Dual-motor anti-torsion power system, control system, control method and self-balancing vehicle

Abstract

The present application discloses a dual-motor anti-torsion power system for a self-balancing vehicle with lateral stability, a self-balancing vehicle control system, a control method for a self-balancing vehicle, and a self-balancing vehicle, comprising: a rotating power assembly mounted on a vehicle frame, a power output shaft, an anti-torsion / power linear conversion system, and a battery; the rotating power assembly comprises: a motor controller, a pair of anti-torsion / power motors, the anti-torsion / power motor is connected to the battery through the motor controller, the anti-torsion / power motor is connected to the anti-torsion / power linear conversion system through the power output shaft, and is used to output anti-torsion and / or power; the anti-torsion / power linear conversion system is used to control the anti-torsion / power motor to output anti-torsion and / or power, and transmit the power output by the anti-torsion / power motor to the wheels of the self-balancing vehicle through the transmission system. The anti-torsion motor and the power motor are used in a two-in-one manner to cooperate with the anti-torsion / power linear conversion system, which reduces the cost of the self-balancing vehicle, reduces space occupation and energy consumption.

Description

Technical Field

[0001] The present application relates to the technical field of self-balancing vehicles, and more specifically, to a dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle, a self-balancing vehicle control system, a self-balancing vehicle control method, and a self-balancing vehicle. Background Art

[0002] There are three main ways for existing self-balancing vehicles to maintain stability:

[0003] 1. Use the center of gravity adjustment method to achieve balance;

[0004] 2. Use a high-speed rotating gyroscope built into the vehicle body to maintain stable direction;

[0005] 3. Use an independent anti-torque motor to provide anti-torque to maintain stability.

[0006] The above three methods have the following defects:

[0007] Among them, the center of gravity adjustment method is similar to keeping the body stable by swinging the body when riding a bicycle. Its adjustment ability is very limited and cannot resist larger external interference.

[0008] In order to maintain stability through high-speed rotating gyroscopes, the gyroscopes themselves need to have a large enough mass and high enough kinetic energy, that is, a high enough rotation speed to provide a large enough vehicle body stability. This means that a lot of extra weight, volume and extra energy consumption are required, which increases extra costs.

[0009] Maintaining balance through anti-torque force requires an independent anti-torque motor. The size of the balancing force is closely related to the power of the anti-torque motor. An additional high-power anti-torque motor means additional high cost, additional weight, volume and additional energy consumption. Summary of the invention

[0010] The main purpose of the present application is to propose a dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle, a self-balancing vehicle control system, a self-balancing vehicle control method and a self-balancing vehicle, aiming to reduce the cost of the self-balancing vehicle, reduce space occupation and energy consumption.

[0011] To achieve the above-mentioned purpose, the present application provides a dual-motor anti-torsion power system for a laterally stable self-balancing vehicle, the self-balancing vehicle comprising a frame and wheels, the dual-motor anti-torsion power system comprising: a rotating power assembly mounted on the frame, a power output shaft, an anti-torsion / power linear conversion system, and a battery; wherein:

[0012] The rotary power assembly includes: a pair of anti-torque / power motors and a motor controller, wherein the anti-torque / power motor is connected to the battery through the motor controller, and the anti-torque / power motor is drivingly connected to the anti-torque / power linear conversion system through the power output shaft, for outputting anti-torque and / or power;

[0013] The anti-torque / power linear conversion system is used to control the anti-torque / power motor to output anti-torque and / or power, and transmit the power output by the anti-torque / power motor to the wheels of the self-balancing vehicle through a transmission system.

[0014] Optionally, the power output shaft includes: a coaxial shaft and two first transmission gears sleeved on one end of the coaxial shaft, the coaxial shaft includes an inner shaft and a hollow outer shaft sleeved on the inner shaft, the inner shaft and the outer shaft are rotatably connected through bearings, one of the two first transmission gears is sleeved on one end of the inner shaft, and the other is sleeved on one end of the outer shaft, the two first transmission gears are respectively connected to the two anti-torque / power motors through two second transmission gears, and the two second transmission gears are respectively sleeved on the motor shafts of the two anti-torque / power motors; the other end of the coaxial shaft is connected to the anti-torque / power linear conversion system.

[0015] Optionally, the pair of anti-torque / power motors are installed side by side, and the stators of the pair of anti-torque / power motors are fixed together with the motor controller and the battery.

[0016] Optionally, the rotating power assembly also includes: a power box, the pair of anti-torque / power motors and the power output shaft are installed in the power box, and the power box is also provided with a battery compartment for accommodating the battery; one end of the power box is rotatably connected to the frame through a rotating shaft, and the other end is rotatably connected to the outer shaft of the coaxial shaft through a bearing, so that the rotating power assembly as a whole can rotate freely on the frame around the power output shaft.

[0017] Optionally, the rotating shaft is a hollow shaft, and a conductive slip ring is built into the hollow shaft to supply power to electrical components on the frame.

[0018] Optionally, the anti-torque / power linear conversion system comprises: a power conversion gearbox, and a power conversion shaft, a power transmission output shaft, a power output bevel gear and two power conversion bevel gears arranged in the power conversion gearbox, wherein:

[0019] The power conversion gear box is fixedly connected to the frame;

[0020] The power conversion shaft is coaxially arranged with the inner shaft of the concentric shaft, and is drivingly connected to one end of the inner shaft or is integrally arranged with the inner shaft;

[0021] One of the two power conversion bevel gears is sleeved on the other end of the outer shaft of the concentric shaft located in the power conversion gear box, and the other is sleeved on the power conversion shaft;

[0022] The power transmission output shaft is arranged perpendicularly to the power conversion shaft and is sleeved with the power output bevel gear, the power output bevel gear is placed between the two power conversion bevel gears and is transmission-connected to the two power conversion bevel gears; a power output wheel is provided at one end of the power transmission output shaft away from the power output bevel gear, the power output wheel is connected to the wheels of the self-balancing vehicle through the transmission system, and the power output of the anti-torque / power motor is transmitted to the wheels of the self-balancing vehicle.

[0023] Optionally, the anti-torque / power linear conversion system is also used to control the two anti-torque / power motors to rotate in opposite directions with the same output power when the balance vehicle needs full power output, the output anti-torques cancel each other out, the rotating power assembly is stationary relative to the frame, and all power is transmitted to the power conversion gearbox through the power output shaft; when the balance vehicle needs both power and anti-torque to maintain balance, the two anti-torque / power motors are controlled to produce a power difference, and the anti-torques produced are inconsistent, forming an anti-torque difference, so that the rotating power assembly rotates relative to the frame, thereby providing the anti-torque required to correct the vehicle body; when the balance vehicle only needs anti-torque, the two anti-torque / power motors are controlled to rotate in the same direction, the anti-torques produced are in the same direction, the power output shafts are subjected to opposite forces, stop rotating, and have no power output, the rotating power assembly rotates relative to the frame, and the power is completely used for anti-torque.

[0024] Optionally, the dual-motor anti-torsion power system for laterally stabilizing the self-balancing vehicle further includes a motor bearing mounted on the motor shaft, and the motor bearing is mounted on the power box.

[0025] The embodiment of the present application further provides a self-balancing vehicle control system, the self-balancing vehicle comprising a frame and wheels, the self-balancing vehicle control system comprising: a dual-motor anti-torsion power system, a transmission system and a vehicle body posture detection system installed on the frame, wherein:

[0026] The dual-motor anti-torsion power system is the dual-motor anti-torsion power system for lateral stability of the self-balancing vehicle as described above;

[0027] The transmission system is respectively connected to the anti-torque / power linear conversion system and the wheel transmission system, and is used to transmit the power output by the anti-torque / power motor to the wheels of the self-balancing vehicle;

[0028] The body posture detection system is connected to the anti-torsion / power linear conversion system, and is used to detect the lateral posture of the body of the self-balancing vehicle in real time. When it is detected that the lateral posture of the body of the self-balancing vehicle reaches a preset flipping posture, the anti-torsion / power linear conversion system is started to control the anti-torsion / power motor to output an anti-torsion force opposite to the lateral posture of the body, so as to pull the body back to a balanced state.

[0029] Optionally, the transmission system is a belt transmission system, a chain transmission system, or a shaft transmission system; the self-balancing vehicle control system also includes a shell, the dual-motor anti-torsion power system and the body posture detection system are installed in the shell, and the shell is fixed on the frame.

[0030] This embodiment also provides a self-balancing vehicle, including a frame, wheels, and the self-balancing vehicle control system as described above.

[0031] The present application also provides a control method for a self-balancing vehicle, comprising:

[0032] During the driving of the self-balancing vehicle, the current lateral posture of the self-balancing vehicle collected by the body posture detection system in the self-balancing vehicle control system is obtained in real time;

[0033] If it is determined that the current lateral posture of the body of the self-balancing vehicle reaches a preset flipping posture, the two anti-torsion / power motors are controlled to output different powers respectively to correct the current lateral posture of the body of the self-balancing vehicle.

[0034] Optionally, controlling the two anti-torque / power motors to output different powers respectively to correct the current lateral posture of the self-balancing vehicle includes:

[0035] Obtaining a driving balance control amount corresponding to the current lateral posture of the self-balancing vehicle based on a preset driving posture correction rule;

[0036] The driving balance control amount is sent to a motor controller connected to the two anti-torsion / power motors respectively, so that the motor controller controls the two anti-torsion / power motors to output different powers respectively according to the driving balance control amount to correct the lateral posture of the vehicle body.

[0037] Optionally, it also includes:

[0038] When the self-balancing vehicle is not in a driving state, obtaining in real time the current lateral posture of the self-balancing vehicle collected by the body posture detection system;

[0039] If it is determined that the current lateral posture of the self-balancing vehicle reaches a preset flipping posture, the two anti-torque / power motors are controlled to output with the same power and the same rotation direction to correct the current lateral posture of the self-balancing vehicle.

[0040] Optionally, controlling the two anti-torque / power motors to output with the same power and the same rotation direction to correct the current lateral posture of the self-balancing vehicle includes:

[0041] Obtaining a static balance control amount corresponding to the current lateral posture of the self-balancing vehicle based on a preset static posture correction rule;

[0042] The static balance control amount is sent to a motor controller connected to the two anti-torsion / power motors respectively, so that the motor controller controls the two anti-torsion / power motors to output with the same power and the same rotation direction according to the static balance control amount to correct the current lateral posture of the self-balancing vehicle.

[0043] Optionally, it also includes:

[0044] When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle is detected, the two anti-torque / power motors are controlled to output with the same power and opposite rotation directions to control the driving of the self-balancing vehicle.

[0045] Optionally, when the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle is detected, the two anti-torque / power motors are controlled to output with the same power and opposite rotation directions to control the self-balancing vehicle to drive, and further comprising:

[0046] When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle collected by a throttle detection device disposed on the self-balancing vehicle is received, the driving control amount of the self-balancing vehicle is obtained based on a preset driving rule;

[0047] The driving control amount is sent to a motor controller connected to the two anti-torque / power motors respectively, so that the motor controller controls the two anti-torque / power motors to output with the same power and opposite rotation directions according to the driving control amount to control the driving of the self-balancing vehicle.

[0048] The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle, a self-balancing vehicle control system, a control method for a self-balancing vehicle, and a self-balancing vehicle proposed in the embodiments of the present application are provided with a rotating power assembly, a power output shaft, an anti-torsion / power linear conversion system, and a battery installed on a frame; wherein: the rotating power assembly includes: a pair of anti-torsion / power motors, and a motor controller, the anti-torsion / power motor is connected to the battery through the motor controller, the anti-torsion / power motor is drivingly connected to the anti-torsion / power linear conversion system through the power output shaft, and is used to output anti-torsion and / or power; the anti-torsion / power linear conversion system is used to control the anti-torsion / power motor to output anti-torsion and / or power, and transmit the power output by the anti-torsion / power motor to the wheels of the self-balancing vehicle through a transmission system, thereby adopting a two-in-one mode of an anti-torsion motor and a power motor in combination with the anti-torsion / power linear conversion system, thereby reducing the cost of the self-balancing vehicle, reducing space occupancy, and reducing energy consumption; in addition, the transmission system and the vehicle body posture detection system can also be combined to realize automatic control of the self-balancing vehicle.

[0049] The additional technical features and advantages of the present application will be more clearly explained in the following description, or can be understood through the specific practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the specific implementation methods of the present application, the following is a brief introduction to the drawings required for the description of the specific implementation methods. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram of the structure of a self-balancing vehicle embodiment provided in this application;

[0052] Figure 2 This is a schematic diagram of the structure of a dual-motor anti-torque power system according to an embodiment of the present application;

[0053] Figure 3 Another structural schematic diagram of the dual-motor anti-torque power system of an embodiment of the present application;

[0054] Figure 4 A schematic diagram of the internal structure of an implementation of a dual-motor anti-torque power system provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of the three-dimensional structure of an implementation of a dual-motor anti-torque power system provided in an embodiment of the present application;

[0056] Figure 6A schematic diagram of a process of performing posture correction during driving in a method for controlling a self-balancing vehicle provided in an embodiment of the present application;

[0057] Figure 7 A schematic diagram of a specific flow chart of step 120 in the method for controlling a self-balancing vehicle provided in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of a process of performing posture correction when stationary in a control method for a self-balancing vehicle provided in an embodiment of the present application;

[0059] Fig. 9 A schematic diagram of a specific flow chart of step 220 in the method for controlling a self-balancing vehicle provided in an embodiment of the present application;

[0060] Fig.10 A flow chart of a method for controlling a self-balancing vehicle including a driving control process of the self-balancing vehicle provided in an embodiment of the present application;

[0061] Fig.11 A schematic diagram of a specific flow chart of step 310 in the method for controlling a self-balancing vehicle provided in an embodiment of the present application;

[0062] Fig.12 A schematic diagram of the connection relationship between the host computer and related components provided in an embodiment of the present application.

[0063] Reference numerals:

[0064] 1- frame; 2- wheels;

[0065] 3- Anti-torque / power motor; 4- Battery;

[0066] 5-Anti-torque / power linear conversion system; 6-Transmission system;

[0067] 7-Body posture detection system; 8-Casing;

[0068] 9-Rear wheel brake; 10-Self-balancing vehicle;

[0069] 11-rotating power assembly; 12-power output shaft;

[0070] 13-concentric shaft; 14-first transmission gear;

[0071] 15-second transmission gear; 16-power box;

[0072] 17-battery compartment; 18-power conversion gear box;

[0073] 19-power conversion shaft; 20-power transmission output shaft;

[0074] 21-power conversion bevel gear; 22-power output bevel gear;

[0075] 23-power output wheel; 24-motor bearing;

[0076] 25-bearing; 30-motor shaft;

[0077] 31-stator; 32-rotor;

[0078] 33-host computer; 34-throttle detection device;

[0079] 35-motor controller; 36-communication module. DETAILED DESCRIPTION

[0080] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0081] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0082] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0083] Specifically, see Figure 1 and Figure 2 The embodiment of the present application provides a dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle 10, which may be a two-wheeled self-balancing vehicle 10, such as a two-wheeled bicycle, a two-wheeled motorcycle, etc. The scheme of this embodiment mainly realizes lateral stability control of the two-wheeled self-balancing vehicle 10.

[0084] The self-balancing vehicle 10 includes a frame 1 and wheels 2, wherein the wheels 2 include a front wheel and a rear wheel.

[0085] The dual-motor anti-torque power system comprises: a rotating power assembly 11 mounted on the frame 1, a power output shaft 12, an anti-torque / power linear conversion system 5, and a battery 4; wherein:

[0086] The rotating power assembly 11 includes: a pair of anti-torque / power motors 3, and a motor controller, wherein the anti-torque / power motor 3 is connected to the battery 4 through the motor controller, and the anti-torque / power motor 3 is drivingly connected to the anti-torque / power linear conversion system 5 through the power output shaft 12, for outputting anti-torque and / or power;

[0087] The anti-torque / power linear conversion system 5 is used to control the anti-torque / power motor 3 to output anti-torque and / or power, and transmit the anti-torque and / or power output by the anti-torque / power motor 3 to the wheel 2 of the self-balancing vehicle 10 through the transmission system 6. The transmission system 6 is respectively connected to the anti-torque / power linear conversion system 5 and the wheel 2, and is used to transmit the anti-torque and / or power output by the anti-torque / power motor 3 to the wheel 2 of the self-balancing vehicle 10; in this embodiment, the transmission system 6 is connected to the rear wheel.

[0088] The present embodiment adopts the above scheme, specifically by setting a rotating power assembly 11, a power output shaft 12, an anti-torsion / power linear conversion system 5, and a battery 4 installed on the frame 1; wherein: the rotating power assembly 11 includes: a pair of anti-torsion / power motors 3, and a motor controller, the anti-torsion / power motor 3 is connected to the battery 4 through the motor controller, the anti-torsion / power motor 3 is driven and connected to the anti-torsion / power linear conversion system 5 through the power output shaft 12, and is used to output anti-torsion and / or power; the anti-torsion / power linear conversion system 5 is used to control the anti-torsion / power motor 3 to output anti-torsion and / or power, and transmit the power output by the anti-torsion / power motor 3 to the wheel 2 of the self-balancing vehicle 10 through the transmission system 6, thereby adopting the anti-torsion motor and the power motor two-in-one mode to cooperate with the anti-torsion / power linear conversion system 5, thereby reducing the cost of the self-balancing vehicle 10, reducing space occupancy and reducing energy consumption; in addition, the transmission system 6 and the vehicle body posture detection system 7 can also be combined to realize automatic control of the self-balancing vehicle 10. The anti-torque / power linear conversion system 5 described in the present application refers to the system through which torsional force and power can be converted into each other, and the anti-torque / power motor 3 refers to the motor that provides torsional force and power.

[0089] Specifically, as an implementation mode, in this embodiment, the anti-torque / power motor 3 includes: a stator 31 and a rotor 32 cooperating with the stator 31, and the transmission system 6 is respectively connected to the anti-torque / power linear conversion system 5 and the wheel 2 for transmitting the power output by the anti-torque / power motor 3 to the wheel 2 of the self-balancing vehicle 10.

[0090] The stator 31 is fixed together with the battery 4 and the motor controller on the frame 1. Thus, the stator 31 of the anti-torque / power motor 3 is fixed together with other large-mass accessories of the self-balancing vehicle 10 (the battery 4 that accounts for a large weight of the vehicle body in this embodiment) to provide a sufficiently large mass, so that the anti-torque / power linear conversion system 5 can allow this part to rotate freely when needed.

[0091] The principle of the anti-torque / power linear conversion system 5 controlling the anti-torque / power motor 3 to output anti-torque and / or power is as follows:

[0092] When the balancing vehicle needs full power output, the anti-torque / power linear conversion system 5 controls the two anti-torque / power motors 3 to rotate in opposite directions with the same output power, and the output anti-torque forces cancel each other out, the rotating power assembly 11 is stationary relative to the frame 1, and all the power is transmitted to the power conversion gearbox 18 through the power output shaft 12;

[0093] When the balancing vehicle needs both power and anti-torque to maintain balance, the anti-torque / power linear conversion system 5 controls the two anti-torque / power motors 3 to generate a power difference, and the generated anti-torques are inconsistent, forming an anti-torque difference, so that the rotating power assembly 11 rotates relative to the frame 1, thereby providing the anti-torque required to correct the vehicle body;

[0094] When the balancing vehicle only needs anti-torque, the anti-torque / power linear conversion system 5 controls the two anti-torque / power motors 3 to rotate in the same direction, and the anti-torques generated are in the same direction. The power output shaft 12 is subjected to opposite forces and stops rotating. There is no power output, and the rotating power component 11 rotates relative to the frame 1, and the power is completely used for anti-torque.

[0095] like Figure 2As shown, in this embodiment, the power output shaft 12 includes: a coaxial shaft 13 and two first transmission gears 14 sleeved on one end of the coaxial shaft 13, the coaxial shaft 13 includes an inner shaft and a hollow outer shaft sleeved on the inner shaft, the inner shaft and the outer shaft are rotatably connected through bearings, one of the two first transmission gears 14 is sleeved on one end of the inner shaft, and the other is sleeved on one end of the outer shaft, the two first transmission gears 14 are respectively connected to the two anti-torque / power motors 3 through two second transmission gears 15, and the two second transmission gears 15 are respectively sleeved on the motor shafts 30 of the two anti-torque / power motors 3; the other end of the concentric shaft 13 is connected to the anti-torque / power linear conversion system 5.

[0096] The pair of anti-torque / power motors 3 are installed side by side, and the stators 31 of the pair of anti-torque / power motors 3 are fixed together with the battery 4 .

[0097] Furthermore, the rotating power assembly 11 also includes: a power box 16, the pair of anti-torque / power motors 3 and the power output shaft 12 are installed in the power box 16, and the power box 16 is also provided with a battery compartment 17 for accommodating the battery 4; one end of the power box 16 is rotatably connected to the frame 1 through a rotating shaft, and the other end is rotatably connected to the outer shaft of the coaxial shaft through a bearing, so that the rotating power assembly 11 as a whole can rotate freely on the frame 1 around the power output shaft 12.

[0098] The rotating shaft is a hollow shaft, and a conductive slip ring is built into the hollow shaft for supplying power to electrical components on the frame 1 and for communication (including the vehicle body posture detection system 7).

[0099] The anti-torque / power linear conversion system 5 includes: a power conversion gearbox 18, and a power conversion shaft 19, a power transmission output shaft 20, a power output bevel gear 22 and two power conversion bevel gears 21 arranged in the power conversion gearbox 18, wherein:

[0100] The power conversion gear box 18 is fixedly connected to the vehicle frame 1;

[0101] The power conversion shaft 19 is coaxially arranged with the inner shaft of the concentric shaft, and is drivingly connected to one end of the inner shaft or is integrally arranged with the inner shaft, and is rotatably connected to the power conversion gear box 18 through a bearing;

[0102] One of the two power conversion bevel gears 21 is sleeved on the other end of the outer shaft of the coaxial shaft located in the power conversion gear box 18, and the other is sleeved on the power conversion shaft 19. The bevel gear refers to a bevel gear.

[0103] The power transmission output shaft 20 is arranged perpendicular to the power conversion shaft 19 and is sleeved with a power output bevel gear 22. The power output bevel gear 22 is placed between the two power conversion bevel gears 21 and is transmission-connected to the two power conversion bevel gears 21; a power output wheel 23 is provided at one end of the power transmission output shaft 20 away from the power output bevel gear 22, and the power output wheel 23 is connected to the wheel 2 of the self-balancing vehicle 10 through the transmission system 6, so as to transmit the power output of the anti-torque / power motor 3 to the wheel 2 of the self-balancing vehicle 10.

[0104] After the power of the concentric shaft 13 is transmitted to the power conversion gearbox 18, the power output bevel gear 22 is driven by the two power conversion bevel gears 21, and converted into a rotation of 90 degrees with the power output shaft 12. The power output wheel 23 connected to the power output bevel gear 22 then transmits the power to the rear drive wheel, i.e., the rear wheel, of the balancing vehicle through a belt, chain, or shaft transmission; the power conversion gearbox 18 is fixed to the vehicle body, and other similar mechanical structures that can achieve the same power conversion purpose are also applicable.

[0105] The principle of achieving lateral stability of the balancing vehicle through power conversion in this embodiment is as follows:

[0106] The rotating power assembly 11 is taken as a whole, and the dual motors (ie, the anti-torque / power motor 3) rotate in opposite directions, and the anti-torque forces generated are opposite.

[0107] When full power output is required, the dual motors have the same output power, the same rotation speed, and the same counter-torque. The counter-torques of the dual motors cancel each other out, the rotating power assembly 11 is stationary relative to the frame 1, and all power is transmitted to the power conversion gearbox 18 through the concentric shaft 13.

[0108] When both power and anti-torque are needed to maintain balance, the dual motors produce a power difference, and the anti-torque generated is inconsistent, forming an anti-torque difference, causing the rotating power component 11 to rotate relative to the vehicle body, thereby providing the anti-torque required to correct the vehicle body.

[0109] When only counter-torque is needed, the dual motors rotate in the same direction, and the counter-torque generated is in the same direction. The power output shaft 12 is subjected to opposite forces, stops rotating, and has no power output. At this time, the rotating power component 11 rotates relative to the vehicle body, and the power is almost entirely used for counter-torque.

[0110] Cooperating with the vehicle body posture detection system 7 fixedly installed on the vehicle, the dual-motor power output of the rotating power assembly 11 is controlled to generate different anti-torques, which can maintain the lateral balance of the vehicle body while keeping the vehicle running normally / stationary.

[0111] like Figure 4 and Figure 5As shown, the dual-motor anti-torsion power system for the laterally stable self-balancing vehicle provided in the embodiment of the present application also includes a motor bearing 24 mounted on the motor shaft 30, and the motor bearing 24 is installed on the power box 16. The motor bearing 24 supports the motor shaft 30, improves the stability of power transmission, and makes the internal structure of the rotating power assembly 11 more solid and reliable.

[0112] The dual-motor anti-torsion power system for the lateral stability of the self-balancing vehicle provided in the embodiment of the present application can use the following driving methods to achieve the driving and / or balancing of the self-balancing vehicle:

[0113] (1) When the rotation speeds of the two anti-torque / power motors 3 are consistent, one of the anti-torque / power motors 3 rotates forward, and outputs power to the power conversion bevel gear 21 through the second transmission gear 15, the first transmission gear 14 and the concentric shaft 13 matched with the anti-torque / power motor 3, and the other anti-torque / power motor 3 rotates in reverse, and outputs power to the other power conversion bevel gear 21 through the second transmission gear 15, the first transmission gear 14 and the power conversion shaft 19. The two power conversion bevel gears 21 rotate in opposite directions and output power to the power output bevel gear 22 at the same time, driving the rear wheel to realize the forward or backward movement of the self-balancing vehicle.

[0114] (2) When the two anti-torque / power motors 3 rotate at the same speed, and the two anti-torque / power motors 3 rotate forward or reverse at the same time, the bearing 25 drives the rotating power assembly 11 to rotate, so that the self-balancing vehicle can maintain balance when not in motion.

[0115] (3) When the rotation speeds of the two anti-torque / power motors 3 are inconsistent, one of the two anti-torque / power motors 3 is in the forward direction for power output, and the other two anti-torque / power motors 3 drive the rotating power assembly 11 through the bearing 25 in the forward or reverse direction due to the speed difference, so that the self-balancing vehicle can maintain balance while driving.

[0116] In addition, combined Figure 1 and Figure 2 As shown, the embodiment of the present application also proposes a control system for a self-balancing vehicle 10, the self-balancing vehicle 10 includes a frame 1 and wheels 2, the control system of the self-balancing vehicle 10 includes: a dual-motor anti-torsion power system installed on the frame 1, a transmission system 6 and a body posture detection system 7, wherein:

[0117] The dual-motor anti-torsion power system is a dual-motor anti-torsion power system for lateral stability of the self-balancing vehicle 10 as described above;

[0118] The transmission system 6 is respectively connected to the anti-torque / power linear conversion system 5 and the wheel 2, and is used to transmit the power output by the anti-torque / power motor 3 to the wheel 2 of the self-balancing vehicle 10;

[0119] The body posture detection system 7 is connected to the anti-torsion / power linear conversion system 5, and is used to detect the lateral posture of the body of the self-balancing vehicle 10 in real time. When it is detected that the lateral posture of the body of the self-balancing vehicle 10 reaches a preset flipping posture, the anti-torsion / power linear conversion system 5 is started to control the anti-torsion / power motor 3 to output an anti-torsion force opposite to the lateral posture of the body, so as to pull the body back to a balanced state.

[0120] As an embodiment, the transmission system 6 may be a belt transmission system 6 or a chain transmission system 6 or a shaft transmission system 6 (such as Figure 3 As shown), of course, the present application is not limited to the above-mentioned transmission modes. In other embodiments, other transmission modes may also be used, which are not limited here.

[0121] Furthermore, the control system of the self-balancing vehicle 10 may further include a housing 8, wherein, as an implementation mode, the dual-motor anti-torsion power system and the vehicle body posture detection system 7 are installed in the housing 8, and the housing 8 is fixed on the vehicle frame 1. In other embodiments, some components may be installed in the housing 8, such as part or all of the dual-motor anti-torsion power system is installed in the housing 8.

[0122] In this embodiment, the control system of the self-balancing vehicle 10 realizes the lateral stability control of the self-balancing vehicle 10 through the anti-torsion / power linear conversion system 5, the body posture detection system 7 and the anti-torsion / power motor 3 as follows:

[0123] The body posture detection system 7 detects the lateral posture of the body of the self-balancing vehicle 10 in real time. If it is found that the body is likely to tip over to any side, the anti-torsion / power linear conversion system 5 is activated to provide anti-torsion in the opposite direction to pull the body back to a balanced state. Specifically, by activating the anti-torsion / power linear conversion system 5, the anti-torsion / power motor 3 is controlled to output an anti-torsion opposite to the lateral posture of the body to the transmission system 6, and then the power output by the anti-torsion / power motor 3 is transmitted to the wheels 2 of the self-balancing vehicle 10 through the transmission system 6, and finally the body is balanced, thereby realizing the control of the lateral stability of the body.

[0124] Specifically, the rotating power assembly 11 is taken as a whole, and the dual motors (ie, the anti-torque / power motor 3) rotate in opposite directions, and the anti-torque forces generated are opposite.

[0125] When full power output is required, the dual motors have the same output power, the same rotation speed, and the same counter-torque. The counter-torques of the dual motors cancel each other out, the rotating power assembly 11 is stationary relative to the frame 1, and all power is transmitted to the power conversion gearbox 18 through the concentric shaft 13.

[0126] When both power and anti-torque are needed to maintain balance, the dual motors produce a power difference, and the anti-torque generated is inconsistent, forming an anti-torque difference, causing the rotating power component 11 to rotate relative to the vehicle body, thereby providing the anti-torque required to correct the vehicle body.

[0127] When only counter-torque is needed, the dual motors rotate in the same direction, and the counter-torque generated is in the same direction. The power output shaft 12 is subjected to opposite forces, stops rotating, and has no power output. At this time, the rotating power component 11 rotates relative to the vehicle body, and the power is almost entirely used for counter-torque.

[0128] Cooperating with the vehicle body posture detection system 7 fixedly installed on the vehicle, the dual-motor power output of the rotating power assembly 11 is controlled to generate different anti-torques, which can maintain the lateral balance of the vehicle body while keeping the vehicle running normally / stationary.

[0129] Since the anti-torsion motor and the power motor are combined in a two-in-one manner with the anti-torsion / power linear conversion system 5, the cost of the self-balancing vehicle 10 is reduced, and the space occupied and the energy consumption are reduced. Moreover, by installing the anti-torsion / power motor 3, the battery 4, the anti-torsion / power linear conversion system 5 and the vehicle body posture detection system 7 in the housing 8, the control system structure of the self-balancing vehicle 10 is made more compact, further reducing the space occupied.

[0130] Furthermore, in order to better control the vehicle speed, as an optional implementation, a rear wheel brake 9 can also be set on the rear wheel of the self-balancing vehicle. The control system of the self-balancing vehicle 10 also includes: a rear wheel brake 9 set on the rear wheel of the self-balancing vehicle 10.

[0131] The rear wheel brake 9 is provided in this embodiment because: when providing anti-torsion, the output power of the power / anti-torsion motor may increase, resulting in a sudden change in vehicle speed, especially when acceleration needs to be controlled, so the rear wheel brake 9 can be used to stabilize the vehicle speed. In other words, when the self-balancing vehicle 10 provides anti-torsion, the vehicle speed can be stabilized by controlling the strength of the rear wheel brake 9, so that the vehicle will not have unexpected speed changes, thereby improving the vehicle's motion stability.

[0132] It should be noted that the rear wheel brake 9 is generally used in specific circumstances, for example, when the vehicle does not need to accelerate, but the power is increased too much by the balanced output, the rear wheel brake 9 is used to control the vehicle speed.

[0133] In addition, the embodiment of the present application also provides a self-balancing vehicle 10, including a frame 1, wheels 2, and the control system of the self-balancing vehicle 10 as described above.

[0134] Among them, the control system of the self-balancing vehicle 10 realizes the principle of stability control of the self-balancing vehicle 10. Please refer to the above embodiment and will not be repeated here.

[0135] Based on the above-mentioned embodiment of the dual-motor anti-torsion power system for lateral stability of the self-balancing vehicle and the control system of the self-balancing vehicle, in order to effectively reduce the equipment cost, space occupation and energy consumption on the basis of realizing the self-balancing vehicle driving and self-balancing functions, the present application also provides an embodiment of a control method for the self-balancing vehicle, see Figure 6 The control method of the self-balancing vehicle specifically includes the following contents:

[0136] Step 110: During the driving of the self-balancing vehicle, the current lateral body posture of the self-balancing vehicle collected by the body posture detection system in the control system of the self-balancing vehicle is obtained in real time.

[0137] Step 120: If it is determined that the current lateral posture of the self-balancing vehicle reaches a preset flipping posture, the two anti-torque / power motors are controlled to output different powers respectively to correct the current lateral posture of the self-balancing vehicle.

[0138] Specifically, the control device of the self-balancing vehicle can be communicatively connected with the body posture detection system and the anti-torque / power motor so as to obtain in real time the current lateral body posture of the self-balancing vehicle collected by the body posture detection system in the control system of the self-balancing vehicle during the driving of the self-balancing vehicle, and when it is determined that the current lateral body posture of the self-balancing vehicle reaches a preset flipping posture, the two anti-torque / power motors are controlled to output different powers respectively to correct the current lateral body posture of the self-balancing vehicle.

[0139] In a specific embodiment, in order to further improve the reliability and accuracy of posture correction of the self-balancing vehicle in motion, see Figure 7 , step 120 in the control method of the self-balancing vehicle may specifically include the following contents:

[0140] Step 121: obtaining a driving balance control amount corresponding to the current lateral posture of the self-balancing vehicle based on a preset driving posture correction rule.

[0141] Step 122: Send the driving balance control amount to a motor controller connected to the two anti-torque / power motors respectively, so that the motor controller controls the two anti-torque / power motors to output different powers respectively according to the driving balance control amount to correct the lateral posture of the vehicle body.

[0142] Specifically, the control device of the self-balancing vehicle can be connected to the motor controller for communication, and send the driving balance control amount to the motor controller.

[0143] In order to effectively realize the reliability and accuracy of posture correction of the stationary self-balancing vehicle and further improve the intelligence of the self-balancing vehicle, in one embodiment of the control method of the self-balancing vehicle provided in the present application, see Figure 8 The control method of the self-balancing vehicle further specifically includes the following contents:

[0144] Step 210: When the self-balancing vehicle is not in a driving state, the current lateral body posture of the self-balancing vehicle collected by the body posture detection system is obtained in real time.

[0145] Step 220: If it is determined that the current lateral posture of the self-balancing vehicle reaches a preset flipping posture, the two anti-torque / power motors are controlled to output with the same power and the same rotation direction to correct the current lateral posture of the self-balancing vehicle.

[0146] In a specific embodiment, in order to further improve the reliability and accuracy of posture correction of a stationary self-balancing vehicle, see Fig. 9 , step 220 in the control method of the self-balancing vehicle may specifically include the following contents:

[0147] Step 221: obtaining a static balance control value corresponding to the current lateral posture of the self-balancing vehicle based on a preset static posture correction rule.

[0148] Step 222: Send the static balance control amount to a motor controller connected to the two anti-torque / power motors respectively, so that the motor controller controls the two anti-torque / power motors to output with the same power and the same rotation direction according to the static balance control amount to correct the current lateral posture of the self-balancing vehicle.

[0149] In order to effectively realize the efficiency, reliability and accuracy of starting the self-balancing vehicle when it is stationary, and further improve the intelligence of the self-balancing vehicle, in one embodiment of the control method of the self-balancing vehicle provided in the present application, the control method of the self-balancing vehicle may further specifically include step 310 before step 110 or after step 120, see Fig.10 In the example, step 310 is performed before step 110, and step 310 specifically includes the following contents:

[0150] Step 310: When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle is detected, the two anti-torque / power motors are controlled to output with the same power and opposite rotation directions to control the driving of the self-balancing vehicle.

[0151] In a specific embodiment, in order to further improve the reliability and accuracy of the driving control of the stationary self-balancing vehicle, see Fig.11 , step 310 in the control method of the self-balancing vehicle may specifically include the following contents:

[0152] Step 311: When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle collected by a throttle detection device disposed on the self-balancing vehicle is received, the driving control amount of the self-balancing vehicle is obtained based on a preset driving rule.

[0153] Step 312: Send the driving control amount to a motor controller connected to the two anti-torque / power motors respectively, so that the motor controller controls the two anti-torque / power motors to output with the same power and opposite rotation directions according to the driving control amount to control the driving of the self-balancing vehicle.

[0154] Specifically, the control device of the self-balancing vehicle can be communicatively connected to the throttle detection device on the self-balancing vehicle, and the throttle detection device is communicatively connected to the starting device of the self-balancing vehicle to collect the corresponding throttle starting signal when the starting device is triggered.

[0155] Based on the embodiment of the control method of the self-balancing vehicle, the control device of the self-balancing vehicle for executing the content of the control method of the self-balancing vehicle can be a host computer, see Fig.12 The host computer 33 can be connected to the vehicle body posture detection system 7, the throttle detection device 34 and the motor controller 35 respectively, and the host computer 33 and the motor controller 35 can be communicated via a communication module 36, and the motor controller 35 is respectively connected to the two anti-torque / power motors 3.

[0156] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0157] 1. Combining the power / anti-torque motor into one can greatly reduce the cost of the self-balancing vehicle 10, especially the cost of the motor part can be reduced by half.

[0158] 2. Combining the power / anti-torque motor into one can also reduce the size of the vehicle body, reduce unnecessary extra weight of the vehicle body, reduce energy consumption, and improve endurance.

[0159] 3. Using a two-in-one power / anti-torsion motor and moving the power motor to the vehicle body can significantly reduce the unsprung mass and greatly improve the shock absorption performance.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dual-motor anti-torsion power system for a self-balancing vehicle with lateral stability, the self-balancing vehicle comprising a frame and wheels, characterized in that: The dual-motor anti-torsion power system comprises: a rotating power assembly mounted on the frame, a power output shaft, an anti-torsion / power linear conversion system, and a battery; wherein: The rotary power assembly includes: a pair of anti-torque / power motors and a motor controller, wherein the anti-torque / power motor is connected to the battery through the motor controller, and the anti-torque / power motor is drivingly connected to the anti-torque / power linear conversion system through the power output shaft, for outputting anti-torque and / or power; The anti-torque / power linear conversion system is used to control the anti-torque / power motor to output anti-torque and / or power, and transmit the power output by the anti-torque / power motor to the wheels of the self-balancing vehicle through a transmission system; The anti-torque / power motor comprises a stator and a rotor matched with the stator, and the stator is fixed on the vehicle frame.

2. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to claim 1, characterized in that: The power output shaft includes: a coaxial shaft and two first transmission gears sleeved on one end of the coaxial shaft, the coaxial shaft includes an inner shaft and a hollow outer shaft sleeved on the inner shaft, the inner shaft and the outer shaft are rotatably connected through bearings, one of the two first transmission gears is sleeved on one end of the inner shaft, and the other is sleeved on one end of the outer shaft, the two first transmission gears are respectively connected to the two anti-torque / power motors through two second transmission gears, and the two second transmission gears are respectively sleeved on the motor shafts of the two anti-torque / power motors; the other end of the coaxial shaft is connected to the anti-torque / power linear conversion system.

3. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to claim 2, characterized in that: The pair of anti-torque / power motors are installed side by side, and the stators of the pair of anti-torque / power motors are fixed together with the motor controller and the battery.

4. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to claim 3, characterized in that: The rotating power assembly also includes: a power box, the pair of anti-torque / power motors and the power output shaft are installed in the power box, and the power box is also provided with a battery compartment for accommodating the battery; one end of the power box is rotatably connected to the frame through a rotating shaft, and the other end is rotatably connected to the outer shaft of the coaxial shaft through a bearing, so that the rotating power assembly as a whole can rotate freely around the power output shaft on the frame.

5. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to claim 4, characterized in that: The rotating shaft is a hollow shaft, and a conductive slip ring is built in the hollow shaft to supply power to electrical components on the frame.

6. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to claim 4, characterized in that: The anti-torque / power linear conversion system comprises: a power conversion gearbox, and a power conversion shaft, a power transmission output shaft, a power output bevel gear and two power conversion bevel gears arranged in the power conversion gearbox, wherein: The power conversion gear box is fixedly connected to the vehicle frame; The power conversion shaft is coaxially arranged with the inner shaft of the concentric shaft, and is drivingly connected to one end of the inner shaft or is integrally arranged with the inner shaft; One of the two power conversion bevel gears is sleeved on the other end of the outer shaft of the concentric shaft located in the power conversion gear box, and the other is sleeved on the power conversion shaft; The power transmission output shaft is arranged perpendicularly to the power conversion shaft and is sleeved with the power output bevel gear, the power output bevel gear is placed between the two power conversion bevel gears and is transmission-connected to the two power conversion bevel gears; a power output wheel is provided at one end of the power transmission output shaft away from the power output bevel gear, the power output wheel is connected to the wheels of the self-balancing vehicle through the transmission system, and the power output of the anti-torque / power motor is transmitted to the wheels of the self-balancing vehicle.

7. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to claim 4, characterized in that: The anti-torque / power linear conversion system is also used to control the two anti-torque / power motors to rotate in opposite directions with the same output power when the self-balancing vehicle needs full power output, so that the output anti-torque forces cancel each other out, and the rotating power assembly is stationary relative to the frame, and all the power is transmitted to the power conversion gearbox through the power output shaft; when the self-balancing vehicle needs both power and anti-torque to maintain balance, the two anti-torque / power motors are controlled to generate a power difference, and the generated anti-torque forces are inconsistent, forming an anti-torque difference, so that the rotating power assembly rotates relative to the frame, thereby providing the anti-torque required to correct the vehicle body; When the balancing vehicle only needs anti-torque, the two anti-torque / power motors are controlled to rotate in the same direction, the anti-torques generated are in the same direction, the power output shafts are subjected to opposite forces, stop rotating, and have no power output. The rotating power assembly rotates relative to the frame, and the power is completely used for anti-torque.

8. The dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle according to any one of claims 4 to 7, characterized in that: It also includes a motor bearing sleeved on the motor shaft, and the motor bearing is installed on the power box.

9. A control system for a self-balancing vehicle, the self-balancing vehicle comprising a frame and wheels, characterized in that: The self-balancing vehicle control system includes: a dual-motor anti-torsion power system, a transmission system and a vehicle body posture detection system installed on the frame, wherein: The dual-motor anti-torsion power system is a dual-motor anti-torsion power system for lateral stability of a self-balancing vehicle as described in any one of claims 1-8; The transmission system is respectively connected to the anti-torque / power linear conversion system and the wheel transmission system, and is used to transmit the power output by the anti-torque / power motor to the wheels of the self-balancing vehicle; The body posture detection system is connected to the anti-torsion / power linear conversion system, and is used to detect the lateral posture of the body of the self-balancing vehicle in real time. When it is detected that the lateral posture of the body of the self-balancing vehicle reaches a preset flipping posture, the anti-torsion / power linear conversion system is started to control the anti-torsion / power motor to output an anti-torsion force opposite to the lateral posture of the body, so as to pull the body back to a balanced state.

10. The self-balancing vehicle control system according to claim 9, characterized in that: The transmission system is a belt transmission system, a chain transmission system or a shaft transmission system; the self-balancing vehicle control system also includes a shell, the dual-motor anti-torsion power system and the vehicle body posture detection system are installed in the shell, and the shell is fixed on the frame.

11. A self-balancing vehicle, characterized in that: The self-balancing vehicle comprises a frame, wheels and a control system as claimed in claim 9 or 10.

12. A method for controlling a self-balancing vehicle, characterized in that: include: During the driving of the self-balancing vehicle, real-time acquisition of the current lateral body posture of the self-balancing vehicle collected by the body posture detection system in the self-balancing vehicle control system according to claim 9 or 10; If it is determined that the current lateral posture of the body of the self-balancing vehicle reaches a preset flipping posture, the two anti-torsion / power motors are controlled to output different powers respectively to correct the current lateral posture of the body of the self-balancing vehicle.

13. The control method of the self-balancing vehicle according to claim 12, characterized in that: The controlling the two anti-torque / power motors to output different powers respectively to correct the current lateral posture of the self-balancing vehicle includes: Obtaining a driving balance control amount corresponding to the current lateral posture of the self-balancing vehicle based on a preset driving posture correction rule; The driving balance control amount is sent to a motor controller connected to the two anti-torsion / power motors respectively, so that the motor controller controls the two anti-torsion / power motors to output different powers respectively according to the driving balance control amount to correct the lateral posture of the vehicle body.

14. The control method of the self-balancing vehicle according to claim 12, characterized in that: Also includes: When the self-balancing vehicle is not in a driving state, obtaining in real time the current lateral posture of the self-balancing vehicle collected by the body posture detection system; If it is determined that the current lateral posture of the self-balancing vehicle reaches a preset flipping posture, the two anti-torque / power motors are controlled to output with the same power and the same rotation direction to correct the current lateral posture of the self-balancing vehicle.

15. The control method of the self-balancing vehicle according to claim 14, characterized in that: The controlling the two anti-torque / power motors to output with the same power and the same rotation direction to correct the current lateral posture of the self-balancing vehicle includes: Obtaining a static balance control amount corresponding to the current lateral posture of the self-balancing vehicle based on a preset static posture correction rule; The static balance control amount is sent to a motor controller connected to the two anti-torsion / power motors respectively, so that the motor controller controls the two anti-torsion / power motors to output with the same power and the same rotation direction according to the static balance control amount to correct the current lateral posture of the self-balancing vehicle.

16. The control method of the self-balancing vehicle according to claim 12, characterized in that: Also includes: When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle is detected, the two anti-torque / power motors are controlled to output with the same power and opposite rotation directions to control the driving of the self-balancing vehicle.

17. The control method of the self-balancing vehicle according to claim 16, characterized in that: When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle is detected, the two anti-torque / power motors are controlled to output with the same power and opposite rotation directions to control the self-balancing vehicle to drive, and further comprising: When the self-balancing vehicle is not in a driving state, if a throttle start signal of the self-balancing vehicle collected by a throttle detection device disposed on the self-balancing vehicle is received, the driving control amount of the self-balancing vehicle is obtained based on a preset driving rule; The driving control amount is sent to a motor controller connected to the two anti-torque / power motors respectively, so that the motor controller controls the two anti-torque / power motors to output with the same power and opposite rotation directions according to the driving control amount to control the driving of the self-balancing vehicle.

Images