Two-wheeled vehicle self-balancing structure and motorcycle

Abstract

The utility model relates to two -wheeled vehicle self -balancing technical field, concretely for a two -wheeled vehicle self -balancing structure, including motorcycle body, the fixed mounting of motorcycle body rear end has the fixed frame, is provided with the equipment installation subassembly on the fixed frame, installs gyroscope subassembly in the equipment installation subassembly, and the gyroscope subassembly includes first gyroscope and second gyroscope, and installs the tilt sensor and controller in the gyroscope, still installs singlechip, bluetooth connection module and PID module in the equipment installation subassembly. The device self -balancing structure through two -wheeled vehicle tail box main body and mechanical gyroscope blend, will the gyroscope self -balancing be built -in in two -wheeled vehicle tail box main body, realizes the self -balancing of vehicle in stationary state and driving state, through the PID algorithm processing gyroscope data in PID module, when the gyroscope detects that the vehicle occurs the inclination, the tilt sensor and controller that its inside carries will intervene in real time to counteract the inclination torque in reverse, makes the vehicle keep the state of balance.

Description

Technical Field

[0001] This utility model relates to the field of two-wheeled vehicle self-balancing technology, specifically to a two-wheeled vehicle self-balancing structure and a motorcycle. Background Technology

[0002] Two-wheeled motorcycles are typical naturally unstable bodies, swaying from side to side without control, and achieving self-balancing is quite difficult, making balance control a complex process. Because the front and rear wheel structure is an unstable, multivariable, nonlinear, and strongly coupled system, many problems remain to be solved in practical applications.

[0003] Current two-wheeled motorcycles have poor balance performance, which means that the balance of autonomous vehicles needs to be effectively addressed. A self-balancing structure for two-wheeled vehicles is needed to solve this problem. Utility Model Content

[0004] The purpose of this invention is to provide a self-balancing structure for two-wheeled vehicles to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a two-wheeled vehicle self-balancing structure, including a motorcycle body, a fixed frame fixedly installed at the rear end of the motorcycle body, an equipment mounting assembly provided on the fixed frame, a gyroscope assembly installed inside the equipment mounting assembly, the gyroscope assembly including a first gyroscope and a second gyroscope, a tilt sensor and a controller installed inside the first gyroscope and the second gyroscope, and a microcontroller, a Bluetooth connection module and a PID module also installed inside the equipment mounting assembly.

[0006] Furthermore, both the first and second gyroscopes are equipped with an outer ring, and an inner ring is installed inside the outer ring, with a rotor connected to the inner ring via a rotating shaft.

[0007] Furthermore, second torque devices are installed on the upper and lower sides of the inner ring, and first torque devices are installed on the left and right sides of the inner ring.

[0008] Furthermore, the equipment mounting component is a tailgate, and a cover is installed on the upper end of the tailgate body. The cover is hinged to the tailgate body, and the tailgate body is threadedly connected to the fixing frame.

[0009] Furthermore, the first and second gyroscopes are symmetrically arranged, and the microcontroller, Bluetooth connection module, PID module, and lithium battery are symmetrically installed with the central axis of the trunk body as the axis of symmetry.

[0010] Furthermore, a lithium battery is installed on one side of the gyroscope assembly, while the microcontroller, Bluetooth connection module, and PID module are installed on the side opposite the lithium battery.

[0011] On the other hand, this utility model also provides a motorcycle, including any of the above-mentioned two-wheeled vehicle self-balancing structures, which achieves more precise self-balancing of the vehicle by making reasonable use of the space at the rear of the vehicle.

[0012] This invention provides a self-balancing structure for a two-wheeled vehicle. The self-balancing structure integrates a mechanical gyroscope with the rear of the two-wheeled vehicle, embedding the gyroscope self-balancing mechanism within the rear of the vehicle. This enables the vehicle to maintain self-balancing in both stationary and moving states. The PID module processes the gyroscope data using a PID algorithm. When the gyroscope detects a tilt, its internal tilt sensor and controller intervene in real time to counteract the tilt torque, thus maintaining the vehicle's balance. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 is a schematic diagram of the structure of a two-wheeled self-balancing motorcycle body according to an embodiment of the present utility model; Figure 2 is a schematic diagram of the internal structure of the tail box of a two-wheeled vehicle according to an embodiment of the present utility model; Figure 3 is a schematic diagram of a two-wheeled vehicle self-balancing gyroscope according to an embodiment of the present invention.

[0015] Figure label: 1. Wheel; 2. Motorcycle body; 3. Hand handle; 4. Mounting bracket; 5. Tail box body; 6. Screw holes; 7. Positioning screws; 8. Box cover; 9. Hinge; 10. Gyroscope assembly; 11. Microcontroller; 12. Bluetooth connection module; 13. PID module; 14. Lithium battery; 15. Outer ring; 16. Inner ring; 17. Rotor; 18. First torque generator; 19. Second torque generator; 20. Tilt sensor; 21. Controller. Detailed Implementation

[0016] The utility model will now be further described with reference to the accompanying drawings and specific embodiments: Referring to Figures 1 and 2, a two-wheeled vehicle self-balancing structure includes a wheel 1 located at the bottom of the entire device. The wheel 1 and a handlebar 3 are mounted on the front end of the motorcycle body 2. A mounting frame 4 is fixedly mounted on the rear end of the motorcycle body 2, and an equipment mounting assembly is mounted on the mounting frame 4. Preferably, the equipment mounting assembly can be a box structure or a seat structure. In one embodiment, the equipment mounting assembly is a tail box. A gyroscope assembly 10 is installed inside the tail box body 5. The gyroscope assembly 10 includes a first gyroscope and a second gyroscope. The first gyroscope and the second gyroscope are respectively equipped with a tilt sensor 20 and a controller 21. The tilt sensor 20 and the controller 21 will intervene in real time to counteract the tilting torque, keeping the vehicle in a balanced state.

[0017] Furthermore, the rear box body 5 also houses a microcontroller 11, a Bluetooth connection module 12, a PID module 13, and a lithium battery 14. Specifically, the microcontroller 11, Bluetooth connection module 12, and PID module 13 are installed on one side of the gyroscope assembly 10, while the lithium battery 14 is installed on the other side. The microcontroller 11 and Bluetooth connection module 12 are both electrically connected to the lithium battery 14. One gyroscope detects lateral rotation, while the other detects longitudinal rotation. By fusing the data from the two gyroscopes, more comprehensive and accurate vehicle angular velocity information can be obtained. Preferably, the two gyroscopes are symmetrically installed about the central axis of the rear box body 5. Similarly, the microcontroller 11, Bluetooth connection module 12, and PID module 13 are positioned relative to the lithium battery 14 about the center of the rear box body 5. This optimizes space utilization and improves the balance of the motorcyclist.

[0018] The trunk body 5 has a cover 8 mounted on its upper end. The cover 8 is hinged to the trunk body 5 via a hinge 9. A screw hole 6 is provided at the bottom of the trunk body 5. The trunk body 5 and the mounting bracket 4 are secured to the screw hole 6 by a positioning screw 7. The mounting bracket 4 is made of aluminum alloy. The trunk's waterproof sealing performance protects the gyroscope from rain, dust, and other environmental factors, extending the device's lifespan.

[0019] In this embodiment, the cover 8 and the trunk body 5 are hinged together by a hinge 9, which facilitates opening for regular maintenance and parts replacement of the internal components. The trunk body 5 and the bottom fixing bracket 4 are detachable for easy removal.

[0020] Referring to Figures 2 and 3, in Embodiment 2, the gyroscope consists of an outer ring 15, an inner ring 16, a rotor 17, a first torque generator 18, and a second torque generator 19. When the gyroscope assembly 10 detects a vehicle tilt, its internal tilt sensor 20 and controller 21 intervene in real time to counteract the tilting torque. After the system is started, the gyroscope assembly 10 begins to work. The tilt sensor 20 detects the tilt state of the trunk body 5 in real time and transmits the data to the controller. When the trunk body 5 tilts due to various reasons during vehicle operation, the tilt sensor 20 transmits the tilt information to the controller. Based on the tilt information, the controller 21 calculates the parameters that need to be adjusted using the microcontroller 11 and the PID module 13, and sends instructions to the first torque generator 18 and the second torque generator 19. The first torque generator 18 and the second torque generator 19 adjust the inner ring of the gyroscope 10 according to the instructions, and use the characteristics of the gyroscope 10 to generate a reverse torque, thereby counteracting the tilting force of the trunk body 5 and keeping the trunk balanced.

[0021] In practical applications, the self-balancing structure of this device integrates the two-wheeled vehicle tail box body 5 with the mechanical gyroscope assembly 10, embedding two gyroscopes within the two-wheeled vehicle tail box body 5 to achieve self-balancing of the vehicle in both stationary and moving states. The gyroscope 10 consists of an outer ring 15, an inner ring 16, a rotor 17, a first torque generator 18, and a second torque generator 19. The PID algorithm in the PID module processes the data from the gyroscope 10. When the gyroscope 10 detects a tilt in the vehicle, its internal tilt sensor 20 and controller 21 intervene in real time to counteract the tilt torque, maintaining the vehicle's balance. The Bluetooth connection module 12 allows for adjustment of PID parameters to optimize the control effect.

[0022] In the description of this utility model, it should be noted that the terms "top," "bottom," "one side," "the other side," "front," "back," "middle part," "inner," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "joined" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A self-balancing structure for a two-wheeled vehicle, characterized in that, The device includes a motorcycle body (2), a mounting bracket (4) is fixedly installed at the rear end of the motorcycle body (2), a device mounting assembly is provided on the mounting bracket (4), a gyroscope assembly (10) is installed in the device mounting assembly, the gyroscope assembly (10) includes a first gyroscope and a second gyroscope, a tilt sensor (20) and a controller (21) are installed in the first gyroscope and the second gyroscope, and a microcontroller (11), a Bluetooth connection module (12) and a PID module (13) are also installed in the device mounting assembly.

2. The self-balancing structure for a two-wheeled vehicle according to claim 1, characterized in that, Both the first gyroscope and the second gyroscope are equipped with an outer ring (15), and an inner ring (16) is installed inside the outer ring (15), and a rotor (17) is connected to the inner ring (16) through a rotating shaft.

3. The self-balancing structure for a two-wheeled vehicle according to claim 2, characterized in that, The inner ring (16) is equipped with a second torque device (19) on the upper and lower sides, and the inner ring (16) is equipped with a first torque device (18) on the left and right sides.

4. The self-balancing structure for a two-wheeled vehicle according to claim 1, characterized in that, The equipment installation component is a trunk body (5), and a cover (8) is installed on the upper end of the trunk body (5). The cover (8) and the trunk body (5) are hinged together by a hinge (9). The trunk body (5) and the fixing frame (4) are threaded together.

5. The self-balancing structure for a two-wheeled vehicle according to claim 1, characterized in that, The self-balancing structure of the two-wheeled vehicle also includes a lithium battery (14). The first gyroscope and the second gyroscope are symmetrically arranged on the left and right. The microcontroller (11), the Bluetooth connection module (12) and the PID module (13) are symmetrically installed on the left and right with the central axis of the vehicle tail box body (5) as the axis of symmetry.

6. The self-balancing structure for a two-wheeled vehicle according to claim 1, characterized in that, A lithium battery (14) is installed on one side of the gyroscope assembly (10), and the microcontroller (11), Bluetooth connection module (12) and PID module (13) are installed on the side opposite to the lithium battery (14).

7. A motorcycle, characterized in that... The vehicle is equipped with a two-wheeled self-balancing structure as described in any one of claims 1-6.

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