A self-balancing power system, control method, control system and self-balancing vehicle

Abstract

The present disclosure relates to a self-balancing power system, wherein the self-balancing power system includes a first roller unit, a second roller unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a power output group and an anti-torsion power group, wherein the power output group and the anti-torsion power group are respectively connected to the first roller unit and the second roller unit from both sides of the first roller unit and the second roller unit, wherein the power output group is used to provide output power of the self-balancing power system, and the anti-torsion power group is used to provide anti-torsion force of the self-balancing power system. The present disclosure also relates to a self-balancing control method, a control system and a self-balancing vehicle. The self-balancing power system, control method, control system and self-balancing vehicle according to the present disclosure can at least improve the stability and heat dissipation effect of the self-balancing power system.

Description

Technical Field

[0001] The present disclosure relates to self-balancing technology, in particular to the field of self-balancing vehicle technology. Specifically, the present disclosure relates to a self-balancing power system, a control method, a control system and a self-balancing vehicle. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] With the development of two-wheeled vehicles, such as motorcycles, the self-balancing performance of vehicles has become increasingly important. At present, the technical solutions that can be used for two-wheeled vehicles in self-balancing technology include center of gravity transfer technology, electronic steering technology, gyro stabilization technology and anti-torque control technology. Among them, the center of gravity transfer technology adopts the swing structure of the rear wheel and the body to maintain balance through the center of gravity transfer when the body reaches an overturned posture, but the anti-interference ability of the center of gravity transfer technology is weak, and it is difficult to maintain balance under high-speed driving; the electronic steering technology uses computer control of steering and balance to achieve the control purpose, but it is actually unable to achieve self-balancing under low-speed conditions; the gyro stabilization technology uses the principle that a high-speed rotating gyroscope can maintain vertical stability to enable the two-wheeled vehicle to achieve self-balancing, but this technology requires additional space and has high power consumption; the anti-torque control technology uses the power / anti-torque motor two-in-one method with the anti-torque / power conversion system to reduce the occupied space and the weight of the body, and improve a certain endurance.

[0004] However, the current anti-torque control technology may have the following technical problems: first, the anti-torque control system has many internal parts, which makes the overall structure complex and may be detrimental to the balance of the system itself, thereby affecting the balance of the two-wheeled vehicle; second, if multiple motors and controllers are arranged in the same internal space, it may be detrimental to the heat dissipation of the motors and controllers, and may further affect the heat dissipation effect of the entire system. Summary of the invention

[0005] One of the purposes of the present disclosure is to provide a self-balancing power system, which can at least partially solve the above problems. This purpose can be achieved by the following technical solutions:

[0006] The first aspect of the present disclosure provides a self-balancing power system, wherein the self-balancing power system comprises: a first roller unit, a second roller unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a power output group and an anti-torsion power group, wherein the power output group and the anti-torsion power group are respectively connected to the first roller unit and the second roller unit from both sides of the first roller unit and the second roller unit, wherein the power output group is used to provide the output power of the self-balancing power system, and the anti-torsion power group is used to provide the anti-torsion force of the self-balancing power system. By arranging each power motor separately inside different roller units, placing the power output group and the anti-torsion power group outside the roller unit and / or integrating the power output and anti-torsion power output functions of the motor, the self-balancing power system according to the present disclosure can be used, for example, to improve the integration and self-balancing performance of a two-wheeled vehicle, which can at least improve the stability and heat dissipation effect of the self-balancing power system, and / or can reduce the space occupancy rate and energy consumption of the two-wheeled vehicle.

[0007] A second aspect of the present disclosure provides a self-balancing control method for controlling the above-mentioned self-balancing power system, wherein the self-balancing control method comprises: an acquisition step, comprising acquiring a current speed, a preset speed, a tilt angle and a preset tilt angle range of the self-balancing control system; a judgment step, comprising judging whether the current speed is consistent with the preset speed, and judging whether the tilt angle is within the preset tilt angle range; and a control step, comprising: in the case where it is judged that the current speed is consistent with the preset speed, and the tilt angle is not within the preset tilt angle range, controlling the first power motor and the second power motor to output torques with the same direction and magnitude, so that the power output group does not output power, and the anti-torque power group outputs anti-torque; in the case where it is judged that the current speed is consistent with the preset speed, and the tilt angle is not within the preset tilt angle range, controlling the first power motor and the second power motor to output torques with the same direction and magnitude, so that the power output group does not output power, and the anti-torque power group outputs anti-torque; When the current speed is inconsistent with the preset speed and the tilt angle is within the preset tilt angle range, the first power motor and the second power motor are controlled not to output torque, so that the power output group does not output power, and the anti-torque power group does not output anti-torque; when it is determined that the current speed is inconsistent with the preset speed and the tilt angle is within the preset tilt angle range, the first power motor and the second power motor are controlled to output torques of opposite directions and the same magnitude, so that the power output group outputs power, and the anti-torque power group does not output anti-torque; and when it is determined that the current speed is inconsistent with the preset speed and the tilt angle is not within the preset tilt angle range, the first power motor and the second power motor are controlled to output torques of different magnitudes, so that the power output group outputs power, and the anti-torque power group outputs anti-torque. The self-balancing control method according to the present disclosure can be used to control the working state of the above-mentioned self-balancing power system, which can at least be beneficial to the control and application of the self-balancing power system.

[0008] The third aspect of the present disclosure provides a self-balancing control system for implementing the above self-balancing control method, wherein the self-balancing control system further comprises: an acquisition module for implementing the acquisition step; a processing module for implementing the judgment step; and a control module for implementing the control step. The self-balancing control system according to the present disclosure can facilitate the control implementation of the self-balancing power system.

[0009] A fourth aspect of the present disclosure provides a self-balancing vehicle, which includes the above self-balancing power system and / or the above self-balancing control method and / or the above self-balancing control system, such as a two-wheeled vehicle, especially a motorcycle or an electric bicycle, preferably an electric motorcycle. The self-balancing vehicle according to the present disclosure can be adapted to the above self-balancing power system and / or the self-balancing control method and / or the self-balancing control system, so as to achieve, for example, the effects of improving self-balancing performance, reducing energy consumption and reducing space occupancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present disclosure. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0011] Figure 1 is an exemplary cross-sectional view of a self-balancing power system according to an embodiment of the present disclosure;

[0012] Figure 2 is an exemplary perspective view of a self-balancing power system according to one embodiment of the present disclosure;

[0013] Figure 3 is a schematic diagram of a power output group of a self-balancing power system according to another embodiment of the present disclosure;

[0014] Figure 4 and Figure 5 is a schematic diagram of a power output group of a self-balancing power system according to another embodiment of the present disclosure;

[0015] Figure 6 is a schematic diagram of an anti-torsion power group of a self-balancing power system according to another embodiment of the present disclosure;

[0016] Figure 7 is a schematic diagram of an anti-torsion power group of a self-balancing power system according to another embodiment of the present disclosure;

[0017] Figure 8 is an exemplary flow chart of a self-balancing control method according to an embodiment of the present disclosure;

[0018] Fig. 9 is an exemplary flow chart of some steps of a self-balancing control method according to an embodiment of the present disclosure; and

[0019] Fig.10 A schematic diagram of a self-balancing vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0021] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the expressions "a", "an", and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", and "have" are inclusive and therefore specify the presence of stated features, elements, and / or parts, but do not exclude the presence or addition of one or more other features, elements, parts, and / or combinations thereof.

[0022] Although the terms first, second, etc. may be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and "third" and other numerical terms do not imply order or sequence when used in the text. In addition, in the description of the present disclosure, unless otherwise clearly specified and limited, the terms "set" and "connection" 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 directly connected or indirectly connected through an intermediate medium. In addition, in the description of the present disclosure, unless otherwise clearly specified and limited, the term "fixed" means that several components are connected or fixed according to technical requirements, so as to achieve mechanical assembly while maintaining the correct relative position and mutual relationship, such as a flat key fixing method. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0023] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "upper", "middle", "lower", "inside", "near", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is flipped, then the element described as "below other elements or features" or "below other elements or features" will be subsequently oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0024] Embodiments of the present disclosure are described below with reference to the various exemplary drawings.

[0025] Figure 1An exemplary cross-sectional view of a self-balancing power system 1000 according to an embodiment of the present disclosure is shown. The self-balancing power system includes a first drum unit 1300, a second drum unit 1400, a first battery pack 1500, a second battery pack 1600, a first power motor 1700, a second power motor 1800, a power output group 1100, and an anti-torsion power group 1200.

[0026] In such Figure 1 In the illustrated embodiment, the first roller unit 1300 may include a first transmission shaft 1310 extending to the outside thereof, the first transmission shaft may extend from the first roller unit to the outside and be in transmission connection with at least a portion of the anti-torque power group 1200, so that the output torque of the first transmission shaft can be transmitted to the anti-torque power group. The first transmission shaft and the first roller unit are connected together in a non-rotatable manner. Preferably, the first power motor 1700 may be arranged inside the first roller unit 1300, and the first power motor 1700 may include a first motor output shaft 1710 and a first motor housing 1720, wherein the first motor housing 1720 is non-rotatably connected to the first roller unit, and the first motor output shaft 1710 can rotate relative to the first roller unit. In addition, the motor output shaft extends from the first roller unit to the outside and may be in transmission connection with at least a portion of the power output group 1100, so that the output torque of the first motor output shaft can be transmitted to the power output group.

[0027] Similarly, the second roller unit 1400 may include a second transmission shaft 1410 disposed outside, the second transmission shaft may extend from the second roller unit to the outside thereof and may be connected to at least a portion of the anti-torque power group transmission 1200, and the second transmission shaft and the second roller unit are non-rotatably connected together. Preferably, the second power motor 1800 may be disposed inside the second roller unit 1400, and the second power motor 1800 may include a second motor output shaft 1810 and a second motor housing 1820, wherein the second motor housing 1820 is non-rotatably connected to the second roller unit, and the second motor output shaft is rotatably connected to the second roller unit. In addition, the second motor output shaft 1810 may extend to the outside of the second roller unit and be transmission-connected to at least a portion of the power output group, so that the output torque of the second motor output shaft can be transmitted to the power output group.

[0028] In the scope of the present disclosure, it should be understood that the "motor housing" and the "motor output shaft" may also be constituted as the rotor and stator of the motor, but this is not necessary. It is important that both the rotor and the stator of the motor (or the motor housing and the motor output shaft) have independent rotational freedom, in other words, the motor housing (or, for example, the motor stator) can rotate freely independently of the motor output shaft, and the motor output shaft (or, for example, the motor rotor) can also rotate freely independently of the motor housing.

[0029] Advantageously, part of the structure of the self-balancing power system can be placed outside the main body of the system, and different power motors can be placed in different housings, which can at least partially achieve the following technical effects: First, by arranging different power motors inside different drum units, it can be beneficial to the flexible layout of the self-balancing power system. For example, the drum units can be arranged in parallel in the vertical or horizontal direction as needed, thereby possibly improving space utilization and further improving endurance; second, by arranging the structures of the power output group and the anti-torsion power group outside the drum unit, it can be beneficial to improve the stability and heat dissipation effect of the self-balancing power system itself.

[0030] Preferably, the first battery pack 1500 can be fixed on the first roller unit, and the second battery pack 1600 can be fixed on the second roller unit. It is particularly preferred that the first battery pack 1500 and the second battery pack 1600 can be respectively installed on the side of the first roller unit and the second roller unit close to or adjacent to the side where the anti-torsion force group is installed, or directly installed on the side of the first roller unit and the second roller unit where the anti-torsion force group is installed. Thus, the first battery pack 1500 and the second battery pack 1600 can be used as at least a part of the counterweight (e.g., for rotation) of the anti-torsion force group 1200, thereby increasing the anti-torsion effect and making full use of the system space.

[0031] Advantageously, in the self-balancing power system 1000, the battery pack and / or the power motor can be used to provide kinetic energy for the entire self-balancing power system, the power output group can provide power output for the entire system or the self-balancing power system, for example, by the rotation of the first motor output shaft and the second motor output shaft, and the anti-torsion power group can provide anti-torsion output for the entire system or the self-balancing power system, for example, by the rotation of the first transmission shaft and the second transmission shaft. Here, the power output group 1100 and the anti-torsion power group 1200 are respectively connected to the two sides of the two roller units and are connected to the two roller units in a transmission manner. Although it is shown in the view that the power output group 1100 is connected to the first motor output shaft and the second motor output shaft in a transmission manner, and the anti-torsion power group 1200 is connected to the first transmission shaft and the second transmission shaft in a transmission manner, it should be understood that the connection and / or position of the power output group and the anti-torsion power group on both sides of the roller unit are interchangeable, that is, when necessary, the anti-torsion power group can also be connected to the first motor output shaft and the second motor output shaft in a transmission manner, and the power output group is connected to the first transmission shaft and the second transmission shaft in a transmission manner.

[0032] Here, because the transmission shaft cannot rotate relative to the drum unit, but the motor output shaft can rotate relative to the drum unit, the rotation speed and direction of the motor output shaft and the transmission shaft can be different, and therefore, the power output group or anti-torque power group respectively connected to the motor output shaft and the transmission shaft can output different output speeds and / or directions and / or magnitudes of output torque.

[0033] Advantageously, the battery pack and the power motor can be both arranged inside the roller unit, which can help increase the weight of the roller unit, so that the roller unit can provide a greater anti-torque effect. Also advantageously, the power output group and the anti-torque power group can be both arranged outside the two roller units, which can make the internal structure of the roller unit more concise, which can help the self-balancing power system maintain its own stability.

[0034] Advantageously, the positional relationship between the first roller unit 1300 and the second roller unit 1400 may be unlimited. For example, the first roller unit 1300 and the second roller unit 1400 may be arranged in both the vertical direction and the horizontal direction, and such a symmetrical structure may be beneficial to maintaining the stability of the entire self-balancing power system when the two roller units rotate separately. Also advantageously, the self-balancing power system 1000 may further include other roller units, such as a third roller unit or a fourth roller unit (not shown here), and these additional roller units may work together with the first roller unit 1300 and the second roller unit 1400 to realize the functions of the power output group and the anti-torsion power group.

[0035] Figure 2The power output group 1100A of the self-balancing power system 1000 according to one embodiment of the present disclosure and the anti-torsion power group 1200A according to one embodiment of the present disclosure are exemplarily shown.

[0036] As an example, the power output group 1100A may include a first bevel gear 1110a, a second bevel gear 1120a, a third bevel gear 1130a, a fourth bevel gear 1140a, a fifth bevel gear 1150a, a sixth bevel gear 1160a, and a seventh bevel gear 1170a. Here, the first bevel gear 1110a and the sixth bevel gear 1160a are respectively connected to the first motor output shaft 1710 and the second motor output shaft 1810 in a non-rotatable manner to achieve transmission between the motor output shaft and the power output group. At this time, the rotation rate and direction of the first bevel gear 1110a and the sixth bevel gear 1160a are respectively the same as the rotation rate and direction of the first motor output shaft 1710 and the second motor output shaft 1810. The second bevel gear 1120a and the seventh bevel gear 1170a are respectively meshed and connected with the first bevel gear 1110a and the sixth bevel gear 1160a. At this time, the first bevel gear 1110a and the sixth bevel gear 1160a can be used as driving wheels, and the second bevel gear 1120a and the seventh bevel gear 1170a can be used as driven wheels. The third bevel gear 1130a and the fifth bevel gear 1150a are respectively coaxially fixedly connected with the second bevel gear 1120a and the seventh bevel gear 1170a, thereby, the rotation rate and direction of the third bevel gear 1130a are the same as the rotation rate and direction of the second bevel gear 1120a, and the rotation rate and direction of the fifth bevel gear 1150a are also the same as the rotation rate and direction of the seventh bevel gear 1170a. The fourth bevel gear 1140a is arranged between the third bevel gear 1130a and the fifth bevel gear 1150a, and can be meshed and driven with them at the same time. At this time, when the magnitude and direction of the rotation speeds of the third bevel gear 1130a and the fifth bevel gear 1150a are the same (that is, when the magnitude and direction of the torque output by the first motor output shaft and the second motor output shaft are the same), the fourth bevel gear 1140a will be locked and unable to rotate, and the self-balancing power system 1000 will not output power.

[0037] As an example, the anti-torque force group 1200A may include, for example, a first spur gear 1210a, a second spur gear 1220a, and a third spur gear 1230a having the same number of teeth. Here, the first spur gear 1210a and the second spur gear 1220a are respectively fixedly connected to the first transmission shaft 1310 and the second transmission shaft 1410 so as not to rotate relative to each other, so as to realize the transmission between the transmission shaft and the anti-torque force group. At this time, the rotation rate and direction of the first spur gear 1210a and the second spur gear 1220a are respectively the same as the rotation rate and direction of the first transmission shaft 1310 and the second transmission shaft 1410. The third spur gear 1230a can be meshed with the first spur gear 1210a and the second spur gear 1220a for transmission. At this time, when the rotation speeds of the first spur gear 1210a and the second spur gear 1220a are the same in magnitude but opposite in direction (i.e., when the torque output by the first transmission shaft and the second transmission shaft is the same in magnitude but opposite in direction), the third spur gear 1230a will be locked and unable to rotate, and the self-balancing power system 1000 will not output power. Although shown here as a spur gear configuration, it should be understood that the structure or configuration of these gears is not necessarily the case. For example, the first spur gear 1210a, the second spur gear 1220a and the third spur gear 1230a in this example can also be replaced by helical gears, as long as they can use the same or similar transmission connection to achieve the same or similar transmission or locking effect.

[0038] Advantageously, due to the joint action of the power output group and the anti-torque power group, a part of the output torque of the first power motor and the second power motor can be used for the output of the first motor output shaft and the second motor output shaft, while the other part is used for the output of the first transmission shaft and the second transmission shaft. For example, when the torque output by the first power motor and the second power motor is in the same direction and the same magnitude, the power output group 1100 is locked and does not output power. At this time, the torque output by the first power motor and the second power motor will be all used for the anti-torque power group 1200 to make it output anti-torque; when the torque output by the first power motor and the second power motor is in opposite directions and the same magnitude, the anti-torque power group 1200 is locked and does not output anti-torque. At this time, the torque output by the first power motor and the second power motor will be all used for the power output group 1100 to make it output power; when the torque output by the first power motor and the second power motor is different in magnitude, the output torque will be partly used for the power output group to output power, and partly used for the anti-torque power group to output anti-torque.

[0039] The following is with the help of Figure 2 In the illustrated implementation, the coordination mode and working principle between the power output group 1100 and the anti-torque power group 1200 are discussed in different situations.

[0040] In the case where the first power motor and the second power motor provide torques of the same magnitude and direction, on the one hand, the first motor output shaft and the second motor output shaft may have a tendency to provide torques of the same magnitude and direction, at which time the first bevel gear 1110a and the sixth bevel gear 1160a with the same number of teeth have a tendency to rotate at the same speed and in the same direction, so that the third bevel gear 1130a and the fifth bevel gear 1150a with the same number of teeth also have a tendency to rotate at the same speed and in the same direction, so that the fourth bevel gear 1140a is subjected to the same magnitude and direction of the driving force at the upper and lower meshing points, so that the fourth bevel gear 1140a is locked and does not rotate. At this point, all gears of the entire power output group are locked and cannot rotate. Thus, in fact, the first motor output shaft 1710 and the second motor output shaft 1810 do not rotate and do not provide any output torque to the outside. On the other hand, for example, since the first motor housing and the second motor housing can rotate relative to the first motor output shaft and the second motor output shaft, respectively, the output torque of the first motor and the second motor can be used to rotate the first motor housing and the second motor housing, and thus the first roller unit and the second roller unit fixedly connected thereto rotate accordingly, thereby all the output torque of the first motor and the second motor can be used for the output of the anti-torsion power group. At this time, at the anti-torsion power group 1200A, for example, the movement trend of the first spur gear 1210a and the second spur gear 1220a with the same number of teeth is the same speed and the same direction, so that the driving force received by the third spur gear 1230a connected to them at the upper and lower meshing positions is the same in magnitude and opposite in direction, and the third spur gear 1230a can rotate at this time. In this case, through the joint action of the power output group and the anti-torsion power group, it is possible to achieve a working state in which the anti-torsion power group 1200A can output anti-torsion while the power output group 1100A of the self-balancing power system does not output power, which can be applied, for example, to the situation where the self-balancing vehicle needs to be balanced (such as overturning correction) in a stationary state to maintain its balance without overturning.

[0041] In the case where the first power motor and the second power motor provide torques of the same magnitude and opposite directions, on the one hand, the first motor output shaft and the second motor output shaft may have a tendency to provide torques of the same magnitude and opposite directions, at which time the rotational motion tendency of the first bevel gear 1110a and the sixth bevel gear 1160a with the same number of teeth may be the same speed and opposite directions, so that the rotational motion tendency of the third bevel gear 1130a and the fifth bevel gear 1150a with the same number of teeth may also be the same speed and opposite directions, thereby the driving force received by the fourth bevel gear 1140a at its upper and lower meshing positions is the same magnitude and opposite directions, so that the fourth bevel gear 1140a can rotate. At this time, all the torques provided by the first power motor and the second power motor can actually be used to make the first motor output shaft 1710 and the second motor output shaft 1810 output torques of the same magnitude and opposite directions. On the other hand, for example, since the first motor housing and the second motor housing can rotate relative to the first motor output shaft and the second motor output shaft, respectively, at this time, the first motor housing and the second motor housing (and thus the first transmission shaft and the second transmission shaft) do not rotate or output torque. In this case, through the joint action of the power output group and the anti-torque power group, it can be achieved that while the power output group 1100A of the self-balancing power system outputs power, the anti-torque power group 1200A does not output anti-torque. This can be applied, for example, to situations where the self-balancing vehicle is in motion and there is no need to actively control its balance or correct its overturning state.

[0042] In the case where the first power motor and the second power motor provide torques of different sizes (at this time, the directions may be the same or different), the first motor output shaft and the second motor output shaft may have a tendency to provide torques of different sizes (at this time, the directions may be the same or different), and the first bevel gear 1110a and the sixth bevel gear 1160a with the same number of teeth have a tendency to provide different speeds, so that the third bevel gear 1130a and the fifth bevel gear 1150a with the same number of teeth also have a tendency to provide different speeds, so that the fourth bevel gear 1140a is subjected to different driving forces at the upper and lower meshing locations, and thus the fourth bevel gear 1140a can rotate by means of the difference between the two forces (when the directions of the two forces are the same) or the sum (when the directions of the two forces are opposite). At this time, due to the structural composition of the power output group, the first bevel gear and the sixth bevel gear can actually only rotate at the same speed and in opposite directions, and accordingly, the first motor output shaft and the second motor output shaft can actually only provide torques of the same size and in opposite directions. Therefore, in this case, the torque provided by the first power motor and the second power motor actually only partially acts on the motor output shaft due to the limitation of the gear structure, and the other part acts on the anti-torque power group to rotate the transmission shaft (because the first motor housing and the second motor housing can rotate relative to the first motor output shaft and the second motor output shaft respectively, at this time, the first motor housing and the second motor housing, and thus the first transmission shaft and the second transmission shaft, can also rotate and output torque), and due to the structural composition of the anti-torque power group, in fact, the first transmission shaft and the second transmission shaft eventually reach a state of providing anti-torque of the same size and direction. In this case, through the joint action of the power output group and the anti-torque power group, it can be realized that while the power output group 1100A of the self-balancing power system outputs power, the anti-torque power group 1200A also outputs the working state of anti-torque, which can be applied to the situation where the self-balancing vehicle is actively controlled in the motion state so that it is in a non-overturning state.

[0043] Figure 3A power output group 1100B of a self-balancing power system according to another embodiment of the present disclosure is shown. In this embodiment, the power output group 1100B may include a first spur gear 1110b, a second spur gear 1120b, a third spur gear 1130b, and a fourth spur gear 1140b. Here, for example, the first spur gear 1110b and the second spur gear 1120b having the same number of teeth are respectively connected to the first motor output shaft 1710 and the second motor output shaft 1810 in a non-rotatable manner to achieve transmission between the motor output shaft and the power output group, and for example, the third spur gear 1130b and the fourth spur gear 1140b having the same number of teeth are respectively meshed with the first spur gear 1110b and the second spur gear 1120b for transmission. In addition, the third spur gear 1130b is meshed with the fourth spur gear 1140b for transmission. Although shown here as a composition of spur gears, it should be understood that the composition of these gears is not limited. For example, these spur gears in this example can also be replaced by helical gears, as long as they can use the same or similar transmission connection to achieve the same or similar transmission or locking effect. The working principle of the power output group 1100B is similar to that of the power output group 1100A described above, and will not be repeated here, but it should be understood that it should have similar working principles and / or functions as described above.

[0044] Figure 4 and Figure 5A power output group 1100C of a self-balancing power system 1000 according to another embodiment of the present disclosure is shown. In this embodiment, the power output group 1100C may include a first spur gear 1110c, a second spur gear 1120c, a first bevel gear 1130c, a second bevel gear 1140c, a first pulley 1150c, a second pulley 1160c, a third pulley 1170c and a synchronous belt 1180c. The first pulley 1150c and the second spur gear 1120c may be respectively connected to the first motor output shaft 1710 and the second motor output shaft 1810 in a non-rotatable manner to achieve transmission between the motor output shaft and the power output group. In addition, the second spur gear 1120c is meshed with the first spur gear 1110c, the first spur gear 1110c is coaxial with the second pulley 1160c and is connected to the first pulley 1150c and the second pulley 1160c so as to be non-rotatable relative to each other, and the synchronous belt 1180c is synchronously transmitted, preferably meshed with the first pulley 1150c and the second pulley 1160c. In addition, the first bevel gear 1130c is coaxial with the second spur gear 1120c and is connected to the second pulley 1140c so as to be non-rotatable relative to each other, the second bevel gear 1140c is meshed with the first bevel gear 1130c, the third pulley 1170c is coaxial with the second bevel gear 1140c and is connected to the third pulley 1170c so as to be meshed with the synchronous belt for rotation. Here, the first bevel gear 1130c, the second bevel gear 1140c, and the third pulley 1170c can be configured to realize transmission with the second spur gear 1120c to output power, and can be used without limiting the first motor output shaft and the second motor output shaft to provide torque.

[0045] Figure 6 The anti-torsion power group 1200B of the self-balancing power system according to another embodiment of the present disclosure is shown. In this embodiment, the anti-torsion power group 1200B may include a first pulley 1210b, a second pulley 1220b and a synchronous belt 1230b. Here, the first pulley 1210b and the second pulley 1220b are respectively connected to the first transmission shaft 1310 and the second transmission shaft 1410 in a non-rotatable manner to realize the transmission between the transmission shaft and the anti-torsion power group, and the synchronous belt is meshed with the first pulley 1210b and the second pulley 1220b on the outside of the first pulley 1210b and the second pulley 1220b to realize synchronous rotation. Similar to the working principle of the anti-torsion power group 1200A described above, the anti-torsion power group 1200B can be configured to enable the first transmission shaft and the second transmission shaft to actually only provide torques of the same size and direction.

[0046] Figure 7The anti-torsion power group 1200C of the self-balancing power system 1000 according to another embodiment of the present disclosure is shown. In this embodiment, the anti-torsion power group 1200C may include a first spur gear 1210c, a second spur gear 1220c and a third spur gear internal gear 1230c. Here, the first spur gear 1210c and the second spur gear 1220c are respectively connected to the first transmission shaft 1310 and the second transmission shaft 1410 in a non-rotatable manner to achieve transmission between the transmission shaft and the anti-torsion power group, and the inner side of the third spur gear internal gear 1230c is respectively meshed with the first spur gear 1210c and the second spur gear 1220c. Similar to the working principle of the anti-torsion power groups 1200A and 1200B described above, the anti-torsion power group 1200C can be configured to enable the first transmission shaft and the second transmission shaft to actually only provide torques of the same magnitude and direction.

[0047] Here, it should be understood that, although the above text respectively describes the structures of the power output groups 1100A, 1100B, 1100C and the anti-torque power groups 1200A, 1200B, 1200C with the aid of the accompanying drawings, the power output group and the anti-torque power group according to the present disclosure are not limited to these specific structures, but the power output group 1100 can be any device for making the first motor output shaft and the second motor output shaft actually only provide torque and / or rotation speed of the same magnitude and opposite directions, and the anti-torque power group 1200 can be any device for making the first transmission shaft and the second transmission shaft actually only provide torque and / or rotation speed of the same magnitude and the same direction. In addition, the specific embodiments of these power output groups and anti-torque power groups can also be arbitrarily replaced and / or combined, and are not limited to the methods listed in the drawings.

[0048] Figure 8 The flowchart of a self-balancing control method S1000 according to an embodiment of the present disclosure is exemplarily shown. The self-balancing control method S1000 can be used, for example, to control the self-balancing power system 1000 to operate according to the working principle described above. As an example, the self-balancing control method S1000 may include an acquisition step S1100, a determination step S1200, and a control step S1300.

[0049] The acquisition step S1100 may include acquiring the current speed, preset speed, tilt angle, and preset tilt angle range of the self-balancing control system. Here, the "current speed" may be the actual motion speed of the self-balancing power system at present (e.g., along its motion plane), which may be obtained by a sensor installed on the system (e.g., an acceleration sensor or a speed sensor). The "preset speed" may be the expected motion speed that the system is expected to achieve (e.g., at present or in the future), which may be input by the user in real time or in advance or obtained through information stored in the system in advance.

[0050] The "tilt angle" may be the current angle between the mid-axis plane and the vertical plane of the self-balancing power system, which may be obtained by a sensor installed on the system (such as an accelerometer or an angle sensor). The "preset tilt angle range" may be the angle range that the current system expects it to be in, for example, used to determine whether the system is currently in a state of capsizing and / or whether self-balancing control needs to be initiated.

[0051] The judging step S1200 may include judging whether the current speed of the system is consistent with the preset speed. If the current speed is consistent with the preset speed, this may, for example, indicate that the system does not need to output power or resistance (for example, for adjusting the speed of the system). On the contrary, if the current speed of the system is inconsistent with the preset speed, this may, for example, indicate that the system needs to output power or resistance, for example, to further adjust the speed of the system. In addition, the judging step S1200 may also include judging whether the current tilt angle of the system is within the preset tilt angle range, or whether the current tilt angle is less than or equal to the preset tilt angle threshold. If the current tilt angle is within the preset tilt angle range, this may, for example, indicate that the system is not currently in a capsized state or that the system does not need to correct its tilt angle (i.e., correct the capsized posture to return it to a balanced state). On the contrary, if the current tilt angle is not within the preset tilt angle range, this may, for example, indicate that the system is currently in a capsized state or that the system needs to correct its tilt angle. Here, the preset tilt angle may, for example, be any fixed value between 0 and 20°, between 0 and 10°, or may be 0°, so that the capsizing posture of the self-balancing power system can be corrected in a relatively timely manner to maintain stability as much as possible. As an example, when the preset tilt angle range is 0 to 10°, if the current tilt angle is detected to be greater than 10°, it means that the current tilt angle is not within the preset tilt angle range, and the system needs to correct the tilt angle (or the overturning posture). If the current tilt angle is detected to be less than or equal to 10°, it means that the current tilt angle is within the preset tilt angle range, and the system does not need to correct the tilt angle (or the overturning posture). As another example, when the preset tilt angle range is set to 0° (the preset tilt angle range is the preset angle threshold at this time), the step of determining the tilt angle includes determining whether the current tilt angle of the system (that is, the angle between the central axis plane of the system and the vertical plane) is 0°, that is, whether the central axis plane of the system is exactly perpendicular to the plane where the system is located, thereby determining whether the system currently needs to be corrected.

[0052] The control step S1300 may include controlling the torque output by the first power motor and the second power motor according to the judgment result. Fig. 9 As shown, according to different judgment results output by the judgment step, for example, the control step can make, for example, four different control output modes.

[0053] When it is determined that the current speed of the system is consistent with the preset speed, and the current tilt angle of the system is not within the preset tilt angle range (in other words, the speed of the system does not need to be changed at this time, but the system needs to be corrected for overturning posture), the control step S1300 (for example, by controlling the output power of the first power motor and the second power motor to be the same and the rotation direction of the first motor output shaft and the second motor output shaft to be the same) controls the first power motor and the second power motor to output torque with the same direction and magnitude. In this case, the power output group can be made not to output power, and the anti-torque power group can output anti-torque.

[0054] When it is determined that the current speed of the system is consistent with the preset speed and the current tilt angle of the system is within the preset tilt angle range (in other words, the speed of the system does not need to be changed, and the system does not need to be corrected for overturning posture at this time), the control step S1300 (for example, by controlling the output power of the first power motor and the second power motor to be zero) controls the first power motor and the second power motor to not output torque. In this case, the power output group can be made not to output power, and the anti-torque power group also does not output anti-torque.

[0055] When it is determined that the current speed of the system is inconsistent with the preset speed, and the current tilt angle of the system is within the preset tilt angle range (in other words, the speed of the system needs to be changed at this time, but the system does not need to be corrected for overturning posture), the control step S1300 (for example, by controlling the output power of the first power motor and the second power motor to be the same and the rotation directions of the first motor output shaft and the second motor output shaft to be opposite) controls the first power motor and the second power motor to output torques of opposite directions and the same magnitude. In this case, the power output group can output power, and the anti-torque power group does not output anti-torque.

[0056] When it is determined that the current speed of the system is inconsistent with the preset speed, and the current tilt angle of the system is not within the preset tilt angle range (in other words, the speed of the system needs to be changed and the system needs to be corrected for overturning posture), control step S1300 (for example, by controlling the output power of the first power motor and the second power motor to be different) controls the first power motor and the second power motor to output torques of different magnitudes (the torque directions can be the same or different at this time), thereby realizing the power output group outputting power and the anti-torque power group outputting anti-torque.

[0057] The self-balancing control method S1000 can be implemented, for example, by a self-balancing control system (not shown in the drawings). The self-balancing control system may include an acquisition module for implementing the above-mentioned acquisition step S1100, a processing module or a judgment module for implementing the above-mentioned judgment step S1200, and a control module for implementing the above-mentioned control step S1300. In a preferred embodiment, the acquisition module may, for example, include an acceleration sensor and / or a speed sensor for detecting the current acceleration and / or current speed of the system to further obtain the value of the current speed and / or the tilt angle, and the preset speed and preset tilt angle can be obtained by pre-storing in the self-balancing control system and / or from the controller of the self-balancing control system. The processing module may, for example, include a processing unit for comparing and judging the obtained current speed and / or tilt angle with the preset speed and / or preset tilt angle. The control module may, for example, include a motor controller for controlling the output power and / or the direction and / or magnitude of the output torque of the power motor.

[0058] Fig.10 A self-balancing vehicle 3000 according to an embodiment of the present disclosure is shown. The self-balancing vehicle may include the self-balancing power system 1000 and / or the self-balancing control system and / or apply the self-balancing control method. When applied to a self-balancing vehicle, the power output group in the self-balancing power system may be used to provide power for the forward / reverse driving state of the self-balancing vehicle, and the anti-torque power group in the self-balancing power system may be used to provide anti-torque for correcting the overturning posture of the self-balancing vehicle. The self-balancing vehicle may be configured as a two-wheeled vehicle, preferably as a motorcycle, and particularly preferably as a pure electric-driven motorcycle or a hybrid-electric-driven motorcycle.

[0059] The present disclosure implements a self-balancing power system, a control method, a control system and a self-balancing vehicle through the following implementation schemes. By placing part of the structure of the self-balancing power system outside the main body of the system and placing different power motors in different housings, it is possible to at least achieve the effect of improving space utilization and endurance, and it is also beneficial to improve the stability and heat dissipation effect of the self-balancing power system itself.

[0060] Item 1: A self-balancing power system, wherein the self-balancing power system includes a first roller unit, a second roller unit, a first battery group, a second battery group, a first power motor, a second power motor, a power output group and an anti-torque power group, wherein the power output group and the anti-torque power group are respectively connected to the first roller unit and the second roller unit from both sides of the first roller unit and the second roller unit, wherein the power output group is used to provide output power for the self-balancing power system, and the anti-torque power group is used to provide anti-torque force for the self-balancing power system.

[0061] Item 2: A self-balancing power system according to Item 2, wherein the first power motor comprises a first motor housing and a first motor output shaft, wherein the first motor housing is capable of rotating relative to the first motor output shaft and the first motor housing cannot rotate relative to the first roller unit, and the second power motor comprises a second motor housing and a second motor output shaft, wherein the second motor housing is capable of rotating relative to the second motor output shaft and the second motor housing cannot rotate relative to the second roller unit.

[0062] Item 3: The self-balancing power system according to Item 2, wherein the first battery pack is fixed to the first drum unit, and the second battery pack is fixed to the second drum unit.

[0063] Item 4: The self-balancing power system according to Item 2, wherein the first power motor housing is non-rotatably connected to the first drum unit, and the second power motor housing is non-rotatably connected to the second drum unit.

[0064] Item 5: The self-balancing power system according to Item 2, wherein the first roller unit and the second roller unit respectively include a first transmission shaft and a second transmission shaft, wherein the first transmission shaft cannot rotate relative to the first roller unit, and the second transmission shaft cannot rotate relative to the second roller unit.

[0065] Item 6: A self-balancing power system according to Item 5, wherein the power output group is respectively connected to the first motor output shaft and the second motor output shaft, and the anti-torque power group is respectively connected to the first transmission shaft and the second transmission shaft.

[0066] Item 7: A self-balancing power system according to Item 5, wherein the anti-torque power group is respectively connected to the first motor output shaft and the second motor output shaft, and the power output group is respectively connected to the first transmission shaft and the second transmission shaft.

[0067] Item 8: A self-balancing power system according to any one of items 1 to 7, wherein the self-balancing power system is configured to: when the torque output by the first power motor and the second power motor are in the same direction and the same magnitude, the power output group does not output power, and the anti-torque power group is capable of outputting anti-torque; when the torque output by the first power motor and the second power motor are in opposite directions and the same magnitude, the power output group is capable of outputting power, and the anti-torque power group does not output anti-torque; when the torque output by the first power motor and the second power motor are in different magnitudes, the power output group is capable of outputting power, and the anti-torque power group is capable of outputting anti-torque.

[0068] Item 9: The self-balancing power system according to Item 8, wherein the first roller unit and the second roller unit are arranged in parallel in a vertical direction or in parallel in a horizontal direction.

[0069] Item 10: The self-balancing power system according to Item 8, wherein the first battery pack and the first power motor are fixed inside the first drum unit, and the second battery pack and the second power motor are fixed inside the second drum unit.

[0070] Item 11: A self-balancing power system according to Item 8, wherein the power output group includes a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear and a seventh bevel gear, wherein the first bevel gear and the sixth bevel gear are respectively connected to the first motor output shaft and the second motor output shaft in a manner that they cannot rotate relative to each other; the second bevel gear and the seventh bevel gear are respectively connected to the first bevel gear and the sixth bevel gear in a transmission connection; the third bevel gear and the fifth bevel gear are respectively coaxial with the second bevel gear and the seventh bevel gear and are respectively connected in a manner that they cannot rotate relative to each other; and the fourth bevel gear is respectively connected to the third bevel gear and the fifth bevel gear in a transmission connection.

[0071] Item 12: A self-balancing power system according to Item 8, wherein the power output group includes a first spur gear, a second spur gear, a third spur gear and a fourth spur gear, wherein the first spur gear and the second spur gear are respectively connected to the first motor output shaft and the second motor output shaft in a non-rotatable manner, the third spur gear and the fourth spur gear are respectively connected to the first spur gear and the second spur gear in a transmission connection, and the third spur gear is connected to the fourth spur gear in a transmission connection.

[0072] Item 13: A self-balancing power system according to Item 8, wherein the power output group includes a first spur gear, a second spur gear, a first bevel gear, a second bevel gear, a first pulley, a second pulley, a third pulley and a synchronous belt, wherein the first pulley and the second spur gear are respectively connected to the first motor output shaft and the second motor output shaft in a manner that they cannot rotate relative to each other, the second spur gear is transmission-connected to the first spur gear, the second pulley is coaxially connected to the first spur gear in a manner that they cannot rotate relative to each other, and the synchronous belt is respectively transmission-connected to the first pulley and the second pulley, and the second spur gear is coaxially connected to the first bevel gear in a manner that they cannot rotate relative to each other, the second bevel gear is transmission-connected to the first bevel gear, and the third pulley is coaxially and non-rotatably connected to the second bevel gear in a manner that they cannot rotate relative to each other.

[0073] Item 14: A self-balancing power system according to Item 8, wherein the anti-torque power group includes a first spur gear, a second spur gear and a third spur gear, wherein the first spur gear and the second spur gear are respectively connected to the first transmission shaft and the second transmission shaft in a non-rotatable manner, and wherein the third spur gear is respectively connected to the first spur gear and the second spur gear in transmission connection.

[0074] Item 15: A self-balancing power system according to Item 8, wherein the anti-torque power group comprises a first pulley, a second pulley and a synchronous belt, wherein the first pulley and the second pulley are respectively connected to the first transmission shaft and the second transmission shaft in a non-rotatable manner relative to each other; and wherein the synchronous belt is respectively connected to the first pulley and the second pulley in transmission.

[0075] Item 16: A self-balancing power system according to Item 8, wherein the anti-torque power group includes a first spur gear, a second spur gear and a third spur internal gear, wherein the first spur gear and the second spur gear are respectively connected to the first transmission shaft and the second transmission shaft in a non-rotatable manner relative to each other; and wherein the third spur internal gear is respectively connected to the first spur gear and the second spur gear in transmission connection.

[0076] Item 17: A self-balancing control method for controlling a self-balancing power system according to any one of items 1 to 16, wherein the self-balancing control method comprises an acquisition step, comprising acquiring a current speed, a preset speed, a tilt angle and a preset tilt angle range of the self-balancing power system; a judgment step, comprising judging whether the current speed is consistent with the preset speed, and judging whether the tilt angle is within the preset tilt angle range; and a control step, comprising, when it is judged that the current speed is consistent with the preset speed and the tilt angle is not within the preset tilt angle range, controlling the first power motor and the second power motor to output torques with the same direction and magnitude, so that the power output group does not output power, and the anti-torque power group outputs anti-torque; when it is judged that the current speed is consistent with the preset speed and the tilt angle is not within the preset tilt angle range, When the tilt angle is within the preset tilt angle range, the first power motor and the second power motor are controlled not to output torque, so that the power output group does not output power, and the anti-torque power group does not output anti-torque; when it is determined that the current speed is inconsistent with the preset speed and the tilt angle is within the preset tilt angle range, the first power motor and the second power motor are controlled to output torques of opposite directions and the same magnitude, so that the power output group outputs power, and the anti-torque power group does not output anti-torque; and when it is determined that the current speed is inconsistent with the preset speed and the tilt angle is not within the preset tilt angle range, the first power motor and the second power motor are controlled to output torques of different magnitudes, so that the power output group outputs power, and the anti-torque power group outputs anti-torque.

[0077] Item 18: A self-balancing control method according to Item 17, wherein the controlling the first power motor and the second power motor to output torques with the same direction and magnitude includes: controlling the output powers of the first power motor and the second power motor to be the same, and controlling the rotation directions of the output shafts of the first motor and the output shafts of the second motor to be the same.

[0078] Item 19: The self-balancing control method according to Item 17, wherein controlling the first power motor and the second power motor to not output torque includes: controlling the output power of the first power motor and the second power motor to be zero.

[0079] Item 20: A self-balancing control method according to Item 17, wherein the controlling the first power motor and the second power motor to output torques of opposite directions and equal magnitudes includes: controlling the output powers of the first power motor and the second power motor to be the same, and controlling the rotation directions of the output shaft of the first motor and the output shaft of the second motor to be opposite.

[0080] Item 21: The self-balancing control method according to Item 17, wherein controlling the first power motor and the second power motor to output torques of different magnitudes includes: controlling the output powers of the first power motor and the second power motor to be different.

[0081] Item 22: A self-balancing control method according to any one of Items 17 to 21, wherein the inclination angle is set as an angle between a central axis plane of the self-balancing power system and a vertical plane.

[0082] Item 23: A self-balancing control method according to any one of Items 17 to 21, wherein the tilt angle range is set to 0 to 10°, so that the tilt angle not within the preset tilt angle range includes the tilt angle greater than 10°, and the tilt angle within the preset tilt angle range includes the tilt angle less than or equal to 10°.

[0083] Item 24: A self-balancing control method according to any one of Items 17 to 21, wherein the inclination angle not being within the preset inclination angle range includes the inclination angle not being equal to 0°, and the inclination angle being within the preset inclination angle range includes the inclination angle being equal to 0°.

[0084] Item 25: A self-balancing control system for implementing the self-balancing control method according to any one of items 17 to 24, wherein the self-balancing control system includes an acquisition module for implementing the acquisition step; a processing module for implementing the judgment step; and a control module for implementing the control step.

[0085] Item 26: The self-balancing control system according to Item 25, wherein the acquisition module includes an acceleration sensor and / or a velocity sensor, the processing module includes a processing unit, and / or the control module includes a motor controller.

[0086] Item 27: A self-balancing control system according to Item 26, wherein the acceleration sensor and / or speed sensor is used to detect or calculate the current speed and / or the tilt angle.

[0087] Item 28: The self-balancing control system according to Item 26, wherein the preset speed and the preset tilt angle range are pre-stored in the self-balancing control system and / or obtained from a controller of the self-balancing control system.

[0088] Item 29: A self-balancing vehicle, wherein the self-balancing vehicle comprises a self-balancing power system according to any one of items 1 to 16 and / or a self-balancing control system according to any one of items 25 to 28, and / or the self-balancing vehicle applies a self-balancing control method according to any one of items 17 to 24.

[0089] Item 30: The self-balancing vehicle according to Item 29, wherein the power output group is used to provide driving power for the forward or backward state of the self-balancing vehicle, and the anti-torque power group is used to provide anti-torque for correcting the overturning posture of the self-balancing vehicle.

[0090] Item 31: The self-balancing vehicle according to Item 29 or Item 30, wherein the self-balancing vehicle is configured as a two-wheeled vehicle.

[0091] Item 32: The self-balancing vehicle according to Item 29 or Item 30, wherein the self-balancing vehicle is configured as an electric motorcycle.

[0092] Item 33: The self-balancing vehicle according to Item 32, wherein the electric motorcycle is a pure electric-driven motorcycle or a hybrid electric-driven motorcycle.

[0093] The above is only a preferred specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A self-balancing power system, characterized in that: The self-balancing power system comprises: a first roller unit, a second roller unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a power output group, and an anti-torsion power group, The power output group and the anti-torque power group are respectively connected to the first roller unit and the second roller unit from both sides thereof. The first power motor includes a first motor housing and a first motor output shaft, wherein the first motor housing can rotate relative to the first motor output shaft, the first motor housing is connected to the first drum unit in a non-rotatable manner, and The second power motor includes a second motor housing and a second motor output shaft, wherein the second motor housing can rotate relative to the second motor output shaft, and the second motor housing is connected to the second drum unit in a non-rotatable manner. Wherein, the power output group is used to provide output power of the self-balancing power system, and the anti-torque power group is used to provide anti-torque force of the self-balancing power system.

2. The self-balancing power system according to claim 1, characterized in that: The first battery pack is fixed to the first drum unit, and the second battery pack is fixed to the second drum unit.

3. The self-balancing power system according to claim 1, characterized in that: The first drum unit and the second drum unit include a first transmission shaft and a second transmission shaft, respectively, wherein the first transmission shaft cannot rotate relative to the first drum unit, and the second transmission shaft cannot rotate relative to the second drum unit.

4. The self-balancing power system according to claim 3, characterized in that: The power output group is respectively connected to the first motor output shaft and the second motor output shaft, and the anti-torque power group is respectively connected to the first transmission shaft and the second transmission shaft.

5. The self-balancing power system according to claim 3, characterized in that: The anti-torque power group is respectively connected to the first motor output shaft and the second motor output shaft, and the power output group is respectively connected to the first transmission shaft and the second transmission shaft.

6. The self-balancing power system according to any one of claims 3 to 5, characterized in that: The self-balancing power system is configured to: When the torques output by the first power motor and the second power motor are in the same direction and magnitude, the power output group does not output power, and the anti-torque power group is able to output anti-torque; When the torques output by the first power motor and the second power motor are in opposite directions and have the same magnitude, the power output group is enabled to output power, and the anti-torque power group does not output anti-torque; When the torques output by the first power motor and the second power motor are different in magnitude, the power output group is enabled to output power, and the anti-torque power group is enabled to output anti-torque.

7. The self-balancing power system according to claim 6, characterized in that: The first roller unit and the second roller unit are arranged in parallel in a vertical direction or in a horizontal direction.

8. The self-balancing power system according to claim 6, characterized in that: The first battery pack and the first power motor are fixed inside the first drum unit, and The second battery pack and the second power motor are fixed inside the second drum unit.

9. The self-balancing power system according to claim 6, characterized in that: The power output group includes a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear and a seventh bevel gear, wherein: The first bevel gear and the sixth bevel gear are respectively connected to the first motor output shaft and the second motor output shaft in a manner that they cannot rotate relative to each other; The second bevel gear and the seventh bevel gear are drivingly connected to the first bevel gear and the sixth bevel gear respectively; The third bevel gear and the fifth bevel gear are respectively coaxially connected to the second bevel gear and the seventh bevel gear and cannot rotate relative to each other; and The fourth bevel gear is drivingly connected to the third bevel gear and the fifth bevel gear respectively.

10. The self-balancing power system according to claim 6, characterized in that: The power output group includes a first spur gear, a second spur gear, a third spur gear and a fourth spur gear, wherein: The first spur gear and the second spur gear are respectively connected to the first motor output shaft and the second motor output shaft in a non-rotatable manner. The third spur gear and the fourth spur gear are drivingly connected to the first spur gear and the second spur gear respectively, and The third spur gear is drivingly connected to the fourth spur gear.

11. The self-balancing power system according to claim 6, characterized in that: The power output group includes a first spur gear, a second spur gear, a first bevel gear, a second bevel gear, a first pulley, a second pulley, a third pulley and a synchronous belt, wherein: The first pulley and the second spur gear are respectively connected to the first motor output shaft and the second motor output shaft in a non-rotatable manner. The second spur gear is drivingly connected to the first spur gear, the second pulley is coaxially connected to the first spur gear so as to be non-rotatable relative to it, and the synchronous belt is drivingly connected to the first pulley and the second pulley respectively, and The second spur gear is coaxially connected to the first bevel gear so as to be non-rotatable relative to the first bevel gear, the second bevel gear is transmission-connected to the first bevel gear, and the third pulley is coaxially and non-rotatably connected to the second bevel gear.

12. The self-balancing power system according to claim 6, characterized in that: The anti-torque force group includes a first spur gear, a second spur gear and a third spur gear, The first spur gear and the second spur gear are respectively connected to the first transmission shaft and the second transmission shaft in a non-rotatable manner. And wherein, the third spur gear is drivingly connected to the first spur gear and the second spur gear respectively.

13. The self-balancing power system according to claim 6, characterized in that: The anti-torsion power group includes a first pulley, a second pulley and a synchronous belt. Wherein, the first pulley and the second pulley are respectively connected to the first transmission shaft and the second transmission shaft in a non-rotatable manner relative to each other; And wherein, the synchronous belt is drivingly connected to the first pulley and the second pulley respectively.

14. The self-balancing power system according to claim 6, characterized in that: The anti-torque force group includes a first spur gear, a second spur gear and a third spur internal gear. Wherein, the first spur gear and the second spur gear are respectively connected to the first transmission shaft and the second transmission shaft in a non-rotatable manner relative to each other; And wherein, the third spur internal gear is drivingly connected to the first spur gear and the second spur gear respectively.

15. A self-balancing control method for controlling a self-balancing power system according to any one of claims 1 to 14, characterized in that: The self-balancing control method comprises: An acquisition step includes acquiring a current speed, a preset speed, an inclination angle, and a preset inclination angle range of the self-balancing power system; a judging step, comprising judging whether the current speed is consistent with the preset speed, and judging whether the tilt angle is within a preset tilt angle range; and Control steps include: When it is determined that the current speed is consistent with the preset speed and the tilt angle is not within the preset tilt angle range, the first power motor and the second power motor are controlled to output torques with the same direction and magnitude, so that the power output group does not output power, and the anti-torque power group outputs anti-torque; When it is determined that the current speed is consistent with the preset speed and the tilt angle is within the preset tilt angle range, the first power motor and the second power motor are controlled not to output torque, so that the power output group does not output power, and the anti-torque power group does not output anti-torque; When it is determined that the current speed is inconsistent with the preset speed and the tilt angle is within the preset tilt angle range, the first power motor and the second power motor are controlled to output torques of opposite directions and the same magnitude, so that the power output group outputs power and the anti-torque power group does not output anti-torque; and When it is determined that the current speed is inconsistent with the preset speed and the inclination angle is not within the preset inclination angle range, the first power motor and the second power motor are controlled to output torques of different magnitudes, so that the power output group outputs power and the anti-torque power group outputs anti-torque.

16. The self-balancing control method according to claim 15, characterized in that: The controlling the first power motor and the second power motor to output torques with the same direction and magnitude includes: controlling the output power of the first power motor and the second power motor to be the same, and controlling the rotation directions of the output shaft of the first motor and the output shaft of the second motor to be the same.

17. The self-balancing control method according to claim 15, characterized in that: The controlling the first power motor and the second power motor not to output torque includes: controlling the output power of the first power motor and the second power motor to be zero.

18. The self-balancing control method according to claim 15, characterized in that: The controlling the first power motor and the second power motor to output torques of opposite directions and equal magnitudes includes: controlling the output powers of the first power motor and the second power motor to be equal, and controlling the rotation directions of the output shaft of the first motor and the output shaft of the second motor to be opposite.

19. The self-balancing control method according to claim 15, characterized in that: The controlling the first power motor and the second power motor to output torques of different magnitudes includes: controlling the first power motor and the second power motor to have different output powers.

20. The self-balancing control method according to any one of claims 15 to 19, characterized in that: The tilt angle is set as the angle between the central axis plane of the self-balancing power system and the vertical plane.

21. The self-balancing control method according to any one of claims 15 to 19, characterized in that: The tilt angle range is set to 0-10°, so that: The inclination angle not being within the preset inclination angle range includes the inclination angle being greater than 10°, and the inclination angle being within the preset inclination angle range includes the inclination angle being less than or equal to 10°.

22. The self-balancing control method according to any one of claims 15 to 19, characterized in that: The inclination angle not being within the preset inclination angle range includes the inclination angle not being equal to 0°, and the inclination angle being within the preset inclination angle range includes the inclination angle being equal to 0°.

23. A self-balancing control system, used to implement the self-balancing control method according to any one of claims 15 to 22, characterized in that: The self-balancing control system comprises: An acquisition module, used to implement the acquisition step; A processing module, used to implement the determination step; and A control module is used to implement the control step.

24. The self-balancing control system according to claim 23, characterized in that: The acquisition module includes an acceleration sensor and / or a velocity sensor, The processing module includes a processing unit, and / or The control module includes a motor controller.

25. The self-balancing control system according to claim 24, characterized in that: The acceleration sensor and / or the speed sensor is used to detect or calculate the current speed and / or the tilt angle.

26. The self-balancing control system according to claim 24, characterized in that: The preset speed and the preset tilt angle range are pre-stored in the self-balancing control system and / or obtained from a controller of the self-balancing control system.

27. A self-balancing vehicle, characterized in that: The self-balancing vehicle comprises a self-balancing power system according to any one of claims 1 to 14 and / or a self-balancing control system according to any one of claims 23 to 26, and / or The self-balancing vehicle applies the self-balancing control method according to any one of claims 15 to 22.

28. The self-balancing vehicle according to claim 27, characterized in that: The power output group is used to provide driving power for the self-balancing vehicle to move forward or backward, and the anti-torque power group is used to provide anti-torque for the self-balancing vehicle to correct its overturning posture.

29. The self-balancing vehicle according to claim 27 or 28, characterized in that: The self-balancing vehicle is configured as a two-wheeled vehicle.

30. The self-balancing vehicle according to claim 27 or 28, characterized in that: The self-balancing vehicle is configured as an electric motorcycle.

31. The self-balancing vehicle according to claim 30, characterized in that: The electric motorcycle is configured as a purely electrically driven motorcycle or a hybrid electrically driven motorcycle.

Images