Multifunctional chassis motor drive control circuit board and intelligent trolley

Abstract

The utility model discloses a multifunctional chassis motor driving control circuit board and an intelligent trolley, and relates to the field of intelligent trolley motor control, the circuit board comprises a first control chip, a driving module and a steering module; the intelligent trolley comprises a plurality of chassis, and at least one chassis is provided with four brush non-inductive motors; at least one chassis is provided with a brush non-inductive motor and a steering engine; at least one chassis is provided with a brushless non-inductive motor and a steering engine; at least one chassis is provided with a brush inductive motor and a steering engine; when receiving a bus signal of an upper computer, the first control chip sends a PWM signal to the driving module and sends a steering signal to the steering module; when the steering module receives the steering signal, the chassis of the intelligent trolley is controlled to steer; and when receiving the PWM signal, the driving module drives the chassis of the intelligent trolley to operate, so that the problem that a plurality of sets of motor control panels need to be purchased when the chassis of different motors is learned is solved, and the teaching cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent car motor control, and particularly relates to a multifunctional chassis motor drive control circuit board and an intelligent car. BACKGROUND

[0002] The current intelligent car chassis motor teaching is mainly divided into three layers: an upper layer high-computing-power controller, a middle layer motor drive board, and a bottom layer intelligent car chassis.

[0003] In actual intelligent car chassis teaching, students need to learn four-wheel chassis, Ackerman steering and rear-wheel chassis, and motors, including AC brushless motors and DC brush motors. Each type of motor is divided into non-inductive motors and inductive motors. In intelligent chassis teaching, each student needs at least four complete sets of intelligent car chassis to complete the motor control teaching of the bottom car, and needs to purchase multiple sets of motor control boards to learn different chassis motors. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the present application is to provide a multifunctional chassis motor drive control circuit board and an intelligent car, which aims to solve the technical problem of purchasing multiple sets of motor control boards to learn different chassis motors.

[0005] To achieve the above purpose, the present application provides a multifunctional chassis motor drive control circuit board and an intelligent car, wherein the multifunctional chassis motor drive control circuit board is applied to an intelligent car, and the multifunctional chassis motor drive control circuit board comprises a first control chip, a drive module and a steering module.

[0006] The intelligent car comprises a plurality of chassis, wherein at least one chassis is provided with four brushless non-inductive motors; at least one chassis is provided with one brushless non-inductive motor and a steering engine; at least one chassis is provided with one brushless non-inductive motor and a steering engine; and at least one chassis is provided with one brushless inductive motor and a steering engine.

[0007] The first control chip is connected with the drive module and the steering module respectively.

[0008] The first control chip is configured to send a PWM signal to the drive module and a steering signal to the steering module when receiving a bus signal from an upper computer.

[0009] The steering module is configured to control the steering of the chassis of the intelligent car when receiving the steering signal.

[0010] The drive module is configured to drive the chassis of the intelligent car to run when receiving the PWM signal.

[0011] Optionally, the multifunctional chassis motor drive control circuit board further comprises a power supply module;

[0012] The power supply module is connected with the first control chip, the drive module and the steering module respectively.

[0013] The power supply module is configured to, when receiving a first voltage signal of a battery module, reduce the first voltage signal to a second voltage signal and send the second voltage signal to the first control chip, the drive module and the steering module.

[0014] Optionally, the drive module comprises a number of drive units equal to the number of chassis.

[0015] The first drive unit is connected with four brushless induction motors on a corresponding chassis, the second drive unit is connected with one brushless induction motor on a corresponding chassis, the third drive unit is connected with one brushless motor on a corresponding chassis, and the fourth drive unit is connected with one brush motor on a corresponding chassis.

[0016] Each drive unit is configured to drive the corresponding chassis to operate when receiving a PWM signal.

[0017] Optionally, the power supply module comprises a buck chip, an inductor, a diode, a first capacitor, a first resistor, a second resistor, a third resistor and a fourth resistor.

[0018] The output pin of the buck chip is connected with the first end of the inductor and the cathode of the diode respectively, the anode of the diode is grounded, the second end of the inductor is connected with the first end of the first capacitor, the first end of the first resistor, the power supply pin of the first control chip, the drive module and the steering module respectively, the second end of the first capacitor and the second end of the first resistor are grounded respectively, the power supply pin of the buck chip is connected with the battery module, the current detection pin of the buck chip is connected with the first end of the second resistor, the output pin of the buck chip is connected with the second end of the second resistor, the second end of the inductor is connected with the third resistor, the voltage feedback pin of the buck chip is connected with the second end of the third resistor and the first end of the fourth resistor respectively, and the second end of the fourth resistor is grounded.

[0019] Optionally, the first drive unit comprises a first drive chip and a second drive chip.

[0020] The first enable pin of the first driving chip is connected with the first control pin of the first control chip, the second enable pin of the first driving chip is connected with the second control pin of the first control chip, the first enable pin of the second driving chip is connected with the second control pin of the first control chip, the second enable pin of the second driving chip is connected with the first control pin of the first control chip, the first input pin, the second input pin, the third input pin and the fourth input pin of the first driving chip are connected with the first PWM pin, the second PWM pin, the third PWM pin and the fourth PWM pin of the first control chip respectively, the first input pin, the second input pin, the third input pin and the fourth input pin of the second driving chip are connected with the second PWM pin, the first PWM pin, the fourth PWM pin and the third PWM pin of the first control chip respectively, the first output pin and the second output pin of the first driving chip are connected with the second brushless induction motor in the corresponding chassis respectively, the third output pin and the fourth output pin of the first driving chip are connected with the first brushless induction motor in the corresponding chassis respectively, the first output pin and the second output pin of the second driving chip are connected with the fourth brushless induction motor in the corresponding chassis respectively, and the third output pin and the fourth output pin of the second driving chip are connected with the third brushless induction motor in the corresponding chassis respectively.

[0021] Optionally, the second driving unit comprises a third driving chip.

[0022] The first input pin and the second input pin of the third driving chip are connected with the first PWM pin and the second PWM pin of the first control chip respectively, and the first output pin and the second output pin of the third driving chip are connected with the brushless induction motor in the corresponding chassis respectively.

[0023] Optionally, the third driving unit comprises a fourth driving chip.

[0024] The first input pin of the fourth driving chip is connected with the first PWM pin of the first control chip, and the U-phase output pin, the V-phase output pin and the W-phase output pin of the fourth driving chip are connected with the brushless induction motor in the corresponding chassis respectively.

[0025] Optionally, the fourth driving unit comprises a fifth driving chip.

[0026] The first input pin and the second input pin of the fifth drive chip are connected with the first PWM pin and the second PWM pin of the first control chip respectively, the first output pin and the second output pin of the fifth drive chip are connected with the brush-sensing motor in the corresponding chassis respectively, and the first feedback pin and the second feedback pin of the brush-sensing motor in the corresponding chassis are connected with the third PWM pin and the fourth PWM pin of the first control chip respectively.

[0027] Optionally, the steering module comprises a second control chip.

[0028] The positive rotation pin and the reverse rotation pin of the second control chip are connected with the first control pin and the second control pin of the first control chip respectively, the input pin of the second control chip is connected with the fifth PWM pin of the first control chip, the feedback pin of the second control chip is connected with the sixth PWM pin of the first control chip, and the first output pin and the second output pin of the second control chip are connected with the steering engine in the corresponding chassis.

[0029] In addition, to achieve the above-mentioned purpose, the utility model also proposes a smart car, the smart car includes the multifunctional chassis motor drive control circuit board as mentioned above.

[0030] The one or more technical solutions proposed in the application have at least the following effects:

[0031] The application provides a multifunctional chassis motor drive control circuit board, which is applied to a smart car, and comprises a first control chip, a drive module and a steering module. The smart car comprises a plurality of chassis, wherein four brushless non-inductive motors are arranged on at least one chassis, one brushless non-inductive motor and a steering engine are arranged on at least one chassis, one brushless non-inductive motor and a steering engine are arranged on at least one chassis, one brush-sensing motor and a steering engine are arranged on at least one chassis, the first control chip is connected with the drive module and the steering module, the first control chip is used for sending a PWM signal to the drive module and a steering signal to the steering module when receiving a bus signal of an upper computer, the steering module is used for controlling the chassis of the smart car to steer when receiving the steering signal, and the drive module is used for driving the chassis of the smart car to run when receiving the PWM signal. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those drawings can also help the ordinary skilled in the art to obtain other drawings without any creative effort.

[0033] Figure 1 Structure diagram of a first embodiment of a multifunctional chassis motor drive control circuit board according to the present application.

[0034] Figure 2 Structure diagram of a second embodiment of a multifunctional chassis motor drive control circuit board according to the present application.

[0035] Figure 3 Circuit schematic diagram of a first control chip in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0036] Figure 4 Circuit schematic diagram of a power supply module in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0037] Figure 5 First circuit schematic diagram of a first drive unit in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0038] Figure 6 Second circuit schematic diagram of a first drive unit in the first embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0039] Figure 7 Circuit schematic diagram of a second drive unit in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0040] Figure 8 Circuit schematic diagram of a third drive unit in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0041] Figure 9 Circuit schematic diagram of a fourth drive unit in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0042] Figure 10 Circuit schematic diagram of a steering module in the second embodiment of the multifunctional chassis motor drive control circuit board according to the present application.

[0043] Figure 11 Architecture block diagram of the intelligent trolley according to the present application.

[0044] BRIEF DESCRIPTION OF THE DRAWINGS

[0045]

[0046]

[0047] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein merely set forth the preferred implementations of the application and do not limit the scope of the application.

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0051] In addition, the descriptions involving "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0052] The main solution of the embodiments of the present application is that a set of motor control boards can be adapted to different types of motors (at least one chassis is provided with four brushless induction motors, at least one chassis is provided with one brushless induction motor and a rudder, at least one chassis is provided with one brushless induction motor and a rudder, and at least one chassis is provided with one brush induction motor and a rudder), thereby solving the problem of learning different motor chassis and purchasing multiple sets of motor control boards.

[0053] The current intelligent car chassis motor teaching is mainly divided into three layers: the upper layer is a high-performance controller, the middle layer is a supporting motor drive board, and the bottom layer is an intelligent car supporting chassis and motor. However, the middle layer motor drive board is bound to the bottom layer chassis motor. In actual intelligent car chassis teaching, students need to learn four-wheel chassis, Ackerman steering and rear-wheel chassis. The motor also includes AC brushless motor and DC brush motor. Each type of motor is divided into non-inductive motor and inductive motor. In the intelligent chassis teaching, according to the above motor teaching, each student needs at least four complete sets of intelligent car chassis to complete the motor control teaching of the bottom layer car. Learning different chassis motors requires purchasing multiple sets of motor control boards. Motor teaching requires students to have knowledge of hardware circuit and PCB board. Students need to solder simple circuit boards and understand basic knowledge of components. However, the current market is a soldered circuit board, and the components selected for the circuit board are high-precision and small-size electronic components, which are suitable for machine soldering and not suitable for students' initial learning.

[0054] The application provides a solution. The application provides a multifunctional chassis motor drive control circuit board. The multifunctional chassis motor drive control circuit board is applied to an intelligent car. The multifunctional chassis motor drive control circuit board comprises a first control chip 1, a drive module 2 and a steering module 3. The intelligent car comprises a plurality of chassis. At least one chassis is provided with four brushless non-inductive motors. At least one chassis is provided with a brushless non-inductive motor and a steering engine. At least one chassis is provided with a brushless non-inductive motor and a steering engine. At least one chassis is provided with a brushless inductive motor and a steering engine. The first control chip 1 is connected with the drive module 2 and the steering module 3. The first control chip 1 is used for sending a PWM signal to the drive module 2 and sending a steering signal to the steering module 3 when receiving a bus signal of an upper computer. The steering module 3 is used for controlling the chassis steering of the intelligent car when receiving the steering signal. The drive module 2 is used for driving the chassis of the intelligent car to run when receiving the PWM signal. Through one set of motor control board, different types of motors can be adapted, thereby solving the problem of purchasing multiple sets of motor control boards for learning different chassis motors and reducing the teaching cost.

[0055] It should be noted that the drive module 2 in the multifunctional chassis motor drive control circuit board of the application corresponds to the motor drive board in the intelligent car. The steering module 3 corresponds to the steering engine drive control board. The first control chip 1 corresponds to the total board (total control board, output PWM signal and steering signal). The motor drive board, the steering engine drive control board and the total board are connected by plug-in type connection. The motor drive board, the steering engine drive control board and the total board select larger components for easy student imitation welding.

[0056] Based on this, the embodiment of the application provides a multifunctional chassis motor drive control circuit board.

[0057] Reference Figure 1 , Figure 1 The structural schematic diagram of the first embodiment of the multifunctional chassis motor drive control circuit board provided by the embodiment of the application.

[0058] Considering learning different motor chassis, multiple sets of motor control boards need to be purchased, and then in order to adapt different types of motors through a set of motor control board, the teaching cost is reduced, such as Figure 1 、 Figure 3 and Figure 11 As shown, the multifunctional chassis motor drive control circuit board is applied to an intelligent car, and the multifunctional chassis motor drive control circuit board comprises a first control chip 1, a drive module 2 and a steering module 3.

[0059] The intelligent car comprises a plurality of chassis, wherein four brushless induction motors are arranged on at least one chassis; one brushless induction motor and a rudder are arranged on at least one chassis; one brushless motor and a rudder are arranged on at least one chassis; one brush induction motor and a rudder are arranged on at least one chassis;

[0060] The first control chip 1 is connected with the drive module 2 and the steering module 3 respectively.

[0061] The first control chip 1 is configured to send a PWM signal to the drive module 2 and send a steering signal to the steering module 3 when receiving a bus signal of an upper computer.

[0062] The steering module 3 is configured to control the chassis of the intelligent car to steer when receiving the steering signal.

[0063] The drive module 2 is configured to drive the chassis of the intelligent car to run when receiving the PWM signal.

[0064] It can be understood that the smart car chassis is provided with four brushless induction motors as a four-wheel drive chassis, the smart car chassis is provided with one brushless induction motor and a servo, the chassis is provided with one brushless induction motor and a servo, and the chassis is provided with one brushless induction motor and a servo as an Ackerman chassis. Four-wheel drive chassis refers to the use of four-wheel drive in smart cars. Such chassis usually has stronger power performance and off-road capability, because four-wheel drive can ensure that the car remains stable and advances in complex terrain and harsh environments. Four-wheel drive chassis is widely used in the field of smart cars in scenarios that require high mobility, high stability and high load capacity. Ackerman chassis refers to the use of Ackerman steering in smart cars. Ackerman steering is a common steering method, which changes the steering angle of all wheels in a certain proportion to ensure smooth and stable steering. The first control chip 1 is located on the total chassis (control board) of the smart car.

[0065] It should be noted that the chassis composed of four brushless induction motors is set as the first chassis, the chassis composed of one brushless induction motor and a servo is set as the second chassis, the chassis composed of one brushless induction motor and a servo is set as the third chassis, and the chassis composed of one brushless induction motor and a servo is set as the fourth chassis.

[0066] It can be understood that the inductive motor is also called a Hall sensor motor, which is equipped with a Hall sensor inside. The Hall sensor works based on the Hall effect, that is, when the current is perpendicular to the external magnetic field through the conductor, a potential difference will be generated between the two end surfaces perpendicular to the magnetic field and the current direction of the conductor. This potential difference is used to detect the position of the motor rotor, so as to realize accurate control of the motor. Induction motor does not have a Hall sensor, so it needs to obtain the position information of the motor rotor through other indirect methods. Brush motor is a common DC motor that changes the direction of the power winding through mechanical contact between the brush and the commutator to produce continuous rotating force. Brushless motor is a DC motor that uses electronic commutation technology instead of mechanical commutator and carbon brush in traditional brush motor.

[0067] It should be noted that the model of the first control chip 1 can be PCA9685PW, or can be set by itself according to the actual situation, and the embodiment is not limited. The steering module 3 is used for controlling the rotating direction of the steering gear, thereby controlling the direction of the intelligent car. The host computer can be Raspberry Pi, or a high-performance computing platform, or can be set by itself according to the actual situation, and the embodiment is not limited. The host computer and the first control chip 1 communicate through I2C bus protocol (Inter-Integrated Circuit). The I2C bus protocol is an integrated circuit bus, which is a two-wire serial communication protocol. The I2C bus realizes the communication between devices by using SDL (Serial Data Line) and SCL (Serial Clock Line). The PWM (Pulse-width modulation) signal is a PWM pulse signal. PWM is a method of controlling power output by adjusting the width of the pulse signal. The PWM signal is a square wave signal generated by constantly switching a signal between high and low levels. Its core parameters include frequency and duty cycle. The frequency is the switching speed of the PWM signal, indicating the number of cycles completed per second. The higher the frequency, the shorter the PWM signal period. The duty cycle is the proportion of time that the high level occupies in a period. The duty cycle is an important parameter of the PWM signal, which determines the average level of the output signal. By adjusting the duty cycle of the PWM signal, the speed of the motor can be accurately controlled. The steering signal is an IO signal, that is, an input and output signal. In the embodiment, the steering signal is a voltage signal.

[0068] In a specific implementation, the first control chip 1 is configured to send a PWM signal to the driving module 2 and a steering signal to the steering module 3 when receiving a bus signal from the host computer. The steering module 3 is configured to control the chassis of the intelligent car to steer by controlling the steering gear when receiving the steering signal. The driving module 2 is configured to drive the chassis of the intelligent car to run by controlling the motor and the steering gear on the chassis when receiving the PWM signal. Through a set of motor control board, different types of motors can be adapted, thereby solving the problem of learning different motor chassis and the need to purchase multiple sets of motor control boards, reducing the teaching cost.

[0069] Further, considering that the first control chip 1, the driving module 2 and the steering module 3 are powered by the battery module, in order to step down the power supply voltage of the battery module, the multifunctional chassis motor driving control circuit board further comprises a power supply module 4.

[0070] The power supply module 4 is connected to the first control chip 1, the driving module 2 and the steering module 3, respectively.

[0071] The power supply module 4 is configured to, when receiving the first voltage signal of the battery module, reduce the first voltage signal to a second voltage signal and send the second voltage signal to the first control chip 1, the driving module 2 and the steering module 3.

[0072] It should be noted that the battery module is a whole assembled by a plurality of single batteries (battery cells) in series or parallel. The combination is to provide higher voltage and capacity to meet the specific needs of the intelligent car for electric energy. The first voltage signal can be reduced to 5V from 12V, or it can be set according to the actual situation, and the embodiment is not limited.

[0073] In a specific implementation, the power supply module 4 is configured to, when receiving the first voltage signal of the battery module, reduce the first voltage signal to a second voltage signal and send the second voltage signal to the first control chip 1, the driving module 2 and the steering module 3, thereby supplying power to the intelligent car.

[0074] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above first embodiment can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 2 , Figure 2 The structure diagram of the second embodiment of the multifunctional chassis motor driving control circuit board proposed in the embodiment of the present application.

[0075] Considering that the intelligent car (at least one chassis is provided with four brushless induction motors, at least one chassis is provided with one brushless induction motor and a rudder, at least one chassis is provided with one brushless induction motor and a rudder, and at least one chassis is provided with one brush induction motor and a rudder), as Figure 2 The driving module 2 includes driving units same as the number of chassis;

[0076] The first driving unit 21 is connected with the four brushless induction motors on the corresponding chassis, the second driving unit 22 is connected with the one brushless induction motor on the corresponding chassis, the third driving unit 23 is connected with the one brushless induction motor on the corresponding chassis, and the fourth driving unit 24 is connected with the one brush induction motor on the corresponding chassis. The first control chip 1 is connected with each driving unit respectively.

[0077] Each driving unit is configured to drive the corresponding chassis to run when receiving the PWM signal.

[0078] Further, as Figure 10 The steering module 3 includes a second control chip 31.

[0079] The positive rotation pin and the reverse rotation pin of the second control chip 31 are connected with the first control pin EN1 and the second control pin EN2 of the first control chip respectively, the input pin of the second control chip 31 is connected with the fifth PWM pin PWM5 of the first control chip, the feedback pin of the second control chip 31 is connected with the sixth PWM pin PWM6 of the first control chip, and the first output pin and the second output pin of the second control chip 31 are connected with the steering engine in the corresponding chassis.

[0080] It should be noted that the second control chip 31 is used to control the direction of the steering engine in the second chassis, the third chassis and the fourth chassis.

[0081] In the specific implementation, each of the drive units is configured to drive the corresponding chassis to run by controlling the motor in the different chassis to run when receiving the PWM signal. The first control chip 1 controls the forward and reverse rotation of the steering engine through the first control pin EN1 and the second control pin EN2, controls the running of the steering engine through the fifth PWM pin, and receives the speed feedback of the steering engine through the sixth PWM pin.

[0082] Based on the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above-mentioned second embodiment can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 3 , Figures 3 to 10 The circuit principle diagram of the multifunctional chassis motor drive control circuit board in the first embodiment of the multifunctional chassis motor drive control circuit board proposed in the embodiment of the present application.

[0083] Considering how the power supply module 4 supplies power to the first control chip 1, the drive module 2 and the steering module 3, as shown in Figure 4 , the power supply module 4 in the embodiment includes: a step-down chip U1, an inductor L1, a diode D1, a first capacitor C1, a first resistor R1, a second resistor R2, a third resistor R3 and a fourth resistor R4.

[0084] The output pin VS of the voltage reduction chip U1 is connected with the first end of the inductor L1 and the cathode of the diode D1 respectively, the anode of the diode D1 is grounded, the second end of the inductor L1 is connected with the first end of the first capacitor C1, the first end of the first resistor R1, the power pin of the first control chip 1, the driving module 2 and the steering module 3 respectively, the second end of the first capacitor C1 and the second end of the first resistor R1 are grounded respectively, the power pin VIN of the voltage reduction chip U1 is connected with the battery module, the current detection pin IS of the voltage reduction chip U1 is connected with the first end of the second resistor R2, the output pin VS of the voltage reduction chip U1 is connected with the second end of the second resistor R2, the second end of the inductor L1 is connected with the third resistor R3, the voltage feedback pin FB of the voltage reduction chip U1 is connected with the second end of the third resistor R3 and the first end of the fourth resistor R4 respectively, and the second end of the fourth resistor R4 is grounded.

[0085] In a specific implementation, the voltage reduction chip U1, the inductor L1, the diode D1, the first capacitor C1 and the first resistor R1 constitute a voltage reduction circuit to reduce the battery module input 12V to 5V, the voltage reduction chip U1 detects the output current through the second resistor R2, and the third resistor R3 and the fourth resistor R4 are used for feeding back the output voltage to the voltage reduction chip U1.

[0086] Further, as shown in Figure 5 and Figure 6 The first driving unit 21 comprises a first driving chip U2 and a second driving chip U3.

[0087] The first enable pin of the first driving chip U2 is connected with the first control pin EN1 of the first control chip, the second enable pin of the first driving chip U2 is connected with the second control pin EN2 of the first control chip, the first enable pin of the second driving chip U3 is connected with the second control pin EN2 of the first control chip, the second enable pin of the second driving chip U3 is connected with the first control pin EN1 of the first control chip, the first input pin, the second input pin, the third input pin and the fourth input pin of the first driving chip U2 are connected with the first PWM pin PWM1, the second PWM pin PWM2, the third PWM pin PWM3 and the fourth PWM pin PWM4 of the first control chip respectively, the first input pin, the second input pin, the third input pin and the fourth input pin of the second driving chip U3 are connected with the second PWM pin PWM2, the first PWM pin, the fourth PWM pin and the third PWM pin of the first control chip respectively, the first output pin and the second output pin of the first driving chip U2 are connected with the second brushless induction motor in the corresponding chassis respectively, the third output pin and the fourth output pin of the first driving chip U2 are connected with the first brushless induction motor in the corresponding chassis respectively, the first output pin and the second output pin of the second driving chip U3 are connected with the fourth brushless induction motor in the corresponding chassis respectively, and the third output pin and the fourth output pin of the second driving chip U3 are connected with the third brushless induction motor in the corresponding chassis respectively.

[0088] It should be noted that the first driving unit 21 is used for driving the brushless induction motor in the first chassis, and the first driving chip U2 and the second driving chip U3 can be L293D-L293WS, or can be set by the actual situation, and the embodiment is not limited. If the four brushless induction motors control the left upper, left lower, right upper and right lower tires of the intelligent car respectively, when the first control pin EN1 of the first control chip is high level and the second control pin EN2 is low level, the first control chip 1 controls the left upper and right lower tires of the intelligent car to run, when the first control pin EN1 of the first control chip is low level and the second control pin EN2 is high level, the first control chip 1 controls the left lower and right upper tires of the intelligent car to run, so as to realize the steering of the intelligent car.

[0089] In specific implementation, when the brushless induction motors corresponding to the left upper and left lower tires of the intelligent car rotate forward, and the brushless induction motors corresponding to the right upper and right lower tires rotate reversely, the intelligent car runs backward; when the brushless induction motors corresponding to the left upper and left lower tires of the intelligent car rotate reversely, and the brushless induction motors corresponding to the right upper and right lower tires rotate forward, the intelligent car runs forward; the brushless induction motors are controlled to run through diagonal control, so as to control the steering of the intelligent car.

[0090] Further, as shown inFigure 7 As shown in the figure, the second driving unit 22 comprises a third driving chip U4.

[0091] The first input pin and the second input pin of the third driving chip U4 are connected with the first PWM pin PWM1 and the second PWM pin PWM2 of the first control chip respectively, and the first output pin and the second output pin of the third driving chip U4 are connected with the brushless induction motor in the corresponding chassis.

[0092] It should be noted that the third driving chip U4 is used to drive the brushless induction motor in the second chassis, and the third driving chip U4 can be AT8236, or it can be set by itself according to the actual situation, and the embodiment is not limited. When the first PWM pin outputs the PWM signal and the second PWM pin has no output, the brushless induction motor rotates forward; when the first PWM pin outputs the high level and the second PWM pin outputs the PWM signal, the brushless induction motor rotates forward; when the first PWM pin has no output and the second PWM pin outputs the PWM signal, the brushless induction motor rotates reversely; when the first PWM pin outputs the PWM signal and the second PWM pin outputs the high level, the brushless induction motor rotates reversely.

[0093] Further, as shown in the figure, Figure 8 The third driving unit 23 comprises a fourth driving chip U5.

[0094] The first input pin of the fourth driving chip U5 is connected with the first PWM pin PWM1 of the first control chip, and the U-phase output pin, the V-phase output pin and the W-phase output pin of the fourth driving chip U5 are connected with the brushless induction motor in the corresponding chassis.

[0095] It should be noted that the fourth driving chip U5 is used to drive the brushless induction motor in the third chassis. The fourth driving chip U5 inverts the battery module power supply voltage into UVW three-phase voltage output to the brushless induction motor.

[0096] Further, as shown in the figure, Figure 9 The fourth driving unit 24 comprises a fifth driving chip U6.

[0097] The first input pin and the second input pin of the fifth driving chip U6 are connected with the first PWM pin PWM1 and the second PWM pin PWM2 of the first control chip respectively, the first output pin and the second output pin of the fifth driving chip U6 are connected with the brush motor in the corresponding chassis respectively, and the first feedback pin and the second feedback pin of the brush motor in the corresponding chassis are connected with the third PWM pin PWM3 and the fourth PWM pin of the first control chip respectively.

[0098] It should be noted that the fifth drive chip U6 drives the brush and inductive motor in the fourth chassis.

[0099] In a specific implementation, the fifth drive chip U6 drives the brush and inductive motor to run when receiving the PWM signal, and receives the speed feedback of the brush and inductive motor.

[0100] To achieve the above object, the utility model discloses a kind of intelligent trolley, and the intelligent trolley includes the multifunctional chassis motor drive control circuit board as described above.

[0101] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A multi-function chassis motor drive control circuit board, characterized by, The multifunctional chassis motor driving control circuit board is applied to the intelligent car, and comprises a first control chip, a driving module and a steering module. The intelligent car comprises a plurality of chassis, wherein four brushless induction motors are arranged on at least one chassis; one brushless induction motor and a steering engine are arranged on at least one chassis; one brushless induction motor and a steering engine are arranged on at least one chassis; one brush induction motor and a steering engine are arranged on at least one chassis. The first control chip is connected with the driving module and the steering module respectively. The first control chip is configured to send a PWM signal to the driving module and a steering signal to the steering module when receiving a bus signal from an upper computer. The steering module is configured to control the chassis of the intelligent car to steer when receiving the steering signal. The driving module is configured to drive the chassis of the intelligent car to run when receiving the PWM signal.

2. The multi-functional chassis motor drive control circuit board of claim 1, wherein, The multifunctional chassis motor driving control circuit board further comprises a power supply module. The power supply module is connected with the first control chip, the driving module and the steering module respectively. The power supply module is configured to reduce the first voltage signal to a second voltage signal and send the second voltage signal to the first control chip, the driving module and the steering module when receiving the first voltage signal from the battery module.

3. The multi-functional chassis motor drive control circuit board of claim 1, wherein, The driving module comprises driving units equal in number to the chassis. The first driving unit is connected with four brushless induction motors on the corresponding chassis, the second driving unit is connected with one brushless induction motor on the corresponding chassis, the third driving unit is connected with one brushless induction motor on the corresponding chassis, and the fourth driving unit is connected with one brush induction motor on the corresponding chassis. Each driving unit is configured to drive the corresponding chassis to run when receiving the PWM signal.

4. The multi-functional chassis motor drive control circuit board of claim 2, wherein, The power supply module comprises a voltage reduction chip, an inductor, a diode, a first capacitor, a first resistor, a second resistor, a third resistor and a fourth resistor. The output pin of the voltage reduction chip is connected with the first end of the inductor and the cathode of the diode respectively, the anode of the diode is grounded, the second end of the inductor is connected with the first end of the first capacitor, the first end of the first resistor, the power supply pin of the first control chip, the driving module and the steering module respectively, the second end of the first capacitor and the second end of the first resistor are grounded respectively, the power supply pin of the voltage reduction chip is connected with the battery module, the current detection pin of the voltage reduction chip is connected with the first end of the second resistor, the output pin of the voltage reduction chip is connected with the second end of the second resistor, the second end of the inductor is connected with the third resistor, the voltage feedback pin of the voltage reduction chip is connected with the second end of the third resistor and the first end of the fourth resistor respectively, and the second end of the fourth resistor is grounded.

5. The multi-functional chassis motor drive control circuit board of claim 3, wherein, The first driving unit comprises a first driving chip and a second driving chip. The first enable pin of the first drive chip is connected with the first control pin of the first control chip, the second enable pin of the first drive chip is connected with the second control pin of the first control chip, the first enable pin of the second drive chip is connected with the second control pin of the first control chip, the second enable pin of the second drive chip is connected with the first control pin of the first control chip, the first input pin, the second input pin, the third input pin and the fourth input pin of the first drive chip are connected with the first PWM pin, the second PWM pin, the third PWM pin and the fourth PWM pin of the first control chip respectively, the first input pin, the second input pin, the third input pin and the fourth input pin of the second drive chip are connected with the second PWM pin, the first PWM pin, the fourth PWM pin and the third PWM pin of the first control chip respectively, the first output pin and the second output pin of the first drive chip are connected with the second brushless induction motor in the corresponding chassis respectively, the third output pin and the fourth output pin of the first drive chip are connected with the first brushless induction motor in the corresponding chassis respectively, the first output pin and the second output pin of the second drive chip are connected with the fourth brushless induction motor in the corresponding chassis respectively, and the third output pin and the fourth output pin of the second drive chip are connected with the third brushless induction motor in the corresponding chassis respectively.

6. The multi-functional chassis motor drive control circuit board of claim 3, wherein, The second drive unit comprises a third drive chip. The first input pin and the second input pin of the third drive chip are connected with the first PWM pin and the second PWM pin of the first control chip respectively, and the first output pin and the second output pin of the third drive chip are connected with the brushless induction motor in the corresponding chassis.

7. The multi-functional chassis motor drive control circuit board of claim 3, wherein, The third drive unit comprises a fourth drive chip. The first input pin of the fourth drive chip is connected with the first PWM pin of the first control chip, and the U-phase output pin, the V-phase output pin and the W-phase output pin of the fourth drive chip are connected with the brushless induction motor in the corresponding chassis respectively.

8. The multi-functional chassis motor drive control circuit board of claim 3, wherein, The fourth drive unit comprises a fifth drive chip. The first input pin and the second input pin of the fifth drive chip are connected with the first PWM pin and the second PWM pin of the first control chip respectively, the first output pin and the second output pin of the fifth drive chip are connected with the brush induction motor in the corresponding chassis respectively, and the first feedback pin and the second feedback pin of the brush induction motor in the corresponding chassis are connected with the third PWM pin and the fourth PWM pin of the first control chip respectively.

9. The multi-functional chassis motor drive control circuit board of claim 1, wherein, The steering module comprises a second control chip. The positive rotation pin and the reverse rotation pin of the second control chip are connected with the first control pin and the second control pin of the first control chip respectively, the input pin of the second control chip is connected with the fifth PWM pin of the first control chip, the feedback pin of the second control chip is connected with the sixth PWM pin of the first control chip, and the first output pin and the second output pin of the second control chip are connected with the steering gear in the corresponding chassis.

10. An intelligent trolley, characterized in that, The intelligent trolley comprises the multifunctional chassis motor drive control circuit board according to any one of claims 1 to 9. The intelligent trolley comprises the multifunctional chassis motor drive control circuit board according to any one of claims 1 to 9.

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