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

Abstract

The present disclosure relates to a self-balancing power system. 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-torque power group. The power output group and the anti-torque power group are respectively transmittingly 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 configured to provide output power of the self-balancing power system, and the anti-torque power group is configured to provide an anti-torque of the self-balancing power system. The present disclosure further relates to a self-balancing power method and control system, and a self-balancing vehicle. According to the self-balancing power system, the control method, the control system, and the self-balancing vehicle in the present disclosure, the stability and the heat dissipation effect of the self-balancing power system can be at least improved.

Description

Self-balancing power system, control method, control system and self-balancing vehicle Technical Field

[0001] The present disclosure relates to self-balancing technology, in particular to the field of self-balancing vehicles. 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 advancement of two-wheeled vehicles, such as motorcycles, self-balancing performance has become increasingly important. Currently, available self-balancing technologies for two-wheeled vehicles include weight transfer, electronic steering, gyroscopic stabilization, and anti-torque control. Weight transfer utilizes a swinging structure between the rear wheel and the vehicle body to maintain balance by shifting the center of gravity when the vehicle reaches a tipping position. However, this technology suffers from poor anti-interference capabilities and struggles to maintain balance at high speeds. Electronic steering uses a computer to control steering and balancing, but it is ineffective at low speeds. Gyroscopic stabilization utilizes the principle that a high-speed rotating gyroscope can maintain vertical stability, enabling the vehicle to achieve self-balancing. However, this technology requires additional space and consumes high power. Anti-torque control combines a power / anti-torque motor with an anti-torque / power conversion system to reduce space and vehicle weight, improving range.

[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 in turn affect the heat dissipation effect of the entire system.

[0005] Summary of the Invention

[0006] One of the objectives of the present disclosure is to provide a self-balancing power system that can at least partially solve the above-mentioned problems. This objective can be achieved through the following technical solutions:

[0007] A first aspect of the present disclosure provides 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 thereof, 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. By arranging each power motor separately inside a different roller unit, 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 motors, 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 reduce the space occupancy rate and energy consumption of the two-wheeled vehicle.

[0008] 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 the current speed, preset speed, tilt angle and 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: 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, 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 disclosed herein 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.

[0009] A third aspect of the present disclosure provides a self-balancing control system for implementing the above-mentioned 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 determination 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 a self-balancing power system.

[0010] A fourth aspect of the present disclosure provides a self-balancing vehicle comprising the aforementioned self-balancing power system and / or the aforementioned self-balancing control method and / or the aforementioned self-balancing control system, for example, a two-wheeled vehicle, particularly a motorcycle or an electric bicycle, preferably an electric motorcycle. The self-balancing vehicle according to the present disclosure can be adapted to the aforementioned self-balancing power system and / or the aforementioned self-balancing control method and / or the aforementioned self-balancing control system, thereby achieving, for example, improved self-balancing performance, reduced energy consumption, and reduced space occupancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0012] FIG1 is an exemplary cross-sectional view of a self-balancing power system according to one embodiment of the present disclosure;

[0013] FIG2 is an exemplary perspective view of a self-balancing power system according to one embodiment of the present disclosure;

[0014] FIG3 is a schematic diagram of a power output group of a self-balancing power system according to another embodiment of the present disclosure;

[0015] 4 and 5 are schematic diagrams of a power output group of a self-balancing power system according to another embodiment of the present disclosure;

[0016] FIG6 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] FIG7 is a schematic diagram of an anti-torsion power group of a self-balancing power system according to another embodiment of the present disclosure;

[0018] FIG8 is an exemplary flow chart of a self-balancing control method according to an embodiment of the present disclosure;

[0019] FIG9 is an exemplary flow chart of some steps of a self-balancing control method according to an embodiment of the present disclosure; and

[0020] FIG10 is a schematic diagram of a self-balancing vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although 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. Rather, these embodiments are provided 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.

[0022] It should be understood that the terminology used herein is for the purpose of describing specific example embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, as used herein, the expressions "a," "an," and "the" may also be intended to include plural forms. The terms "comprise," "include," and "have" are inclusive and, therefore, specify the presence of the stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0023] Although the terms "first," "second," and so on may be used herein to describe various 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 be used solely to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and "third," as well as other numerical terms, when used herein, do not imply a sequence or order. Furthermore, in the description of this disclosure, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be interpreted broadly, meaning, for example, fixed, removable, or integrally connected; directly or indirectly through an intermediary. Furthermore, in the description of this disclosure, unless otherwise expressly specified or limited, the term "fixed" refers to the process of connecting or securing several components together according to technical requirements, thereby achieving mechanical assembly while maintaining the correct relative positions and relationships, such as a flat key fastening method. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances.

[0024] For ease of description, spatially 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 figures, such as "upper," "middle," "lower," "inside," "near," etc. Such spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is flipped, an element described as "below" or "below" another element or feature would then be oriented as "above" or "above" another element or feature. Thus, the example term "below" may include both upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein are interpreted accordingly.

[0025] Embodiments of the present disclosure are described below with reference to the accompanying exemplary drawings.

[0026] 1 shows an exemplary cross-sectional view of a self-balancing power system 1000 according to one embodiment of the present disclosure. The self-balancing power system includes a first roller unit 1300, a second roller 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.

[0027] In the embodiment shown in Figure 1, the first roller unit 1300 may include a first transmission shaft 1310 extending externally thereof. The first transmission shaft may extend externally from the first roller unit and be in driving connection with at least a portion of the anti-torque power assembly 1200, such that the output torque of the first transmission shaft can be transmitted to the anti-torque power assembly. The first transmission shaft and the first roller unit are non-rotatably connected. Preferably, a first power motor 1700 may be disposed within the first roller unit 1300. Here, 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, while the first motor output shaft 1710 is rotatable relative to the first roller unit. Furthermore, the motor output shaft extends externally from the first roller unit and may be in driving connection with at least a portion of the power output assembly 1100, such that the output torque of the first motor output shaft can be transmitted to the power output assembly.

[0028] Similarly, the second roller unit 1400 may include an externally disposed second drive shaft 1410 that extends from the second roller unit to the exterior thereof and is connected to at least a portion of the anti-torque powertrain transmission 1200, with the second drive shaft and the second roller unit being non-rotatably connected. Preferably, the second power motor 1800 may be disposed within the second roller unit 1400. Here, 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, while the second motor output shaft is rotatably connected to the second roller unit. Furthermore, the second motor output shaft 1810 may extend to the exterior of the second roller unit and be in driving connection with at least a portion of the power take-off assembly, such that the output torque of the second motor output shaft can be transmitted to the power take-off assembly.

[0029] For the purposes of this disclosure, it should be understood that the "motor housing" and "motor output shaft" may also constitute the rotor and stator of the motor, but this is not a requirement. Importantly, both the rotor and stator of the motor (or the motor housing and motor output shaft) have independent rotational degrees of 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.

[0030] 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 shells, 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 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.

[0031] Preferably, the first battery pack 1500 can be fixed to the first roller unit, and the second battery pack 1600 can be fixed to 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 that is close to or adjacent to the side where the anti-torsion force pack is installed, or directly installed on the side of the first roller unit and the second roller unit where the anti-torsion force pack is installed. In this way, the first battery pack 1500 and the second battery pack 1600 can be used as at least a portion of the counterweight (e.g., for rotation) of the anti-torsion force pack 1200, thereby increasing the anti-torsion effect and making full use of the system space.

[0032] 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 self-balancing power system, for example, by rotating the first motor output shaft and the second motor output shaft, and the anti-torque power group can provide anti-torque output for the entire system or self-balancing power system, for example, by rotating the first transmission shaft and the second transmission shaft. Here, the power output group 1100 and the anti-torque power group 1200 are respectively connected to the two sides of the two roller units and are transmission-connected to the two roller units. Although the power output group 1100 is shown as being transmission-connected to the first motor output shaft and the second motor output shaft, and the anti-torque power group 1200 is transmission-connected to the first transmission shaft and the second transmission shaft, it should be understood that the connection and / or position of the power output group and the anti-torque power group on both sides of the roller units are interchangeable, that is, if necessary, the anti-torque power group can also be transmission-connected to the first motor output shaft and the second motor output shaft, while the power output group can be transmission-connected to the first transmission shaft and the second transmission shaft.

[0033] Here, because the transmission shaft cannot rotate relative to the drum unit, while 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 output torque directions and / or magnitudes.

[0034] Advantageously, the battery pack and power motor can both be located inside the drum unit, which can help increase the weight of the drum unit, thereby enabling the drum unit to provide a greater anti-torque effect. Furthermore, advantageously, the power output group and anti-torque power group can both be located outside the two drum units, which can make the internal structure of the drum units more concise, which can help the self-balancing power system maintain its own stability.

[0035] Advantageously, the positional relationship between the first roller unit 1300 and the second roller unit 1400 is not restricted. For example, the first roller unit 1300 and the second roller unit 1400 can be arranged in either a vertical or horizontal direction. This symmetrical structure can help maintain the stability of the entire self-balancing power system when the two roller units rotate independently. Furthermore, the self-balancing power system 1000 can further include additional roller units, such as a third roller unit or a fourth roller unit (not shown here). These additional roller units can 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-torque power group.

[0036] FIG2 exemplarily shows a power output group 1100A of a self-balancing power system 1000 according to an embodiment of the present disclosure and an anti-torsion power group 1200A according to an embodiment of the present disclosure.

[0037] As an example, power output assembly 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, first bevel gear 1110a and sixth bevel gear 1160a are non-rotatably connected to first motor output shaft 1710 and second motor output shaft 1810, respectively, to enable transmission between the motor output shafts and the power output assembly. In this case, first bevel gear 1110a and sixth bevel gear 1160a rotate at the same rate and direction as first motor output shaft 1710 and second motor output shaft 1810, respectively. The second bevel gear 1120a and the seventh bevel gear 1170a are meshed and connected to the first bevel gear 1110a and the sixth bevel gear 1160a, respectively. In this case, the first bevel gear 1110a and the sixth bevel gear 1160a can serve as driving gears, while the second bevel gear 1120a and the seventh bevel gear 1170a can serve as driven gears. The third bevel gear 1130a and the fifth bevel gear 1150a are coaxially fixedly connected to the second bevel gear 1120a and the seventh bevel gear 1170a, respectively. As a result, the third bevel gear 1130a rotates at the same rate and direction as the second bevel gear 1120a, and the fifth bevel gear 1150a rotates at the same rate and direction as the seventh bevel gear 1170a. The fourth bevel gear 1140a is disposed between the third bevel gear 1130a and the fifth bevel gear 1150a and can mesh and connect with them simultaneously. 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.

[0038] As an example, the anti-torque force assembly 1200A may include, for example, a first spur gear 1210a, a second spur gear 1220a, and a third spur gear 1230a, each having the same number of teeth. 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 in a non-rotatable manner, thereby enabling transmission between the transmission shafts and the anti-torque force assembly. The first spur gear 1210a and the second spur gear 1220a rotate at the same rate and direction as the first transmission shaft 1310 and the second transmission shaft 1410, respectively. The third spur gear 1230a can simultaneously mesh 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 (that is, 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 same. 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 connections to achieve the same or similar transmission or locking effects.

[0039] Advantageously, due to the combined effect of the power output group and the anti-torque power group, a portion 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 portion is used for the output of the first transmission shaft and the second transmission shaft. For example, 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 1100 is locked and does not output power. At this time, the torques output by the first power motor and the second power motor will all be used for the anti-torque power group 1200 to enable it to output anti-torque; when the torques output by the first power motor and the second power motor are in opposite directions and magnitude, the anti-torque power group 1200 is locked and does not output anti-torque. At this time, the torques output by the first power motor and the second power motor will all be used for the power output group 1100 to enable it to output power; when the torques output by the first power motor and the second power motor are different in magnitude, the output torque will be partially used for the power output group to output power, and partially used for the anti-torque power group to output anti-torque.

[0040] The following discusses the coordination and working principle between the power output group 1100 and the anti-torque power group 1200 in accordance with the embodiment shown in FIG. 2 , based on different situations.

[0041] When 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 this time, the rotational motion trends of the first bevel gear 1110a and the sixth bevel gear 1160a with the same number of teeth are the same speed and direction, so that the rotational motion trends of the third bevel gear 1130a and the fifth bevel gear 1150a with the same number of teeth are also the same speed and 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 stuck 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, thereby rotating the first roller unit and the second roller unit fixedly connected thereto. As a result, the entire output torque of the first motor and the second motor can be used to output the anti-torque force group. At this time, at the anti-torque force group 1200A, for example, the first spur gear 1210a and the second spur gear 1220a, which have the same number of teeth, move at the same rate and in the same direction. As a result, the driving forces received by the third spur gear 1230a connected thereto at the upper and lower meshing points are of the same magnitude and in opposite directions, and the third spur gear 1230a can now rotate. In this case, through the combined action of the power output group and the anti-torque force group, a working state in which the anti-torque force group 1200A can output anti-torque while the power output group 1100A of the self-balancing power system is not outputting power can be achieved. This can be applied, for example, to situations where a self-balancing vehicle needs to be balanced (e.g., corrected for tipping) while stationary to maintain its balance and prevent it from tipping over.

[0042] In the case where the first power motor and the second power motor provide torques of equal 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 equal magnitude and opposite directions. In this case, the rotational motion tendency of the first bevel gear 1110a and the sixth bevel gear 1160a, which have the same number of teeth, may be equal in speed and opposite in direction. Thus, the rotational motion tendency of the third bevel gear 1130a and the fifth bevel gear 1150a, which have the same number of teeth, may also be equal in speed and opposite in direction. As a result, the driving force received by the fourth bevel gear 1140a at its upper and lower meshing points is equal in magnitude and opposite in direction, enabling the fourth bevel gear 1140a to rotate. In this case, all the torques provided by the first power motor and the second power motor can actually be used to cause the first motor output shaft 1710 and the second motor output shaft 1810 to output torques of equal magnitude and opposite in direction. 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, in this case, 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 the power output group 1100A of the self-balancing power system outputs power while 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.

[0043] In the case where the first power motor and the second power motor provide torques of different sizes (in this case, 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 (in this case, the directions may be the same or different). At this time, the rotational motion trend of the first bevel gear 1110a and the sixth bevel gear 1160a having the same number of teeth is to provide different speeds, so that the rotational motion trend of the third bevel gear 1130a and the fifth bevel gear 1150a having the same number of teeth is also different in speed, thereby the fourth bevel gear 1140a is subjected to different driving forces at the upper and lower meshing points, 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 achieved that while the power output group 1100A of the self-balancing power system outputs power, the anti-torque power group 1200A also outputs anti-torque working state, which can be applied to the situation where the self-balancing vehicle is actively controlled in a state where it does not overturn when it is in a state of motion.

[0044] FIG3 shows a power output group 1100B of a self-balancing power system according to another embodiment of the present disclosure. 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, each having the same number of teeth, are respectively non-rotatably connected to the first motor output shaft 1710 and the second motor output shaft 1810 to achieve transmission between the motor output shafts and the power output group, while the third spur gear 1130b and the fourth spur gear 1140b, each having the same number of teeth, respectively, engage with the first spur gear 1110b and the second spur gear 1120b for transmission. In addition, the third spur gear 1130b engages with the fourth spur gear 1140b for transmission. Although illustrated here as a configuration of spur gears, it should be understood that the configuration of these gears is not limited. For example, the spur gears in this example can be replaced with helical gears, as long as they can use the same or similar transmission connections to achieve the same or similar transmission or locking effects. The operating principle of power output assembly 1100B is similar to that of power output assembly 1100A described above, and will not be further described here. However, it should be understood that it should have similar operating principles and / or functions as described above.

[0045] Figures 4 and 5 illustrate a power output assembly 1100C of a self-balancing power system 1000 according to another embodiment of the present disclosure. In this embodiment, the power output assembly 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 timing belt 1180c. The first pulley 1150c and the second spur gear 1120c may be non-rotatably connected to the first motor output shaft 1710 and the second motor output shaft 1810, respectively, to achieve transmission between the motor output shafts and the power output assembly. Furthermore, the second spur gear 1120c meshes with the first spur gear 1110c, the first spur gear 1110c is coaxially and non-rotatably connected to the second pulley 1160c, and the timing belt 1180c is synchronously transmitted, preferably meshed, with the first pulley 1150c and the second pulley 1160c. Furthermore, the first bevel gear 1130c is coaxially and non-rotatably connected to the second spur gear 1120c, the second bevel gear 1140c meshes with the first bevel gear 1130c, and the third pulley 1170c is coaxially and non-rotatably connected to the second bevel gear 1140c. The third pulley 1170c meshes with the timing belt for rotation. Here, the first bevel gear 1130c, the second bevel gear 1140c, and the third pulley 1170c can be configured to transmit power to the second spur gear 1120c, and need not be used to limit the torque provided by the first and second motor output shafts.

[0046] FIG6 shows an anti-torsion power group 1200B of a self-balancing power system according to another embodiment of the present disclosure. 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 achieve transmission between the transmission shaft and the anti-torsion power group, and the synchronous belt is engaged with the first pulley 1210b and the second pulley 1220b on the outside of the first pulley 1210b and the second pulley 1220b to achieve 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.

[0047] FIG7 illustrates an anti-torque force assembly 1200C of a self-balancing power system 1000 according to another embodiment of the present disclosure. In this embodiment, the anti-torque force assembly 1200C may include a first spur gear 1210c, a second spur gear 1220c, and a third spur internal gear 1230c. The first spur gear 1210c and the second spur gear 1220c are respectively non-rotatably connected to the first transmission shaft 1310 and the second transmission shaft 1410 to achieve transmission between the transmission shafts and the anti-torque force assembly, and the inner side of the third spur internal gear 1230c meshes with the first spur gear 1210c and the second spur gear 1220c, respectively. Similar to the operating principles of the anti-torque force assembly 1200A and 1200B described above, the anti-torque force assembly 1200C can be configured so that the first transmission shaft and the second transmission shaft can only provide torque of the same magnitude and direction.

[0048] It should be understood that, although the above description uses the accompanying drawings to describe the configurations of the power output groups 1100A, 1100B, and 1100C and the anti-torque groups 1200A, 1200B, and 1200C, the power output groups and anti-torque groups according to the present disclosure are not limited to these specific configurations. Instead, the power output group 1100 may be any device that enables the first motor output shaft and the second motor output shaft to actually only provide torques and / or rotational speeds of the same magnitude and opposite directions, and the anti-torque group 1200 may be any device that enables the first transmission shaft and the second transmission shaft to actually only provide torques and / or rotational speeds of the same magnitude and in the same direction. Furthermore, the specific embodiments of these power output groups and anti-torque groups may be arbitrarily replaced and / or combined, and are not limited to the methods listed in the drawings.

[0049] FIG8 exemplarily illustrates a flow chart of a self-balancing control method S1000 according to an embodiment of the present disclosure. The self-balancing control method S1000 can be used, for example, to control the self-balancing power system 1000 to operate according to the aforementioned operating principles. For example, the self-balancing control method S1000 may include an acquisition step S1100, a determination step S1200, and a control step S1300.

[0050] 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 current actual speed of the self-balancing power system (e.g., along its plane of motion), which may be obtained by a sensor mounted on the system (e.g., an accelerometer or a velocity sensor). The "preset speed" may be the expected speed of motion that the system is expected to achieve (e.g., currently or in the future), which may be input by a user in real time or in advance, or obtained from information stored in the system in advance. 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 mounted on the system (e.g., an accelerometer or an angle sensor). The "preset tilt angle range" may be the current angle range within which the system is expected to be, for example, used to determine whether the system is currently in a state of capsizing and / or whether self-balancing control needs to be activated.

[0051] Determination step S1200 may include determining whether the system's current speed is consistent with a 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 (e.g., to adjust the system's speed). Conversely, if the current speed 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 system's speed. Furthermore, determination step S1200 may also include determining whether the system's current tilt angle is within a preset tilt angle range, or in other words, whether the current tilt angle is less than or equal to a 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 perform tilt angle correction (i.e., correct its tilting posture to restore it to a balanced state). Conversely, 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 perform tilt angle correction. The preset tilt angle may, for example, be a fixed value between 0 and 20°, between 0 and 10°, or even 0°. This allows for timely correction of the self-balancing power system's tilting posture 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 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 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 judging the tilt angle includes judging 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 judging 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. As shown in FIG9 , the control step may make, for example, four different control output modes according to different judgment results output by the judgment step.

[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 system speed does not need to be changed at this time, but the system needs to be corrected for overturning), 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 of the same direction and magnitude. In this case, the power output group can be made not to output power, while the anti-torque power group can output anti-torque.

[0054] If 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, at this time, there is no need to change the system speed or perform tilt posture correction on the system), control step S1300 (for example, by controlling the output power of the first power motor and the second power motor to 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 to not output power, and the anti-torque power group can also 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 system speed needs to be changed at this time, but the system does not need to be corrected for overturning), 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 the same magnitude and in opposite directions. In this case, the power output group can be caused to output power, and the anti-torque power group can 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 at this time, and the system also needs to be corrected for its 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 sizes (the torque directions can be the same or different at this time), thereby enabling the power output group to output power, and the anti-torque power group to output anti-torque.

[0057] The self-balancing control method S1000 can be implemented, for example, by a self-balancing control system (not shown in the accompanying 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 tilt angle, and the preset speed and preset tilt angle may be pre-stored in the self-balancing control system and / or obtained from a 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 drive module may, for example, include a motor controller for controlling the output power and / or direction and / or magnitude of the output torque of the power motor.

[0058] FIG10 shows a self-balancing vehicle 3000 according to an embodiment of the present disclosure. 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 described above. When applied to a self-balancing vehicle, the power output group in the self-balancing power system can be used to provide power for the forward / reverse driving state of the self-balancing vehicle, while the anti-torque power group in the self-balancing power system can be used to provide anti-torque for correcting the overturning posture of the self-balancing vehicle. The self-balancing vehicle can be configured as a two-wheeled vehicle, preferably as a motorcycle, and more preferably as a purely electric motorcycle or a hybrid electric motorcycle.

[0059] The present disclosure implements a self-balancing power system, control method, control system, and self-balancing vehicle through the following embodiments. By placing a portion of the self-balancing power system's structure outside the main body of the system and placing different power motors in different housings, it is possible to at least improve space utilization and endurance, and further enhance the stability and heat dissipation of the self-balancing power system.

[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 pack, a second battery pack, 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 thereof, 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.

[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 and the first roller unit are non-rotatably connected, and the second power motor housing and the second roller unit are non-rotatably connected.

[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: The 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: The 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 is 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 is 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 is different in magnitude, 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 the vertical direction or in parallel in the 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: The 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 so as to be non-rotatable 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 non-rotatably 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, and the third spur gear is connected to the fourth spur gear.

[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 cannot be rotated 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 cannot be rotated 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 cannot be rotated 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 cannot be rotated relative to each other.

[0073] Item 14: The 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 a transmission manner.

[0074] Item 15: The self-balancing power system according to Item 8, wherein 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 respectively connected to the first pulley and the second pulley for 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; and wherein the third spur internal gear is respectively connected to the first spur gear and the second spur gear in a transmission manner.

[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 includes an acquisition step, including acquiring the current speed, preset speed, tilt angle and preset tilt angle range of the self-balancing power system; a judgment step, including 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, including controlling the first power motor and the second power motor to output torques with the same direction and magnitude 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, 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: The 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 power of the first power motor and the second power motor to be the same, and controlling the rotation directions of the first motor output shaft and the second motor output shaft 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: The self-balancing control method according to Item 17, wherein controlling the first power motor and the second power motor to output torques of opposite directions and equal magnitudes 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 first motor output shaft and the second motor output shaft 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: The self-balancing control method according to any one of Items 17 to 21, wherein the tilt 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 tilt angle not being within the preset tilt angle range includes the tilt angle not being equal to 0°, and the tilt angle being within the preset tilt angle range includes the tilt 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 speed sensor, the processing module includes a processing unit, and / or the driving module includes a motor controller.

[0086] Item 27: The 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 includes 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 purely electric-driven motorcycle or a hybrid-driven motorcycle.

[0093] The above description is merely a preferred embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection 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. 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 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, and the first motor housing cannot rotate relative to the first drum unit, 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 cannot rotate relative to the second drum unit.

3. The self-balancing power system according to claim 2, 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.

4. The self-balancing power system according to claim 2, characterized in that: The first power motor housing is connected to the first drum unit in a non-rotatable manner, and the second power motor housing is connected to the second drum unit in a non-rotatable manner.

5. The self-balancing power system according to claim 2, 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 is non-rotatable relative to the second drum unit.

6. The self-balancing power system according to claim 5, 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.

7. The self-balancing power system according to claim 5, 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.

8. The self-balancing power system according to any one of claims 1 to 7, 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.

9. The self-balancing power system according to claim 8, 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.

10. The self-balancing power system according to claim 8, 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.

11. The self-balancing power system according to claim 8, 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.

12. The self-balancing power system according to claim 8, 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.

13. The self-balancing power system according to claim 8, 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.

14. The self-balancing power system according to claim 8, 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.

15. The self-balancing power system according to claim 8, 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.

16. The self-balancing power system according to claim 8, 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.

17. A self-balancing control method for controlling a self-balancing power system according to any one of 1 to 16, 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 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 force.

18. The self-balancing control method according to claim 17, 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.

19. The self-balancing control method according to claim 17, 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.

20. The self-balancing control method according to claim 17, 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.

21. The self-balancing control method according to claim 17, 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.

22. The self-balancing control method according to any one of claims 17 to 21, 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.

23. The self-balancing control method according to any one of claims 17 to 21, characterized in that: The tilt angle range is set to 0-10°, so that: The tilt angle is not within the preset tilt angle range, including the tilt angle is greater than 10°, and the inclination angle includes the inclination angle being less than or equal to 10° within the preset inclination angle range.

24. The self-balancing control method according to any one of claims 17 to 21, 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°.

25. A self-balancing control system, used to implement the self-balancing control method according to any one of claims 17 to 24, 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.

26. The self-balancing control system according to claim 25, 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 driving module includes a motor controller.

27. The self-balancing control system according to claim 26, 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.

28. The self-balancing control system according to claim 26, 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.

29. A self-balancing vehicle, characterized in that: The self-balancing vehicle comprises a self-balancing power according to any one of claims 1 to 16 System and / or a self-balancing control system according to any one of claims 25 to 28, and / or The self-balancing vehicle applies the self-balancing control method according to any one of claims 17 to 24.

30. The self-balancing vehicle according to claim 29, 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.

31. The self-balancing vehicle according to claim 29 or 30, characterized in that: The self-balancing vehicle is configured as a two-wheeled vehicle.

32. The self-balancing vehicle according to claim 29 or 30, characterized in that: The self-balancing vehicle is configured as an electric motorcycle.

33. The self-balancing vehicle according to claim 32, characterized in that: The electric motorcycle is configured as a purely electrically driven motorcycle or a hybrid electrically driven motorcycle.

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