Upright intelligent vehicle capable of achieving GPS tracking and provided with brush motor

Abstract

The utility model relates to the technical field of intelligent vehicles, in particular to an upright intelligent vehicle capable of being tracked by a global positioning system (GPS) and provided with a brush motor, which comprises a vehicle body. A momentum wheel, a steering engine, a GPS positioning module, a brush motor driving board, a main control board, an inertial navigation module, a battery, a first brush motor, a first encoder, a second brush motor, a second encoder and a gyroscope module are fixedly installed in the vehicle body, and an MCU, a voltage conversion board, a screen and keys are fixedly installed on the main control board. The intelligent vehicle can be erected through the momentum wheel and the first brush motor, the intelligent vehicle can advance and retreat through the second brush motor, operation is stable, and tracking can be completed according to GPS signals.

Description

Technical Field

[0001] The utility model relates to the technical field of smart cars, in particular to an upright smart car which can track with GPS and is equipped with a brush motor. Background Art

[0002] With the rapid development of artificial intelligence and autonomous driving technology, smart cars driving on the road has become a hot topic in today's science and technology field. In the existing technology, smart cars can automatically generate paths through saved GPS coordinates for automatic tracking, but smart bicycles are difficult to stand upright and have poor balance. In view of this, we propose an upright smart car that can track with GPS and is equipped with a brushed motor. Utility Model Content

[0003] The utility model aims to provide an upright intelligent vehicle which can track with GPS and is equipped with a brush motor, and moves along a predetermined track while maintaining self-balancing.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] An upright smart car capable of GPS tracking and equipped with a brush motor comprises a car body, wherein a momentum wheel, a steering gear, a GPS positioning module, a brush motor drive board, a main control board, an inertial navigation module, a battery, a first brush motor, a first encoder, a second brush motor, a second encoder, and a gyroscope module are fixedly installed in the car body, and an MCU, a voltage conversion board, a screen, and buttons are fixedly installed on the main control board;

[0006] The momentum wheel is arranged behind the front wheel of the vehicle body, and the momentum wheel is fixedly connected to the output end of the first brushed motor;

[0007] The steering gear is arranged at the front side of the center of the vehicle body, and the steering gear is electrically connected to the main control board;

[0008] The GPS positioning module is arranged in the middle of the vehicle body, and the GPS positioning module is electrically connected to the main control board;

[0009] The brushed motor drive board is arranged on the upper rear of the vehicle body, and the brushed motor drive board is electrically connected to the voltage conversion board and the main control board respectively;

[0010] The main control panel is arranged at the middle and rear part of the vehicle body;

[0011] The inertial navigation module is installed at the rear end of the vehicle body, and the inertial navigation module is electrically connected to the main control board;

[0012] The battery is embedded in the rear of the vehicle body, and the battery is electrically connected to the voltage conversion board;

[0013] The first brushed motor is embedded in the lower rear of the vehicle body, the first brushed motor is meshed and connected with the first encoder through gears, the first brushed motor is electrically connected to the brushed motor drive board; the first encoder is electrically connected to the main control board;

[0014] The second brushed motor is arranged at the front lower part of the vehicle body, the second brushed motor is meshed and connected with the second encoder through gears, the second brushed motor is electrically connected with the brushed motor driving board, and the second encoder is electrically connected with the main control board;

[0015] The gyroscope module is arranged at the rear of the vehicle body, and the gyroscope module is electrically connected to the main control board;

[0016] The screen is arranged in the middle of the main control board, and the screen is electrically connected to the MCU;

[0017] The button is arranged on the right side of the main control board, and the button is electrically connected to the MCU;

[0018] The MCU is arranged in the middle of the main control board, and the MCU is electrically connected to the main control board.

[0019] Preferably, the battery is a 12V lithium battery.

[0020] Compared with the prior art, the beneficial effects of the utility model are:

[0021] 1. The upright smart car that can track with GPS and is equipped with a brush motor includes a car body, on which a momentum wheel, a servo, a GPS positioning module, a brush motor drive board, a main control board, an inertial navigation module, a battery, a first brush motor, a first encoder, a second brush motor, a second encoder, and a gyroscope module are fixedly installed. The main control board is fixedly installed with an MCU, a voltage conversion board, a screen, and buttons. The present application can realize the upright position of the smart car through the momentum wheel and the first brush motor, and can realize the forward and backward movement of the smart car through the second brush motor. The operation is stable and tracking can be completed according to the GPS signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0023] In the figure: 1. Momentum wheel; 2. Servo; 3. GPS positioning module; 4. Brushed motor driver board; 5. MCU; 6. Voltage conversion board; 7. Main control board; 8. Inertial navigation module; 9. Battery; 10. First brushed motor; 11. First encoder; 12. Second brushed motor; 13. Second encoder; 14. Vehicle body. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0028] See also Figure 1 As shown, a technical solution provided by the utility model:

[0029] An upright smart car capable of GPS tracking and equipped with a brush motor comprises a car body 14, in which a momentum wheel 1, a steering gear 2, a GPS positioning module 3, a brush motor drive board 4, a main control board 7, an inertial navigation module 8, a battery 9, a first brush motor 10, a first encoder 11, a second brush motor 12, a second encoder 13, and a gyroscope module are fixedly installed, and an MCU 5, a voltage conversion board 6, a screen, and buttons are fixedly installed on the main control board 7;

[0030] The momentum wheel 1 is arranged behind the front wheel of the vehicle body 14, and the momentum wheel 1 is fixedly connected to the output end of the first brushed motor 10, and the smart vehicle is controlled to maintain balance through the momentum wheel 1;

[0031] The steering gear 2 is arranged at the front center of the vehicle body 14, and the steering gear 2 is electrically connected to the main control board 7. The steering gear 2 controls the steering of the smart vehicle through a pull rod;

[0032] The GPS positioning module 3 is arranged in the middle of the vehicle body 14, the GPS positioning module 3 is electrically connected to the main control board 7, and the GPS positioning module 3 provides longitude and latitude coordinate information;

[0033] The brushed motor drive board 4 is arranged above and behind the vehicle body 14, and the brushed motor drive board 4 is electrically connected to the voltage conversion board 6 and the main control board 7 respectively. The brushed motor drive board 4 receives information from the main control board 7 and enables the first brushed motor 10 and the second brushed motor 12 to operate normally;

[0034] The main control panel 7 is arranged in the middle and rear part of the vehicle body 14;

[0035] The inertial navigation module 8 is installed at the rear end of the vehicle body 14, and the inertial navigation module 8 is electrically connected to the main control board 7;

[0036] The battery 9 is embedded in the rear of the vehicle body 14, and the battery 9 is electrically connected to the voltage conversion board 6. In this embodiment, the battery 9 is preferably a 12V lithium battery. The battery 9 provides energy for the entire smart car. The battery 9 can provide a 12V voltage to the brushed motor drive board 4 and a 7V voltage to the main control board 7 through the voltage conversion board 6;

[0037] The first brush motor 10 is embedded in the lower rear of the vehicle body 14, the first brush motor 10 is meshed with the first encoder 11 through gears, and the first brush motor 10 is electrically connected to the brush motor drive board 4; the first encoder 11 is electrically connected to the main control board 7, the first brush motor 10 controls the vehicle body 14 to stand upright, and the first encoder 11 collects the speed information of the first brush motor 10 through the transmission mechanism of gear meshing and transmits it to the main control board 7;

[0038] The second brushed motor 12 is arranged at the front lower part of the vehicle body 14, the second brushed motor 12 is meshed and connected with the second encoder 13 through gears, the second brushed motor 12 is electrically connected to the brushed motor drive board 4, the second encoder 13 is electrically connected to the main control board 7, the second brushed motor 12 controls the vehicle body 14 to move forward and backward, and the second encoder 13 collects the speed information of the second brushed motor 12 through the transmission mechanism of gear meshing and transmits it to the main control board 7;

[0039] The gyroscope module is arranged at the rear of the vehicle body 14, and the gyroscope module is electrically connected to the main control board 7;

[0040] The screen is arranged in the middle of the main control board 7, and the screen is electrically connected to the MCU5;

[0041] The button is arranged on the right side of the main control board 7, the button is electrically connected to the MCU5, the screen and the button realize the human-vehicle interaction together, the screen displays the data received by the inertial navigation module 8, the GPS positioning module 3, the first encoder 11, and the second encoder 13, and the parameters of the smart car during operation are adjusted by the command generated by pressing the button;

[0042] The MCU5 is arranged in the middle of the main control board 7, and the MCU5 is electrically connected to the main control board 7. The main control board 7 and the MCU5 are the control center of the entire smart car. The speed and posture of the entire smart car are controlled by collecting data from the inertial navigation module 8, the GPS positioning module 3, the first encoder 11, and the second encoder 13.

[0043] The following is a detailed introduction to the balance control principle of the smart car:

[0044] The balance control of this embodiment adopts momentum wheel balance, and the uprightness of the car body is achieved by installing a motor flywheel. Through the principle of conservation of angular momentum, the flywheel is rotated at a variable speed by a motor, so that the axis of the motor flywheel produces an angular velocity in the opposite direction of the falling car model, so that the car model maintains balance. The mechanical manifestation is that the motor accelerates and rotates in the direction of falling, generating a reaction force to push the car model.

[0045] The vertical speed change control adopts the cascade PID method, which adopts the three-ring position PID series method.

[0046] The outermost speed loop is used to amplify and maintain the middle angle loop to enhance the balance of the posture. The outermost loop period is the longest among the three loops, and the shorter the period, the better the damping effect. The disadvantage is that it is more prone to oscillation. The difference between the read motor code value and the zero point is taken into the angle loop.

[0047] The angle loop is used to correct the position and attitude. Through the four-element method, the acceleration and gyroscope values ​​are integrated into the angle value. The difference between the read angle value and the outer ring value is subtracted and brought into the angular velocity loop.

[0048] The angular velocity loop is the innermost loop, and its main function is to generate damping force. The angular velocity loop is first obtained through the gyroscope and compared with the angle loop calibration value, and the output value is used as the PWM duty cycle to control the balance.

[0049] The following is a detailed introduction to the GPS signal processing of smart cars:

[0050] The latitude, longitude and azimuth collected by the GPS positioning module are used to calculate the appropriate deviation for steering gear angle adjustment.

[0051] 1. Read the latitude, longitude and azimuth of the vehicle's own position and the recorded point, and use the angle difference between the two with north as the initial value as the value of the servo calibration route;

[0052] 2. The gyroscope calculates the yaw angle instead of the azimuth angle. The relative angle difference between the first two saved points can be used as the initial value of the yaw angle. At this time, the yaw angle + angle difference forms an azimuth with north as the positive direction;

[0053] 3. Read the deviation between the vehicle's own position and the longitude and latitude of the saved and recorded points, and obtain the relative position with due north as the positive direction and the target point;

[0054] 4. Filter the deviation between relative position and azimuth;

[0055] 5. Substitute the processed value into the deviation of the servo calibration direction to complete the angle adjustment;

[0056] 6. The current position of the vehicle is regarded as polar coordinates, and the angle difference is used to correct the route. The distance to the point is judged to switch the navigation point. When approaching the point, switch to the next point to achieve tracking.

[0057] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An upright smart car capable of GPS tracking and equipped with a brushed motor, characterized in that: The vehicle comprises a vehicle body (14), wherein a momentum wheel (1), a steering gear (2), a GPS positioning module (3), a brush motor driving board (4), a main control board (7), an inertial navigation module (8), a battery (9), a first brush motor (10), a first encoder (11), a second brush motor (12), a second encoder (13), and a gyroscope module are fixedly installed in the vehicle body (14), and an MCU (5), a voltage conversion board (6), a screen, and buttons are fixedly installed on the main control board (7); The momentum wheel (1) is arranged behind the front wheel of the vehicle body (14), and the momentum wheel (1) is fixedly connected to the output end of the first brushed motor (10); The steering gear (2) is arranged at the front center of the vehicle body (14), and the steering gear (2) is electrically connected to the main control board (7); The GPS positioning module (3) is arranged in the middle of the vehicle body (14), and the GPS positioning module (3) is electrically connected to the main control board (7); The brushed motor drive board (4) is arranged on the upper rear of the vehicle body (14), and the brushed motor drive board (4) is electrically connected to the voltage conversion board (6) and the main control board (7) respectively; The main control panel (7) is arranged at the middle and rear part of the vehicle body (14); The inertial navigation module (8) is installed at the rear end of the vehicle body (14), and the inertial navigation module (8) is electrically connected to the main control board (7); The battery (9) is embedded in the rear of the vehicle body (14), and the battery (9) is electrically connected to the voltage conversion board (6); The first brushed motor (10) is embedded in the lower rear of the vehicle body (14); the first brushed motor (10) is meshedly connected to the first encoder (11) via a gear; the first brushed motor (10) is electrically connected to the brushed motor drive board (4); the first encoder (11) is electrically connected to the main control board (7); The second brushed motor (12) is arranged at the front lower part of the vehicle body (14); the second brushed motor (12) is meshedly connected to the second encoder (13) via a gear; the second brushed motor (12) is electrically connected to the brushed motor drive board (4); and the second encoder (13) is electrically connected to the main control board (7); The gyroscope module is arranged at the rear of the vehicle body (14), and the gyroscope module is electrically connected to the main control board (7); The screen is arranged in the middle of the main control board (7), and the screen is electrically connected to the MCU (5); The button is arranged on the right side of the main control board (7), and the button is electrically connected to the MCU (5); The MCU5 is arranged in the middle of the main control board (7), and the MCU (5) and the main control board (7) are electrically connected.

2. The upright smart car capable of GPS tracking and equipped with a brushed motor according to claim 1, characterized in that: The battery (9) is a 12V lithium battery.

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