Hub assembly, wheel, vehicle and control method thereof

Abstract

The invention discloses a hub assembly, a wheel, a vehicle and a control method of the vehicle, relates to the technical field of vehicles, and aims to solve the problem that after blades are arranged on the wheel, the wind resistance is increased when the vehicle runs on the land, so that the energy consumption of the vehicle is increased. The hub assembly comprises a hub body and blades. The hub body is provided with lightening holes. And the blades are arranged at the lightening holes, and when the blades are in an open state, the blades are used for enabling the wheel to run in a wading state. When the blades are in the closed state, the blades cover at least part of the lightening holes.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a wheel hub assembly, a wheel, a vehicle and a control method thereof. Background Art

[0002] Vehicles may encounter flooded roads during driving. Water resistance and buoyancy can cause the vehicle to slip or become immobile. To prevent this, blades are often installed on the wheels to assist the vehicle in navigating flooded roads.

[0003] However, after providing blades on the wheels, the wind resistance of the vehicle will increase when it is traveling on land, resulting in an increase in the energy consumption of the vehicle. Summary of the Invention

[0004] The purpose of the present invention is to provide a hub assembly, a wheel, a vehicle and a control method thereof, aiming to solve the problem that after blades are provided on the wheel, the wind resistance of the vehicle increases when it is traveling on land, resulting in increased energy consumption of the vehicle.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present application provides a wheel hub assembly comprising a wheel hub body and blades. The wheel hub body is provided with a weight-reducing hole. Blades are disposed in the weight-reducing hole. When the blades are in an open position, the blades are used to enable the wheel to navigate in a wading state. When the blades are in a closed position, the blades cover at least a portion of the weight-reducing hole.

[0007] When the vehicle is driving and the wheels are wading through water, the blades in the open state can paddle the water as the wheels rotate to provide thrust, thereby providing power for the vehicle to move forward in the water, thus ensuring the normal driving of the vehicle on the wading section.

[0008] When the blades are in the closed state, they can cover at least a portion of the lightening holes, thereby blocking air and reducing the amount of air entering the lightening holes. This reduces the air resistance experienced by the wheel hub assembly, thereby reducing vehicle energy loss and improving vehicle performance.

[0009] In some embodiments, the blades are rotatably coupled to the hub body to switch the blades between a closed state and an open state.

[0010] In some embodiments, the lightening hole extends along the axial direction of the hub body.

[0011] In some embodiments, the blade includes a first end and a second end disposed opposite each other, the first end being rotatably connected to the hub body. When the blade is in a closed state, the second end is located to one side of the first end in the circumferential direction of the hub body. When the blade is in an open state, the second end is located to one side of the hub body in the axial direction.

[0012] In some embodiments, the first end is located within the lightening hole, and when the blade is in the closed state, the second end is located within the lightening hole.

[0013] In some embodiments, the shape of the blade matches the shape of the lightening hole.

[0014] In some embodiments, when the blade is in a closed state, the outer surface of the blade has a contour line that surrounds the blade along the edge of the blade, and the contour line is located on one side surface of the hub body in the axial direction.

[0015] In some embodiments, the hub assembly further includes a drive assembly connected to the blades to drive the blades to rotate.

[0016] In some embodiments, the blade includes a main body and a rotating shaft connected to the main body. The hub body is provided with a mounting hole, and at least a portion of the rotating shaft is rotatably connected to the mounting hole. A drive assembly is connected to the rotating shaft to drive the rotating shaft to rotate.

[0017] In some embodiments, the axial direction of the rotating shaft is perpendicular to the axial direction of the hub body.

[0018] In some embodiments, the blade further includes a bearing, which is disposed in the mounting hole and connected to the hub body, and the rotating shaft is connected to the bearing.

[0019] In some embodiments, the number of blades is multiple. The driving assembly includes a power member and a transmission structure, wherein the transmission structure is connected between the power member and the multiple blades, so that the power member drives the multiple blades to rotate through the transmission structure.

[0020] In some embodiments, the transmission structure includes a first engagement member and a plurality of second engagement members. The first engagement member is connected to the power member. The plurality of second engagement members are all engaged with the first engagement member, and the second engagement members are connected to the blades.

[0021] In some embodiments, the first engaging member includes a first bevel gear and the second engaging member includes a second bevel gear.

[0022] In some embodiments, the blade has a concave side and a convex side disposed opposite each other. When the hub assembly is in a closed position, the concave side is located on the axial side of the convex side of the hub body. For any blade, when the blade is in an open position and positioned on top of the wheel, the concave side is located on the side of the convex side facing the front of the vehicle in the forward direction of the vehicle.

[0023] In some embodiments, the hub body includes a rim, a plurality of spokes and a central support member, the rim surrounds the central support member, the plurality of spokes are connected between the rim and the central support member, and are arranged at intervals along the circumference of the hub body to form a plurality of weight-reducing holes.

[0024] A second aspect of the present application provides a wheel comprising the above-mentioned hub assembly.

[0025] In some embodiments, the wheel further includes a tire, which is mounted on the hub assembly.

[0026] A third aspect of the present application provides a vehicle control method, comprising obtaining a signal indicating that a wading mode has been entered, and controlling blades to switch to an open state.

[0027] In some embodiments, the control method further includes obtaining a wading depth of the wheel. If the wading depth of the wheel is greater than a preset depth, a first request instruction is issued, the first request instruction being used to request whether to enter the wading mode.

[0028] In some embodiments, the control method further includes determining whether the blades are in a closed state if the wading depth is less than a preset depth, and issuing a second request instruction if the blades are not in a closed state, the second request instruction being used to request whether to control the blades to switch to a closed state.

[0029] In some embodiments, the control method further includes calculating a theoretical speed of the vehicle based on the wheel rotational speed in the wading mode, determining whether the actual speed of the vehicle is equal to the theoretical speed of the vehicle, and outputting the actual speed of the vehicle if the actual speed of the vehicle is not equal to the theoretical speed of the vehicle.

[0030] In a fourth aspect of the present application, an electronic device is provided, comprising a memory and a processor. The memory and the processor are coupled. The memory is configured to store computer program code, which includes computer instructions. When the processor executes the computer instructions, the electronic device performs the aforementioned control method.

[0031] In a fifth aspect of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned control method.

[0032] In a sixth aspect of the present application, a vehicle is provided, comprising the above-mentioned wheel hub assembly, or the above-mentioned wheel, or the above-mentioned electronic device, or the above-mentioned computer-readable storage medium.

[0033] In some embodiments, the vehicle further includes an axle connected between the wheels and the vehicle body.

[0034] In some embodiments, the wheel includes a power member, which is arranged around the axle and connected to the axle.

[0035] In some embodiments, the output shaft of the power member is disposed around the axle.

[0036] In some embodiments, the vehicle includes an electronic device, the electronic device includes a processor, and the processor is configured to obtain a signal for entering a wading mode and control the blades to switch to an open state.

[0037] In some embodiments, the vehicle further comprises: a wading depth sensor adapted to detect the wading depth of the wheels.

[0038] In some embodiments, the processor is electrically connected to the wading depth sensor, and the processor is configured to obtain the wading depth of the wheel and issue a first request instruction if the wading depth of the wheel is greater than a preset depth, the first request instruction being used to request whether to enter the wading mode.

[0039] In some embodiments, the processor is further configured to determine whether the blades are in a closed state if the wading depth is less than a preset depth, and to issue a second request instruction if the blades are not in a closed state, the second request instruction being used to request whether to control the blades to switch to a closed state.

[0040] In some embodiments, the vehicle further includes a rotation speed sensor configured to detect the rotation speed of the wheels.

[0041] In some embodiments, the vehicle further includes a vehicle speed sensor, which is adapted to detect an actual driving speed of the vehicle.

[0042] In some embodiments, the vehicle speed sensor and the rotation speed sensor are both electrically connected to the processor, and the processor is further configured to calculate the theoretical speed of the vehicle based on the wheel rotation speed in wading mode, and output the actual speed of the vehicle if the actual speed is not equal to the theoretical speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] Figure 1 A schematic diagram of the external structure of a vehicle provided in an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of the external structure of the wheel when the blade is in the first position;

[0046] Figure 3 is a schematic diagram of the cross-sectional structure of the wheel when the blade is in the first position;

[0047] Figure 4 is a schematic diagram of the external structure of the wheel when the blade is in the second position;

[0048] Figure 5 is a schematic diagram of the cross-sectional structure of the wheel when the blade is in the second position;

[0049] Figure 6 A schematic diagram of the positions of the first mounting hole and the second mounting hole;

[0050] Figure 7 Schematic diagram of the connection position of the first bearing;

[0051] Figure 8 is a schematic diagram of the connection position of the second bearing;

[0052] Figure 9 This is a flow chart of the vehicle entering the wading mode;

[0053] Figure 10 A flowchart for determining whether the vehicle has entered wading mode;

[0054] Figure 11 A flowchart for determining whether the vehicle has exited the wading mode;

[0055] Figure 12 A flowchart for determining whether the displayed speed of a vehicle is normal;

[0056] Figure 13 A flowchart of a vehicle control method is shown.

[0057] Figure markings: 100, vehicle; 10, wheel; 1, center support member; 11, first mounting hole; 2, spoke; 3, rim; 31, second mounting hole; 4, blade; 41, raised side; 42, recessed side; 43, second end; 44, first end; 45, main body; 5, drive assembly; 51, power member; 511, output shaft; 52, rotating shaft; 53, first engaging member; 531, first bevel gear; 54, second engaging member; 541, second bevel gear; 6, first bearing; 7, second bearing; 8, third bearing; 9, fourth bearing; 101, lightening hole; 102, hub assembly; 103, transmission mechanism; 20, vehicle body; 30, axle. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "back," "inner," "outer," and the like, indicating directions or positional relationships, are based on the directions or relative positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limitations on the present invention. Unless otherwise specified, the above-mentioned directions may be flexibly set in actual application, provided that the relative positional relationships shown in the accompanying drawings are met.

[0060] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0061] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "communicated" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be directly connected, indirectly connected through an intermediary, or internally connected between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0062] In embodiments of the present invention, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, article, or apparatus comprising the element.

[0063] In the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0064] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0065] The present application provides a vehicle, such as Figure 1 、 Figure 2 As shown, Figure 1 This is a schematic diagram of the external structure of a vehicle 100 provided in an embodiment of the present application. Figure 2 FIG4 is a schematic diagram of the external structure of the wheel 10 when the blade 4 is in the first position. The vehicle 100 includes a vehicle body 20 and a wheel 10, and the wheel 10 is rotatably connected to the vehicle body 20. The wheel 10 rotates to drive the vehicle body 20 to move, thereby realizing the driving function of the vehicle 100.

[0066] The wheel 10 includes a hub assembly 102 and a tire. The tire is mounted on the hub assembly 102. When the vehicle 100 is traveling, the tire contacts the ground to support the vehicle 100. The tire can also cushion the vehicle 100 while it is traveling, and ensure the friction between the wheel 10 and the ground, thereby ensuring the normal travel of the vehicle 100.

[0067] like Figure 2 As shown, the hub assembly 102 includes a hub body, and the hub body is provided with a plurality of weight-reducing holes 101 .

[0068] For example, the shape of the hub body can be a cylinder, a prism, etc.

[0069] Illustratively, the lightening hole 101 may extend along the axis of the hub body, or may extend along a direction intersecting the axial direction of the hub body.

[0070] Specifically, the hub body includes a central support member 1 , a plurality of spokes 2 and a rim 3 , wherein the plurality of spokes 2 are connected between the central support member 1 and the rim 3 .

[0071] For example, the central support member 1 may be in the shape of a cylinder, a prism, etc., and the plurality of spokes 2 are arranged at intervals along the circumference of the central support member 1 .

[0072] like Figure 1 、 Figure 2As shown, the vehicle 100 further includes an axle 30, which is rotatably connected between the vehicle body 20 and the wheels 10. Specifically, the axle 30 is connected to the central support 1. The rotation of the axle 30 drives the central support 1 to rotate, thereby driving the wheels 10 to rotate.

[0073] Specifically, the tire is mounted on the rim 3 .

[0074] In some embodiments, as Figure 2 、 Figure 3 As shown, Figure 3 Figure 1 is a schematic cross-sectional view of a wheel 10 with blades 4 in the closed position. The center support 1, multiple spokes 2, and rim 3 define at least one lightening hole 101. The hub assembly 102 also includes multiple blades 4, which are positioned within the lightening hole 101 and can be switched between a closed and an open position.

[0075] like Figure 2 、 Figure 3 As shown, when the blade 4 is in the closed state, the blade 4 covers at least a portion of the lightening hole 101 .

[0076] like Figure 4 、 Figure 5 As shown, Figure 4 is a schematic diagram of the external structure of the wheel 10 when the blades 4 are in the open state, Figure 5 Schematic diagram of the cross-sectional structure of the wheel 10 when the blades 4 are in the open state. When the blades 4 are in the open state, the blades 4 are used to enable the wheel 10 to travel in a wading state.

[0077] When the vehicle 100 is traveling and the wheels 10 are wading, the blades 4 in the open state can paddle the water as the wheels 10 rotate to provide thrust, thereby providing power for the vehicle 100 to move forward in the water, thereby ensuring the normal driving of the vehicle 100 on the wading section.

[0078] When the blades 4 are in the closed state, the blades 4 can cover at least a portion of the lightening holes 101, thereby blocking air and reducing the amount of air entering the lightening holes 101. This reduces the air resistance experienced by the hub assembly 102, thereby reducing energy loss in the vehicle 100 and improving the performance of the vehicle 100.

[0079] Exemplarily, the plurality of blades 4 correspond one-to-one to the plurality of weight-reducing holes 101 , and only one blade 4 is disposed in one weight-reducing hole 101 .

[0080] For example, the number of blades 4 may be greater than the number of lightening holes 101 , at least one blade 4 may be provided in one lightening hole 1001 , and two, three, four, etc. blades may be provided in some lightening holes 101 .

[0081] For the convenience of subsequent description, the following description will be made by taking the case where the blades 4 are in an open state and partially located outside the hub body as an example.

[0082] In some embodiments, as Figure 2 As shown, the blade 4 includes a first end 44 and a second end 43 that are oppositely disposed, and the first end 44 is rotatably connected to the hub body.

[0083] When the blade 4 is in the closed state, the second end 43 is located on one side of the first end 44 in the circumferential direction of the hub body.

[0084] When the blade 4 is in the open state, the second end 43 is located on one side of the hub body in the axial direction.

[0085] Illustratively, when the blades 4 are in the open state, they may be partially located on the inner side of the hub body, that is, the side of the hub body facing the inside of the vehicle 100 , or partially located on the outer side of the hub body, that is, the side of the hub body facing the outside of the vehicle 100 .

[0086] Through the above arrangement, when the first end 44 of the blade 4 is rotated around the first axis and connected to the hub body, when the blade 4 rotates to the second position, a larger portion of the blade 4 can extend to the outside of the hub body, thereby increasing the thrust generated by the blade 4 when paddling, thereby further improving the stability of the vehicle 100 when driving on a wading section.

[0087] It should be noted that the second end 43 is located on the side of the first end 44 in the circumferential direction of the hub body, and the arrangement direction of the second end 43 and the first end 44 is parallel to the circumferential direction of the hub body, or the arrangement direction of the second end 43 and the first end 44 intersects with the circumferential direction of the hub body.

[0088] The second end 43 is located on one side of the first end 44 in the axial direction of the hub body. The arrangement direction of the second end 43 and the first end 44 can be parallel to the axial direction of the hub body, or the arrangement direction of the second end 43 and the first end 44 can intersect with the axial direction of the hub body.

[0089] In some embodiments, the first end 44 is located in the lightening hole 101 , and when the blade 4 is in the closed state, the second end 43 is located in the lightening hole 101 .

[0090] In this way, when the blade 4 is in the closed state, the first end 44 and the second end 43 are both located in the lightening hole 101 , that is, the first end 43 and the second end 43 do not protrude from the outer surface of the hub body.

[0091] In this way, when the air flows along the outer surface of the hub body to the weight-reducing hole 101, the air can flow directly to the side surface of the blade 4 facing the outside of the hub body, so that the air can flow more smoothly along the outer surface of the hub body and the blade 4, so as to further reduce the air resistance of the hub assembly 102 when the blade 4 is in the closed state.

[0092] In some embodiments, the shape of the blade 4 matches the shape of the weight-reducing hole 101. In this way, the blade 4 can more reasonably cover the weight-reducing hole 101, thereby further reducing the amount of air flowing into the weight-reducing hole 101 when the blade 4 is in the closed state.

[0093] In some embodiments, when the blade 4 is in a closed state, the outer surface of the blade 4 has a contour line that surrounds the blade 4 along the edge of the blade 4 , and the contour line is located on one side surface of the hub body in the axial direction.

[0094] Through the above arrangement, when the blades 4 are in the closed state and the hub body is rotating, when the air is blown to the outside of the hub body, it will flow along the outer surface of the blades 4 and the outer surface of the hub body. Since the contour line of the outer surface of the blades 4 is located on one side surface of the hub body in the axial direction, the air can flow relatively smoothly along the blades 4 and the hub body, which can further reduce the air resistance of the wheel 10, thereby further improving the performance of the vehicle 100.

[0095] like Figure 3 、 Figure 5 As shown, the hub assembly 102 further includes a drive assembly 5. The drive assembly 5 is connected to the blades 4 to drive the blades 4 to rotate. Thus, by driving the blades 4 with the drive assembly 5, the blades 4 can be switched between a closed state and an open state, thereby achieving the effect of reducing the air resistance exerted on the hub assembly 102 by the blades 4 and the effect of propelling the vehicle 100 when wading.

[0096] In some embodiments, the driving assembly 5 may include multiple motors, and the multiple motors correspond to the multiple blades 4 one by one, and one motor is connected to one blade 4 to drive the blade 4 to rotate.

[0097] In this way, the plurality of blades 4 can be controlled to rotate by the plurality of motors respectively, so as to realize the switching of the plurality of blades 4 between the closed state and the open state.

[0098] In other embodiments, the driving assembly 5 includes a power member 51 and a transmission structure 103 . The transmission structure 103 is connected between the power member 51 and the plurality of blades 4 , so that the power member 51 drives the plurality of blades 4 to rotate through the transmission structure 103 .

[0099] In this way, compared to controlling the rotation of multiple blades 4 through multiple motors, when the driving component 5 includes a power part 51 and a transmission structure 103, it is only necessary to enable the power part 51 to transmit power to multiple blades 4 through the transmission structure 103, so as to control the simultaneous rotation of multiple blades 4. This can facilitate the installation of the driving component 5 and save the cost of the driving component 5. At the same time, the power part 51 can drive the multiple blades 4 to rotate synchronously to ensure that the multiple blades 4 can rotate to the first position or the second position at the same time, thereby ensuring the normal function of the multiple blades 4.

[0100] In some embodiments, the transmission structure 103 includes a first engagement member 54 and a plurality of second engagement members 53. The first engagement member 54 is connected to the power member 51. The plurality of second engagement members 53 are all engaged with the first engagement member 54, and the second engagement members 53 are connected to the blades 4.

[0101] In this way, the power member 51 can be transmitted to the plurality of second engaging members 53 through the first engaging member 54 , so as to drive the plurality of blades 4 to rotate through the plurality of second engaging members 53 .

[0102] For example, the first meshing member 54 may include a rack assembly consisting of a plurality of connected racks, and the second meshing member 53 may include a spur gear, with one spur gear connected to one blade 4. The plurality of racks correspond one to one with the plurality of spur gears, and one rack meshes with one spur gear. The power member 51 may include a linear motor, a hydraulic rod, or the like.

[0103] In this way, the rack assembly is pushed to move by the power member 51 , so that the rack assembly can drive the multiple spur gears to rotate, thereby driving the multiple blades 4 to rotate.

[0104] It can be understood that the moving direction of the rack is perpendicular to the first axis, and the axis of the spur gear coincides with the rotation axis 52 of the corresponding blade 4 .

[0105] Another example is Figure 3 、 Figure 5 As shown, the first engagement member 54 may include a first bevel gear 541, and the second engagement member 53 may include a second bevel gear 531. The power member 51 may be an electric motor, a pneumatic motor, or the like.

[0106] Through the above arrangement, the power member 51 can drive the first bevel gear 541 to rotate, thereby driving the plurality of second bevel gears 531 to rotate, thereby simultaneously controlling the plurality of blades 4 to rotate to the first position or the second position.

[0107] In the above case, in some embodiments, the power member 51 includes a motor, which is disposed around the axle 30 and connected to the axle 30. Exemplarily, the motor is a rotary motor, and the stator of the rotary motor is fixed to the axle 30 and disposed around the axle 30. The mover of the rotary motor is disposed around the stator and is capable of rotating relative to the stator. The mover is connected to the output shaft 511, and the mover rotates relative to the stator to drive the output shaft 511 to rotate.

[0108] In this way, the motor can be supported by the axle 30 to facilitate installation. Furthermore, compared to connecting the motor to the central support 1, the spokes 2, or the rim 3, when the motor is installed on the axle 30, there is more space at the axle 30, which facilitates installation of the motor.

[0109] In some embodiments, the output shaft 511 of the motor is disposed around the axle 30 .

[0110] like Figure 3 、 Figure 5 As shown, the drive assembly 5 further includes a fourth bearing 9 , which is connected between the output shaft 511 of the motor and the axle 30 .

[0111] Through the above arrangement, since the fourth bearing 9 is connected between the output shaft 511 of the motor and the axle 30, the axle 30 can support the output shaft 511 of the motor through the fourth bearing 9 to improve the stability of the motor installed on the axle 30. At the same time, in the process of the output shaft 511 of the motor rotating relative to the axle 30, the fourth bearing 9 can reduce the friction between the output shaft 511 of the motor and the axle 30, thereby reducing the wear of the output shaft 511 of the motor and the axle 30, and extending the service life of the output shaft 511 of the motor and the axle 30.

[0112] In some embodiments, the blade 4 includes a main body 45 and a rotating shaft 52 connected to the main body 45 .

[0113] The hub body is provided with a mounting hole, and at least a portion of the rotating shaft 52 is rotatably connected in the mounting hole.

[0114] Through the above arrangement, the rotating shaft 52 can be positioned through the mounting hole to facilitate the installation of the blade 4.

[0115] In some embodiments, the axial direction of the rotating shaft 52 is perpendicular to the axial direction of the hub body.

[0116] In this way, when the blades 4 are in the open state and the vehicle 100 is wading, the water flow can act vertically on the blades 4, thereby ensuring that the blades 4 have a larger contact area with the water flow. In this way, the blades 4 can provide greater thrust for the vehicle 100, thereby further ensuring the normal driving of the vehicle 100 in the wading section.

[0117] In some embodiments, as Figure 6 As shown, Figure 6 3 is a schematic diagram of the positions of the first mounting hole 11 and the second mounting hole 31 . The mounting holes include the first mounting hole 11 , and the first mounting hole 11 is provided on the central support member 1 .

[0118] In this way, since the rotating shaft 52 at least partially extends into the first mounting hole 11, the first mounting hole 11 can limit the radial movement of the rotating shaft 52 along the first mounting hole 11, thereby continuing to position the rotating shaft 52 and improving the stability of the rotating shaft 52 when connected to the center support member 1.

[0119] It can be understood that there are multiple first mounting holes 11 , and one rotating shaft 52 extends into one first mounting hole 11 .

[0120] In some embodiments, the blade 4 further includes a bearing, which is disposed in the mounting hole and connected to the hub body, and the rotating shaft 52 is connected to the bearing.

[0121] In this way, by installing the bearing in the installation hole, the friction between the rotating shaft 52 and the hub body can be reduced, thereby reducing the wear of the rotating shaft 52 and the hub body.

[0122] Specifically, if Figure 7 As shown, Figure 7 Schematic diagram of the connection position of the first bearing 6 , the bearing includes the first bearing 6 , and the first bearing 6 is connected between the rotating shaft 52 and the central support member 1 .

[0123] Through the above arrangement, since the first bearing 6 is connected between the rotating shaft 52 and the central support member 1, during the process of the rotating shaft 52 rotating to drive the blade 4 to rotate, the first bearing 6 can reduce the friction between the rotating shaft 52 and the central support member 1, thereby reducing the wear of the rotating shaft 52 and the central support member 1 and extending the service life of the drive assembly 5 and the central support member 1.

[0124] Illustratively, the first bearing 6 may be disposed outside the first mounting hole 11 .

[0125] For example, the first bearing 6 is disposed in the first mounting hole 11, with the outer ring of the first bearing 6 in contact with the inner circumferential wall of the first mounting hole 11, and the inner ring of the first bearing 6 connected to the rotating shaft 52. In this way, the first bearing 6 can be directly disposed in the first mounting hole 11, thereby facilitating the installation of the first bearing 6.

[0126] For example, the first bearing 6 may be directly snap-fitted into the first mounting hole 11 , or may be fixed in the first mounting hole 11 by gluing or other methods.

[0127] In some embodiments, as Figure 6As shown, the installation further includes a second mounting hole 31 , which is provided on the rim 3 , and the rotating shaft 52 at least partially extends into the second mounting hole 31 .

[0128] In this way, since the rotating shaft 52 at least partially extends into the second mounting hole 31, the second mounting hole 31 can limit the radial movement of the rotating shaft 52 along the first mounting hole 11, thereby continuing to position the rotating shaft 52 and improving the stability of the rotating shaft 52 when connected to the rim 3.

[0129] It can be understood that there are multiple second mounting holes 31 , and one rotating shaft 52 extends into one second mounting hole 31 .

[0130] In some embodiments, as Figure 4 、 Figure 7 and Figure 8 As shown, Figure 8 Schematic diagram of the connection position of the second bearing 7 . The bearing further includes a second bearing 7 , which is connected between the rotating shaft 52 and the rim 3 .

[0131] Through the above-mentioned arrangement, since the second bearing 7 is connected between the rotating shaft 52 and the rim 3, during the process of the rotating shaft 52 rotating to drive the blade 4 to rotate, the second bearing 7 can reduce the friction between the rotating shaft 52 and the rim 3, thereby reducing the wear of the rotating shaft 52 and the rim 3 and extending the service life of the drive assembly 5 and the rim 3.

[0132] Illustratively, the second bearing 7 may be disposed outside the second mounting hole 31 .

[0133] For example, the second bearing 7 is disposed in the second mounting hole 31, with the outer ring of the second bearing 7 in contact with the inner circumferential wall of the second mounting hole 31, and the inner ring of the second bearing 7 connected to the rotating shaft 52. In this way, the second bearing 7 can be directly disposed in the second mounting hole 31, thereby facilitating the installation of the second bearing 7.

[0134] For example, the second bearing 7 can be directly snapped into the second mounting hole 31 , or fixed in the second mounting hole 31 by gluing or other methods.

[0135] On this basis, in some embodiments, such as Figure 3 、 Figure 5 As shown, the first bevel gear 541 surrounds the central support member 1 and is sleeved on the central support member 1 .

[0136] The driving assembly 5 further includes a third bearing 8 , which is connected between the central support 1 and the first bevel gear 541 .

[0137] Through the above-mentioned arrangement, since the third bearing 8 is connected between the center support 1 and the first bevel gear 541, the center support 1 can support the first bevel gear 541 through the third bearing 8 to improve the stability of the drive assembly 5 during operation. At the same time, in the process of the first bevel gear 541 rotating relative to the center support 1 along with the output shaft 511 of the motor, the third bearing 8 can reduce the friction between the first bevel gear 541 and the center support 1, thereby reducing the wear of the first bevel gear 541 and the center support 1, and extending the service life of the first bevel gear 541 and the center support 1.

[0138] In the above embodiment, if Figure 3 As shown, the second bevel gear 531 is located on the side of the blade 4 facing the central support 1 , so that the plurality of second bevel gears 531 and the first bevel gear 541 are meshed.

[0139] For example, the blade 4 may be in the shape of a straight plate.

[0140] For example, Figure 4 As shown, the blade 4 has a concave side 42 and a convex side 41 that are relatively arranged. When the blade 4 is in a closed state, the concave side 42 is located on one side of the convex side 41 in the axial direction of the hub body, which can be the inner side of the hub body or the outer side of the hub body.

[0141] For any blade 4 , when the blade 4 is in the open state and located on top of the wheel 10 , along the forward direction of the vehicle 100 , the concave side 42 is located on the side of the convex side 41 facing the front of the vehicle.

[0142] Through the above-mentioned arrangement, when the wheel 10 is wading, as the wheel 10 rotates, the concave side 42 of the blade 4 will first come into contact with the water flow and push the water to flow. In this process, the water will first gather in the concave area formed by the concave side 42, and then flow out from the edge of the blade 4. This can further increase the thrust provided by the blade 4 when paddling, and further ensure the normal driving of the vehicle 100 in the wading section.

[0143] In some examples, the blade 4 is provided with a plurality of water guide grooves, and the water guide grooves are recessed from the recessed side 42 toward the convex side 41 .

[0144] In this way, the water flow can be guided by the water guide groove so that the water flows out from the recessed side 42.

[0145] For example, the water guide groove may extend along a straight line or a curve, or may form a pattern, etc.

[0146] It is understandable that if Figure 2 、 Figure 4As shown, when the blade 4 is in the closed state, along the rotation direction of the wheel 10 when the vehicle 100 moves forward, the second end 43 is located in front of the first end 44.

[0147] For example, the blade 4 and the rotating shaft 52 may be separate structures or an integrally formed structure.

[0148] In some embodiments, when the blades 4 are in the closed state, the blades 4 can contact the central support 1, the spokes 2 and the rim 3, which can further prevent air from flowing into the lightening holes 101 and reduce the air resistance of the wheel 10.

[0149] In other embodiments, when the blades 4 are in the closed state, the blades 4 may be spaced apart from the central support 1, the spokes 2, and the rim 3. This can prevent the blades 4 from interfering with the central support 1, the spokes 2, or the rim 3, thereby ensuring normal rotation of the blades 4.

[0150] This application also provides a control method, such as Figure 9 As shown, Figure 9 FIG. 1 is a flow chart of the vehicle 100 entering the wading mode. The control method includes:

[0151] Step S01: obtaining a signal for entering a wading mode;

[0152] Step S02: Control the blade 4 to switch to the open state.

[0153] Through the above arrangement, the controller can control the blades 4 to switch to the open state after obtaining the signal for entering the wading mode.

[0154] On this basis, in some embodiments, such as Figure 10 As shown, Figure 10 A flow chart showing a process for determining whether the vehicle 100 enters the wading mode. The control method further includes:

[0155] Step S11: obtaining the wading depth of the wheel 10;

[0156] Step S12: Determine whether the wading depth of the wheel 10 is greater than a preset depth

[0157] If the wading depth of the wheel 10 is greater than the preset depth, step S13 is executed: a first request instruction is issued, and the first request instruction is used to request whether to enter the wading mode.

[0158] Through the above settings, the user can determine whether it is necessary to make the vehicle 100 enter the wading mode according to the first request instruction.

[0159] It is understandable that if Figure 10As shown, if the user chooses to enter the wading mode, step S14 is executed: obtaining a signal for entering the wading mode.

[0160] On this basis, in some embodiments, such as Figure 11 As shown, Figure 11 A flow chart showing whether the vehicle 100 has exited the wading mode is provided. The control method further includes:

[0161] Step S21: determining whether the wading depth of the wheel 10 is greater than a preset depth;

[0162] If the wading depth is less than the preset depth, step S22 is executed: determining whether the blade 4 is in a closed state;

[0163] If the blade 4 is not in the closed state, step S23 is executed: a second request instruction is issued, and the second request instruction is used to request whether to control the blade 4 to switch to the closed state.

[0164] With the above arrangement, when the wading depth is less than a preset depth and the blades 4 are not in the closed state, the user can control the blades 4 to switch to the closed state through the controller, so that the vehicle 100 exits the wading mode.

[0165] In some examples, such as Figure 11 As shown, if the blade 4 is switched to the closed state, step S24 is executed: the blade 4 is switched to the closed state.

[0166] In some embodiments, as Figure 12 As shown, Figure 12 A flow chart showing whether the displayed speed of the vehicle 100 is normal is provided. The control method further includes:

[0167] In the wading mode, step S31 is executed: the actual driving speed of the vehicle 100 and the rotation speed of the wheel 10 are obtained, and the theoretical driving speed of the vehicle 100 is calculated according to the rotation speed of the wheel 10;

[0168] Step S32: determining whether the actual driving speed of the vehicle 100 is equal to the theoretical driving speed of the vehicle 100;

[0169] If the actual speed of the vehicle 100 is not equal to the theoretical speed of the vehicle 100 , step S33 is executed: the actual speed of the vehicle 100 is output.

[0170] Through the above configuration, the controller can output the actual driving speed of the vehicle 100 when the wheels 10 are idling, so as to facilitate the user to drive the vehicle 100 .

[0171] In some examples, such as Figure 13 As shown, Figure 13 FIG. 1 is a flow chart of a control method for vehicle 100 , wherein the control method includes:

[0172] Step S41: obtaining the wading depth of the wheel 10;

[0173] Step S42: determining whether the wading depth of the wheel 10 is greater than a preset depth;

[0174] If the wading depth of the wheel 10 is greater than the preset depth, step S43 is executed: a first request instruction is issued, and the first request instruction is used to request whether to enter the wading mode.

[0175] Step S44: obtaining a signal for entering the wading mode;

[0176] Step S45: Control the blade 4 to switch to the open state.

[0177] Step S46: obtaining the actual driving speed of the vehicle 100 and the rotation speed of the wheel 10, and calculating the theoretical driving speed of the vehicle 100 according to the rotation speed of the wheel 10;

[0178] Step S47: determining whether the actual driving speed of the vehicle 100 is equal to the theoretical driving speed of the vehicle 100;

[0179] If the actual speed of the vehicle 100 is not equal to the displayed speed of the vehicle 100 , step S48 is executed: the driving speed of the vehicle 100 is output.

[0180] If the wading depth is less than the preset depth, step S49 is executed: determining whether the blade 4 is in the closed state;

[0181] If the blade 4 is not in the closed state, step S4A is executed: a second request instruction is issued, and the second request instruction is used to request whether to control the blade 4 to switch to the closed state.

[0182] If it is selected to control the blade 4 to switch to the closed state, step S4B is executed: controlling the blade 4 to switch to the closed state.

[0183] Through the above settings, the user can obtain the driving speed of the vehicle 100 and choose whether to enter or exit the wading mode of the vehicle 100 according to actual conditions, so as to facilitate the user to drive the vehicle 100.

[0184] Vehicle 100 also includes an electronic device, which includes a processor and a memory. The memory is coupled to the processor. The memory is configured to store computer program code, which includes computer instructions. When the processor executes the computer instructions, the electronic device performs the control method described above.

[0185] A processor is the control center of an electronic device. It can be a single processor or a collection of multiple processing elements. For example, a processor can be a general-purpose central processing unit (CPU) or another general-purpose processor. A general-purpose processor can be a microprocessor or any conventional processor.

[0186] For example, the processor may include one or more CPUs.

[0187] The memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0188] As a possible implementation, the memory can exist independently of the processor and be connected to the processor via a bus to store instructions or program code. When the processor calls and executes the instructions or program code stored in the memory, the sensor determination method provided in the embodiments of the present application can be implemented.

[0189] In another possible implementation, the memory may also be integrated with the processor.

[0190] It should be noted that the aforementioned another hardware structure does not constitute a limitation on the electronic device. In addition to the aforementioned another hardware component, the electronic device may include more or fewer components, or a combination of certain components, or different component arrangements.

[0191] An embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the control method flow shown in the above method embodiment.

[0192] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0193] Since the electronic device and computer-readable storage medium in the embodiments of the present application can be applied to the above-mentioned control method, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of the present application will not be repeated here.

[0194] Based on this, in some embodiments, the processor is configured to:

[0195] Get the signal to enter wading mode;

[0196] The control blade 4 is switched to the open state.

[0197] Through the above settings, after the processor receives the signal to enter the wading mode, the processor will control the blades 4 to rotate to switch to the open state, so that the blades 4 can paddle to provide thrust, ensuring the normal driving of the vehicle 100 on the wading section.

[0198] In some embodiments, the vehicle 100 further includes a wading depth sensor adapted to detect the wading depth of the wheel 10 .

[0199] Exemplarily, the wading depth sensor may include a pressure sensor, an optical sensor, an acoustic wave sensor, a data collector, and the like.

[0200] The processor is electrically connected to the wading depth sensor, and the processor is configured to:

[0201] Obtaining the wading depth of the wheel 10;

[0202] If the wading depth of the wheel 10 is greater than a preset depth, a first request instruction is issued, and the first request instruction is used to request whether to enter the wading mode.

[0203] Through the above settings, when the processor determines that the wading depth of the wheel 10 is greater than the preset depth, it means that the wading depth of the wheel 10 is large at this time, which may affect the normal driving of the vehicle 100. The processor will issue a first request instruction to request whether to enter the wading mode.

[0204] It is understandable that if the user chooses to enter the wading mode, the processor will control the blades 4 to switch to the open state, so that the vehicle 100 enters the wading mode.

[0205] If the user chooses not to enter the wading mode, the processor will not control the blades 4 to rotate. This allows the user to determine whether the vehicle 100 needs to enter the wading mode based on the specific situation (for example, if the vehicle 100 has traveled a short distance through water and is about to leave the wading section, the user can choose not to enter the wading mode), thereby facilitating the use of the vehicle 100.

[0206] In some embodiments, the processor is further configured to:

[0207] If the wading depth is less than the preset depth, it is determined whether the blade 4 is in the closed state;

[0208] If the blade 4 is not in the closed state, a second request instruction is issued, and the second request instruction is used to request whether to control the blade 4 to switch to the closed state.

[0209] Through the above setting, when the wading depth is less than the preset depth, it means that the wading depth is small at this time and will not affect the normal driving of the vehicle 100. If the blade 4 is not in the closed state at this time, it means that the blade 4 is rotating, which may cause the air resistance of the wheel 10 to increase. Therefore, the processor will issue a second request instruction, requesting to control the blade 4 to switch to the closed state to avoid increased energy consumption of the vehicle 100.

[0210] It can be understood that if the user chooses to control the blade 4 to switch to the closed state, the processor will control the blade 4 to rotate to switch to the closed state. If the user chooses not to control the blade 4 to switch to the closed state, the processor will not control the blade 4 to rotate. In this way, the user can judge whether the vehicle 100 needs to exit the wading mode according to the specific situation (for example, if the vehicle 100 still needs to wade ahead, you can choose not to exit the wading mode) to facilitate the use of the vehicle 100.

[0211] For example, the processor may be electrically connected to a display provided on the vehicle 100 , and control the display to display an option of whether to enter or exit the wading mode, so that the user can choose whether to control the blades 4 to switch to the closed state.

[0212] Exemplarily, the processor can be electrically connected to a voice broadcast device and a voice recognition device provided on the vehicle 100, and control the voice broadcast device to broadcast whether to enter or exit the wading mode, and recognize the user's voice instructions through the voice recognition device to determine whether the user chooses to control the blade 4 to switch to the closed state.

[0213] In some embodiments, the vehicle 100 further includes a vehicle speed sensor and a rotation speed sensor.

[0214] The vehicle speed sensor is adapted to detect the running speed of the vehicle 100. The rotation speed sensor is adapted to detect the rotation speed of the wheel 10.

[0215] The vehicle speed sensor and the rotation speed sensor are both electrically connected to the processor, and the processor is further configured to:

[0216] In the wading mode, the actual driving speed of the vehicle 100 and the rotation speed of the wheel 10 are obtained, and the theoretical driving speed of the vehicle 100 is calculated according to the rotation speed of the wheel 10;

[0217] Determining whether the actual driving speed of the vehicle 100 is equal to the theoretical driving speed of the vehicle 100;

[0218] If the actual driving speed of the vehicle 100 is not equal to the theoretical driving speed of the vehicle 100 , the actual driving speed of the vehicle 100 is output.

[0219] Through the above settings, when the vehicle 100 is driving through water, if the actual driving speed of the vehicle 100 is not equal to the theoretical driving speed of the vehicle 100 calculated based on the rotational speed of the wheel 10, it means that the wheel 10 is idling at this time. The processor will output the actual driving speed of the vehicle 100 so that the user can grasp the correct information of the vehicle 100, facilitate the user to drive the vehicle 100, and ensure the safety of the user when driving the vehicle 100.

[0220] In some examples, the vehicle speed sensor may be an acoustic wave sensor, and the actual speed of the vehicle 100 is calculated based on the Doppler effect and the acoustic wave signal difference.

[0221] In some examples, the processor can be electrically connected to a display provided on the vehicle 100 , and output the actual speed of the vehicle 100 by controlling the display to display the actual speed of the vehicle 100 , making it easier for the user to grasp the correct information of the vehicle 100 .

[0222] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wheel hub assembly, characterized in that: include: A hub body, wherein the hub body is provided with a weight-reducing hole (101); A blade (4) is provided at the weight-reducing hole (101); when the blade (4) is in an open state, the blade (4) is used to enable the wheel to travel in a wading state; when the blade (4) is in a closed state, the blade (4) covers at least a portion of the weight-reducing hole.

2. The wheel hub assembly according to claim 1, wherein: The blades (4) are rotatably connected to the hub body so that the blades (4) can be switched between the closed state and the open state.

3. The wheel hub assembly according to claim 2, characterized in that The weight-reducing hole (101) extends along the axial direction of the hub body.

4. The wheel hub assembly according to claim 2, wherein: The blade (4) comprises a first end (44) and a second end (43) arranged opposite to each other, wherein the first end (44) is rotatably connected to the hub body; When the blade (4) is in the closed state, the second end (43) is located on one side of the first end (44) in the circumferential direction of the hub body; When the blade (4) is in the open state, the second end (43) is located on one side of the hub body in the axial direction.

5. The wheel hub assembly according to claim 4, characterized in that The first end (44) is located in the lightening hole (101), and when the blade (4) is in the closed state, the second end (43) is located in the lightening hole (101).

6. The wheel hub assembly according to claim 4, characterized in that The shape of the blade (4) matches the shape of the weight-reducing hole (101).

7. The wheel hub assembly according to claim 4, characterized in that When the blade (4) is in the closed state, the outer surface of the blade (4) has a contour line surrounding the blade (4) along the edge of the blade (4), and the contour line is located on one side surface of the hub body in the axial direction.

8. The wheel hub assembly according to any one of claims 1 to 7, characterized in that: It also includes a driving assembly (5), which is connected to the blade (4) to drive the blade (4) to rotate.

9. The wheel hub assembly according to claim 8, characterized in that The blade (4) includes a main body (45) and a rotating shaft (52) connected to the main body (45); The hub body is provided with a mounting hole, and at least a portion of the rotating shaft (52) is rotatably connected in the mounting hole; the driving assembly (5) is connected to the rotating shaft (52) to drive the rotating shaft (52) to rotate.

10. The wheel hub assembly according to claim 9, wherein: The axial direction of the rotating shaft is perpendicular to the axial direction of the hub body.

11. The wheel hub assembly according to claim 9, wherein: The blade (4) further includes a bearing, which is arranged in the mounting hole and connected to the hub body, and the rotating shaft (52) is connected to the bearing.

12. The wheel hub assembly according to claim 8, wherein: The number of the blades (4) is multiple; the driving component (5) includes: A power member (51) and a transmission structure (103), wherein the transmission structure (103) is connected between the power member (51) and the plurality of blades (4), so that the power member (51) drives the plurality of blades (4) to rotate through the transmission structure (103).

13. The wheel hub assembly according to claim 12, wherein: The transmission structure (103) comprises: a first engaging member (54), the first engaging member (54) being connected to the power member (51); A plurality of second engaging members (53), each of the plurality of second engaging members (53) is engaged with the first engaging member (54), and the second engaging member (53) is connected to the blade (4).

14. The wheel hub assembly according to claim 13, wherein: The first engaging member (54) includes a first bevel gear (541), and the second engaging member (53) includes a second bevel gear (531).

15. The wheel hub assembly according to any one of claims 1 to 7, characterized in that: The blade (4) has a concave side (42) and a convex side (41) that are arranged opposite to each other, and when the hub assembly is in the closed state, the concave side (42) is located on one side of the convex side (41) in the axial direction of the hub body; For any one of the blades (4), when the blade (4) is in the open state and located on top of the wheel, along the forward direction of the vehicle, the concave side (42) is located on the side of the convex side (41) facing the front of the vehicle.

16. The wheel hub assembly according to any one of claims 1 to 7, characterized in that: The hub body comprises a rim (3), a plurality of spokes (2) and a central support member (1), wherein the rim (3) surrounds the central support member (1), and the plurality of spokes (2) are connected between the rim (3) and the central support member (1), and are arranged at intervals along the circumference of the hub body to form a plurality of weight-reducing holes (101).

17. A wheel, characterized in that: Comprising the wheel hub assembly according to any one of claims 1-16.

18. The wheel according to claim 17, characterized in that Also includes: A tire is mounted on the wheel hub assembly.

19. A vehicle control method, characterized in that: include: Get the signal to enter wading mode; The control blade (4) is switched to an open state.

20. The control method according to claim 19, characterized in that: Also includes: Get the wading depth of the wheel; If the wading depth of the wheel is greater than a preset depth, a first request instruction is issued, where the first request instruction is used to request whether to enter a wading mode.

21. The control method according to claim 19, characterized in that: Also includes: If the wading depth is less than a preset depth, determining whether the blade (4) is in a closed state; If the blade (4) is not in the closed state, a second request instruction is issued, wherein the second request instruction is used to request whether to control the blade (4) to switch to the closed state.

22. The control method according to claim 19, characterized in that: Also includes: In wading mode, the theoretical speed of the vehicle is calculated based on the rotation speed of the wheels; Determining whether the actual driving speed of the vehicle is equal to the theoretical driving speed of the vehicle; If the actual driving speed of the vehicle is not equal to the theoretical driving speed of the vehicle, the actual driving speed of the vehicle is output.

23. An electronic device, characterized in that: including memory and processor; The memory is coupled to the processor; The memory is used to store computer program code, wherein the computer program code includes computer instructions; When the processor executes the computer instructions, the electronic device performs the control method according to any one of claims 19 to 22.

24. A computer-readable storage medium having instructions stored therein, characterized in that: When the instruction is executed on an electronic device, the electronic device executes the control method according to any one of claims 19 to 22.

25. A vehicle, characterized in that: include: The hub assembly according to any one of claims 1 to 16, or the wheel according to claim 17 or 18, or the electronic device according to claim 23, or the computer-readable storage medium according to claim 24.

26. The vehicle according to claim 25, characterized in that Also includes: An axle (30) is connected between the wheel and the vehicle body (20).

27. The vehicle according to claim 26, characterized in that The wheel comprises a power member (51), which is arranged around the axle (30) and is connected to the axle (30).

28. The vehicle according to claim 27, characterized in that The output shaft (511) of the power member (51) is arranged around the axle (30).

29. The vehicle according to claim 25, characterized in that The vehicle includes an electronic device, the electronic device including a processor, the processor configured to: Get the signal to enter wading mode; The control blade (4) is switched to an open state.

30. The vehicle according to claim 29, characterized in that Also includes: A wading depth sensor is adapted to detect the wading depth of the wheel.

31. The vehicle according to claim 30, characterized in that The processor is electrically connected to the wading depth sensor, and the processor is configured to: Get the wading depth of the wheel; If the wading depth of the wheel is greater than a preset depth, a first request instruction is issued, where the first request instruction is used to request whether to enter a wading mode.

32. The vehicle according to claim 31, characterized in that The processor is further configured to: If the wading depth is less than a preset depth, determining whether the blade (4) is in a closed state; If the blade (4) is not in the closed state, a second request instruction is issued, wherein the second request instruction is used to request whether to control the blade (4) to switch to the closed state.

33. The vehicle of claim 29, wherein: Also includes: The rotation speed sensor is used to detect the rotation speed of the wheel.

34. The vehicle according to claim 33, characterized in that Also includes: A vehicle speed sensor is adapted to detect an actual driving speed of the vehicle.

35. The vehicle of claim 34, wherein: The vehicle speed sensor and the rotation speed sensor are both electrically connected to the processor, and the processor is further configured to: In wading mode, calculating the theoretical driving speed of the vehicle according to the rotation speed of the wheels; If the actual driving speed of the vehicle is not equal to the theoretical driving speed of the vehicle, the actual driving speed of the vehicle is output.

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