CN206369951U - A kind of electronic two-wheeled balance car intelligent controlling device - Google Patents

Abstract

The utility model provides an intelligent control device for an electric two-wheeled balance car, which belongs to the field of automatic control and includes an encoder module, a front binocular camera module, a rear binocular camera module, an attitude sensor module, an energy storage module, and a data processing module , main controller module, direction sensor module, power management and motor drive module and left and right motor modules. The output ends of the encoder module, the front binocular camera module, the rear binocular camera module and the attitude sensor module are all connected with the data processing module; the data processing module is connected with the main controller module; the output of the direction sensor module connected to the main controller module; the power management and motor drive modules are respectively connected to the data processing module and the main controller module; the output terminals of the energy storage module are connected to the left and right motor modules through the power management and motor drive module; The acquisition end of the encoder module is connected to the left and right motor modules.

Description

An intelligent control device for an electric two-wheeled balance car

technical field

The utility model relates to the field of automatic control, in particular to an intelligent control device for an electric two-wheeled balance vehicle.

Background technique

With the development of modern intelligent control technology, the electric two-wheel balance vehicle technology is also constantly improving. The electric two-wheel balance vehicle is a new type of transportation, with the characteristics of small size, easy to carry, and easy to operate. It is different from the front and rear arrangement of ordinary electric bicycles and motorcycles, but uses two fixed wheels side by side. Nowadays, people's awareness of environmental protection is gradually strengthening, and life is developing in the direction of intelligence and convenience. The two-wheeled electric self-balancing vehicle conforms to this trend, conforms to the trend of the times, and has a good development prospect.

The electric two-wheel balance car has no brake system. It uses the gyroscope and acceleration sensor inside the car body to detect the change of the car body attitude, and uses the servo control system to accurately drive the motor to make corresponding adjustments to maintain the balance of the whole car. It can be seen that electric two-wheeled self-balancing vehicles have extremely high requirements on the stability of the hardware system and the real-time data collected. Traditional electric two-wheeled self-balancing vehicles often fail to meet the above requirements, and there will be sudden power failures and inability to turn during driving. Phenomenon, causing the body of the cyclist to fall due to inertia, causing falls. In order to improve the safety and reliability of the electric two-wheeled self-balancing vehicle, a more intelligent and safer electric two-wheeled self-balancing vehicle control system is urgently needed.

Utility model content

The utility model needs to solve the problems of low hardware stability of the existing electric two-wheel balancing car system and the low real-time performance of collected data, and provides an intelligent control device for the electric two-wheel balancing car.

The utility model solves the above problems through the following technical solutions:

An intelligent control device for an electric two-wheeled balance car, including an encoder module, a front binocular camera module, a rear binocular camera module, an attitude sensor module, an energy storage module, a data processing module, a main controller module, and a direction sensor module , power management and motor drive module and left and right motor modules;

The output ends of the encoder module, the front binocular camera module, the rear binocular camera module and the attitude sensor module are all connected to the data processing module; the data processing module is connected to the main controller module; the direction sensor module The output end of the energy storage module is connected with the main controller module; the power management and motor drive module are respectively connected with the data processing module and the main controller module; the output end of the energy storage module is connected with the left and right motor modules through the power management and motor drive module ; The acquisition end of the encoder module is connected to the left and right motor modules.

The utility model further comprises a bluetooth module and/or a USB module, and the input terminals of the bluetooth module and the USB module are all connected with the main controller module; the bluetooth module is connected with external devices through wireless; The device is connected.

The utility model further includes a voice module, and the input end of the voice module is connected with the main controller module.

In the above solution, it is preferable that filter inductors L ₁ , L ₂ and filter capacitors C ₁ are arranged between the energy storage module and the power management and motor drive module, and the filter inductors L ₁ and L ₂ are respectively connected in series at the output end of the energy storage module. on the two wires; the filter capacitor _C1 is connected in parallel on the two wires at the output end of the energy storage module.

In the above solution, preferably, a filter capacitor C ₂ is provided at the connection between the power management and motor drive module and the left and right motor modules, and the filter capacitor C ₂ is connected in parallel to the output end of the power management and motor drive module.

In the above solutions, it is preferred that optocoupler isolators are provided at the connections between the power management and motor drive module, the data processing module and the main controller module.

In the above solution, it is preferable that the data processing module adopts a data processor whose model is 66AK2H14.

In the above solution, it is preferred that the main controller module adopts a main control chip with a model number of STM32F767.

In the above solution, preferably, the attitude sensor module is mainly composed of a balance sensor; the output end of the balance sensor is connected to the main controller module.

Advantage and effect of the present utility model are:

1. The utility model uses the data processing module and the main controller module to quickly process a large amount of data on the data processing module, which can greatly improve the real-time performance of the collected data, thereby ensuring the response speed and safety of the system. The controller module is used for command control, which makes the control more sensitive and separates data processing and control. The hardware stability of the existing electric two-wheel balance car system is not high and the real-time performance of the collected data is not strong;

2. The utility model combines front and rear double-sided cameras, which can be used for front and rear object detection and anti-collision detection, which makes the product more intelligent and improves the safety of users when using it;

3. The utility model is equipped with an optocoupler isolator at the connection between the power supply management and motor drive module, the data processing module and the main controller module, so as to reduce the impact of strong electricity on the processor in the data processing module and the main controller module , making it more secure.

Description of drawings

Fig. 1 is a structural block diagram of the utility model.

detailed description

Below in conjunction with embodiment the utility model is further described.

An intelligent control device for an electric two-wheeled balance car, as shown in Figure 1, comprising an encoder module, a front binocular camera module, a rear binocular camera module, an attitude sensor module, an energy storage module, a data processing module, a main control Sensor module, direction sensor module, Bluetooth module, USB module, voice module, power management and motor drive module and left and right motor modules. The data processing module adopts a data processor whose model is 66AK2H14. The main controller module adopts a main control chip whose model is STM32F767.

As shown in Figure 1, filter inductors L ₁ , L ₂ and filter capacitor C ₁ are set between the energy storage module and the power management and motor drive module, and the filter inductors L ₁ and L ₂ are respectively connected in series at the output end of the energy storage module. on one wire; the filter capacitor _C1 is connected in parallel on two wires at the output end of the energy storage module. It is used to filter the output power to make the input power more stable. A filter capacitor C ₂ is provided at the connection between the power management and motor drive module and the left and right motor modules, and the filter capacitor C ₂ is connected in parallel to the output end of the power management and motor drive module.

As shown in FIG. 1 , the output terminals of the encoder module, the front binocular camera module, the rear binocular camera module and the attitude sensor module are all connected to the data processing module. The front binocular camera module and the rear binocular camera module collect the obstacle information in front and behind the balance car in real time, and transmit the collected information to the data processor module. The acquisition process is to collect images, obtain a disparity map for the image, calculate the height map through the calculation of the road plane equation, and output the detection result. Camera obstacle detection is a relatively mature technology. The acquisition end of the encoder module is connected to the left and right motor modules, and the encoder module collects the rotation speed information of the left and right motors in real time, and transmits the collected information to the data processor module. The attitude sensor module is mainly composed of a balance sensor; the output end of the balance sensor is connected with the main controller module. The posture information of the balance car is collected in real time, and the collected information is transmitted to the data processor module.

The data processing module is connected with the main controller module to realize unified transmission after data processing. The output end of the direction sensor module is connected with the main controller module, and the direction sensor module collects the direction information of the direction bar in real time, and transmits the collected information to the main controller module. The power management and motor drive modules are respectively connected with the data processing module and the main controller module. The output end of the energy storage module is connected to the left and right motor modules through the power management and motor drive module.

The power management and motor drive module includes a power management circuit and a motor drive circuit. The power management circuit mainly includes a buck-boost circuit and a voltage-stabilizing circuit, which perform voltage-boosting and voltage-stabilizing processing to make the output power more stable. The motor drive circuit drives the two electrodes of the left and right motor modules. After the main controller module further calculates and processes the data input from the data processing module, according to the relevant calculation results, it controls the left and right motors through the power management and motor drive modules, and finally achieves balance.

Both the input ends of the Bluetooth module and the USB module are connected with the main controller module; the Bluetooth module is connected with the external device through wireless; the USB module is connected with the external device through a USB line. The external device can be a mobile phone or a tablet computer, and the user can transmit the relevant information of the balance car to the mobile phone for real-time display through the Bluetooth module or USB module according to the needs. In addition, the voice module can also broadcast the relevant information of the balance car through voice, and the input end of the voice module is connected with the main controller module.

The preferred embodiments created by the utility model have been specifically described above, but the utility model is not limited to the embodiments. Those skilled in the art can also make various equivalents without violating the spirit of the utility model. Modifications or replacements, and these equivalent modifications or replacements are all included within the scope of this application.

Claims (9)

1. an electric two-wheel balance vehicle intelligent control device, is characterized in that: comprise encoder module, front binocular camera module, rear binocular camera module, attitude sensor module, energy storage module, data processing module, main control Sensor module, direction sensor module, power management and motor drive module and left and right motor modules; The output ends of the encoder module, the front binocular camera module, the rear binocular camera module and the attitude sensor module are all connected to the data processing module; the data processing module is connected to the main controller module; the direction sensor module The output end of the energy storage module is connected with the main controller module; the power management and motor drive module are respectively connected with the data processing module and the main controller module; the output end of the energy storage module is connected with the left and right motor modules through the power management and motor drive module ; The acquisition end of the encoder module is connected to the left and right motor modules. 2. A kind of electric two-wheel balance car intelligent control device according to claim 1, is characterized in that: also comprise bluetooth module and/or USB module, the input end of bluetooth module and USB module are all connected with main controller module; The bluetooth module is connected with the external device through wireless; the USB module is connected with the external device through the USB line. 3. An intelligent control device for an electric two-wheeled balance vehicle according to claim 1, further comprising a voice module, the input end of which is connected to the main controller module. 4. An intelligent control device for an electric two-wheeled balance vehicle according to claim 1, characterized in that filter inductors L ₁ , L ₂ and filter capacitor C are arranged between the energy storage module and the power management and motor drive module ₁ , the filter inductors L1 and L2 are respectively connected in series to the _two wires at the output end of the energy storage module _; the filter capacitor _C1 is connected in parallel to the two wires at the output end of the energy storage module. 5. An intelligent control device for an electric two-wheeled balance vehicle according to claim 1, characterized in that: a filter capacitor C ₂ is provided at the connection between the power management and motor drive module and the left and right motor modules, and the filter capacitor C ₂ connected in parallel to the output end of the power management and motor drive module. 6. An intelligent control device for an electric two-wheeled balance vehicle according to claim 1, wherein an optocoupler isolator is provided at the connection between the power management and motor drive module, the data processing module and the main controller module . 7. An intelligent control device for an electric two-wheeled self-balancing vehicle according to claim 1, wherein the data processing module adopts a data processor whose model number is 66AK2H14. 8. An intelligent control device for an electric two-wheeled self-balancing vehicle according to claim 1, wherein the main controller module adopts a main control chip of the model STM32F767. 9. An intelligent control device for an electric two-wheeled balance vehicle according to claim 1, wherein the attitude sensor module is mainly composed of a balance sensor; the output end of the balance sensor is connected to the main controller module.