module at described control circuit board;

Described slide plate balance control module is used for keeping the slide plate balance, comprise the acceleration transducer for detection of the angle of inclination of described slide plate vehicle frame, detect the ALU that angular velocity signal carries out logical operation and exports corresponding balance control signal according to logical operation for the angular-rate sensor of the angular speed of measuring described slide plate vehicle frame inclination and acceleration signal and the described angular-rate sensor that is used for described acceleration transducer is detected, described acceleration transducer, described angular-rate sensor is connected with described ALU, the output of described ALU and described left motor-drive circuit, described right motor-drive circuit connects;

Described rate control module is used for controlling the rotating speed of described wheel, comprise be used to the left-hand rotation speed sensor of measuring left motor speed, be used for measuring the right-hand rotation speed sensor of right motor speed and be used for receiving the fast sensor of described left-hand rotation and a left side that described right-hand rotation speed sensor detects, right motor speed signal also carries out the PID rate control module of PID s operation control, the fast sensor of described left-hand rotation, the fast sensor of described right-hand rotation is connected with described PID rate control module, the output of described PID rate control module and described left motor-drive circuit, described right motor-drive circuit connects;

The output of described ALU be connected the output of PID rate control module and connect a signal laminating module, the output of described signal laminating module is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively.

The described travel direction that turns to control module to be used to control described scooter, comprise that be used to the motor Differential Control unit of exporting left and right motor Differential Control voltage signal, described motor Differential Control unit is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively;

The described solution lock module that automatically locks is used for automatic detection, and whether the someone uses, and control described scooter according to testing result and enter lock-out state or driving condition, comprise for detection of whether the someone steps on the pressure sensor on scooter and is used for receiving the detection signal of described pressure sensor and the release switch unit of locking that carries out corresponding control according to the detection signal that receives, described pressure sensor is connected with the described release switch unit of locking, and described left motor-drive circuit, described right motor-drive circuit connect the described release switch unit of locking respectively; When described pressure sensor detected the someone and steps on described slide plate vehicle frame, the described release switch unit of locking was controlled described left motor-drive circuit and described right motor-drive circuit startup work, makes described scooter enter driving condition; When described pressure sensor detected nobody and steps on described slide plate vehicle frame, the described release switch unit of locking controls described left motor-drive circuit and described right motor-drive circuit quits work, and makes described scooter enter locking state.

2. electronic self-balancing two-wheel scooter according to claim 1, it is characterized in that, described ALU, described PID rate control module, described signal laminating module, described motor Differential Control unit and the described release switch unit of locking all are integrated in the microprocessor, described microprocessor is provided with analog-to-digital conversion interface and PWM output interface, described acceleration transducer, described angular-rate sensor be connected pressure sensor and all be connected with described analog-to-digital conversion interface, described acceleration transducer be connected angular-rate sensor and be connected with described ALU by described analog-to-digital conversion interface, described pressure sensor is connected with the described release switch unit of locking by described analog-to-digital conversion interface; Described left motor-drive circuit be connected right motor-drive circuit and all be connected with described PWM output interface, described signal laminating module, described motor Differential Control unit and being connected lock the release switch unit all by described PWM output interface and described left motor-drive circuit be connected right motor-drive circuit and be connected.

Described acceleration transducer is used for the acceleration voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;

Described angular-rate sensor is used for the angular speed voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;

Described analog-to-digital conversion interface is used for converting described acceleration voltage signal and described angular speed voltage signal to corresponding acceleration value and angular speed numerical value;

Described logical operation module is used for that the acceleration value of input is carried out coefficients conversion and forms inclination angle numerical value, and the angular speed numerical value of described inclination angle numerical value and input carried out the Kalman filtering computing, calculate the accurate inclination angle numerical value of described slide plate vehicle frame, and described accurate inclination angle numerical value carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the required operation of described slide plate vehicle frame balance, and output;

Left motor speed signal, right motor speed signal and given rate signal that described PID rate control module is used for feeding back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed;

Described signal laminating module is used for described slide plate balance control signal and described slide plate speed control signal are carried out the signal stack, and the control signal after will superposeing exports to described left motor-drive circuit and described right motor-drive circuit by described PWM output interface, makes described scooter self-balancing operation.

3. electronic self-balancing two-wheel scooter according to claim 2, it is characterized in that, described acceleration transducer is obliquity sensor, the fast sensor of described left-hand rotation and described right-hand rotation speed sensor are photoelectric encoder, described photoelectric encoder is coupling on the output shaft of corresponding described left motor and described right motor, and the output of described photoelectric encoder is connected with described PID rate control module by the counter port of described microprocessor.

4. described electronic self-balancing two-wheel scooter according to claim 3, it is characterized in that, described PWM output interface is provided with four, wherein two PWM output interfaces are connected with described left motor, the one PWM output interface that is connected with described left motor is used for the pwm control signal of the described left motor forward of output control, and another PWM output interface that is connected with described left motor is used for the pwm control signal of the described left motor reversal of output control; Two PWM output interfaces are connected with described right motor in addition, the one PWM output interface that is connected with described right motor is used for the pwm control signal of the described right motor forward of output control, and another PWM output interface that is connected with described right motor is used for the pwm control signal of the described right motor reversal of output control.

5. according to claim 3 or 4 described electronic self-balancing two-wheel scooters, it is characterized in that, also be provided with purpose overspeed protective module in the described microprocessor, the input of described purpose overspeed protective module is connected with the output of described photoelectric encoder by the counter port of described microprocessor CPU, is used for receiving the speed of described left motor and described right motor; The output of described purpose overspeed protective module is connected with described PID rate control module; in described purpose overspeed protective module, be provided with maximum protection speed; when detecting the motor speed that receives and surpass described maximum protection speed; described purpose overspeed protective module is controlled the pwm control signal that described PID rate control module output is used for deceleration, and the output voltage of described motor-drive circuit is reduced.

6. described electronic self-balancing two-wheel scooter according to claim 5; it is characterized in that; be provided with buzzer at described control circuit board; described purpose overspeed protective module is connected with described buzzer; when detecting the left and right motor speed that receives and surpass described maximum protection speed, described purpose overspeed protective module drives described buzzer sounding.

7. described electronic self-balancing two-wheel scooter according to claim 1, it is characterized in that, comprise that also one is used for adjusting the Digiplex of travel direction, described Digiplex comprises rocker regulation resistance and infrared sending module, the described control module that turns to also comprises an infrared receiving module, described infrared receiving module is arranged on the described control circuit board, and described infrared receiving module is connected with described motor Differential Control unit.

8. electronic self-balancing two-wheel scooter according to claim 1 is characterized in that, described slide plate vehicle frame is long strip type slide plate vehicle frame, and described left and right wheel is installed on the central balancing point of described slide plate vehicle frame.

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