CN118220387B

CN118220387B - Two-wheeled vehicle, vehicle self-balancing control method, and computer-readable storage medium

Info

Publication number: CN118220387B
Application number: CN202410659549.5A
Authority: CN
Inventors: 沈建锋; 邵国华
Original assignee: Hangzhou Leifeng New Energy Technology Co ltd
Current assignee: Hangzhou Leifeng New Energy Technology Co ltd
Priority date: 2024-05-27
Filing date: 2024-05-27
Publication date: 2024-08-09
Anticipated expiration: 2044-05-27
Also published as: CN118220387A

Abstract

The application provides a two-wheeled vehicle, a vehicle self-balancing control method and a computer readable storage medium, relating to the field of vehicles, wherein: the inertia wheel mechanism, the first wheel and the second wheel are arranged on the frame, and the inertia wheel mechanism is arranged on a central axis of the two-wheel vehicle along the advancing direction of the two-wheel vehicle; the inertia wheel mechanism is configured to generate a fixed inertia moment when the inclination angle of the two-wheel vehicle exceeds the self-balancing angle range; the inertia wheel braking mechanism is connected with the inertia wheel mechanism; the inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating a fixed moment of inertia in a case where an inclination angle of the two-wheeled vehicle is within a self-balancing angle range. According to the application, the fixed inertia moment is configured for the inertia wheel mechanism in advance, when the two-wheel vehicle tilts, the two-wheel vehicle is firstly righted by the fixed inertia moment, and then the inertia wheel mechanism is braked by the inertia wheel braking mechanism, so that the calculation of the inertia moment is not needed, the calculation time can be reduced, and the righting efficiency is improved.

Description

Two-wheeled vehicle, vehicle self-balancing control method, and computer-readable storage medium

Technical Field

The present application relates to the field of vehicles, and more particularly, to a two-wheeled vehicle, a vehicle self-balancing control method, and a computer-readable storage medium.

Background

Two-wheeled vehicles have particular advantages in urban traffic due to their small size and flexible handling. However, due to the unique two-wheel design, the two-wheel vehicle has the problem of poor balance during running. Especially, the two-wheeled vehicle is easy to lose balance when running at rest or low speed, and the accident of turning over is caused, which brings serious threat to the safety of drivers. Therefore, it is important to improve the balance control efficiency of the two-wheeled vehicle. The conventional balance control technique can improve the stability of the two-wheeled vehicle to some extent, but has a problem of slow response speed.

Disclosure of Invention

In view of the above, an object of an embodiment of the present application is to provide a two-wheeled vehicle, a vehicle self-balancing control method, and a computer-readable storage medium, which can improve the balance efficiency of the two-wheeled vehicle.

In a first aspect, an embodiment of the present application provides a two-wheeled vehicle, including: the device comprises an inertia wheel mechanism, an inertia wheel braking mechanism, a first wheel, a second wheel and a frame; the first wheel and the second wheel are disposed on the frame; the inertia wheel mechanism is arranged on the frame and is arranged on a central axis of the two-wheel vehicle along the advancing direction of the two-wheel vehicle; the inertia wheel mechanism is configured to generate a fixed inertia moment under the condition that the inclination angle of the two-wheel vehicle exceeds the self-balancing angle range; wherein the fixed moment of inertia is configured to reduce a tendency of the two-wheeled vehicle to lean; the inertia wheel braking mechanism is connected with the inertia wheel mechanism; the inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating the fixed inertia moment in a case where an inclination angle of the two-wheeled vehicle is within the self-balancing angle range; the inertia wheel mechanism is switched to a self-balancing state under the condition that the inclination angle of the two-wheel vehicle is in the self-balancing angle range; the inertia wheel mechanism is further configured to control the inclination angle of the two-wheel vehicle to be maintained within the self-balancing angle range according to real-time motion information of the two-wheel vehicle in the self-balancing state.

In the implementation process, the inertia wheel mechanism and the inertia wheel braking mechanism are arranged on the two-wheel vehicle, and the inertia wheel mechanism is provided with the fixed inertia moment in advance, so that the two-wheel vehicle is firstly righted through the fixed inertia moment when the two-wheel vehicle is toppled over, and the inertia wheel mechanism is braked through the inertia wheel braking mechanism under the condition that the inclination angle of the two-wheel vehicle is within the self-balancing angle range, so that the influence of the fixed inertia moment on the self-balancing state of the two-wheel vehicle is avoided. Because the fixed inertia moment is set in advance, when the two-wheel vehicle is toppled over, the moment of inertia can be directly generated through the inertia wheel mechanism, real-time calculation of the moment of inertia is not needed according to the toppling condition, the time spent by calculating the moment of inertia can be reduced, and the righting efficiency of the two-wheel vehicle is improved. In addition, after the two-wheel vehicle reaches a self-balancing state, the inertia wheel mechanism is subjected to forced braking operation through the external inertia wheel braking mechanism, so that the self-balancing state of the vehicle is maintained, the risk of toppling of the two-wheel vehicle is reduced, and the safety of the two-wheel vehicle is improved.

In one embodiment, the inertia wheel mechanism includes: an outer rotor brushless motor and an inertia flywheel; the inertia flywheel is fixedly arranged on one side of the outer rotor brushless motor; the outer rotor brushless motor is configured to drive the inertia flywheel to rotate; the inertia wheel braking mechanism is connected with the other side of the outer rotor brushless motor, which is far away from the inertia flywheel; and the inertia wheel braking mechanism is configured to control the outer rotor brushless motor to stop driving the inertia flywheel to generate the fixed inertia moment.

In the above implementation process, since the outer rotor brushless motor has the advantages of high energy density, high efficiency, high torque output and the like, by setting the power device for driving the inertia flywheel to act as the outer rotor brushless motor, the power device (such as an accelerator, a decelerator and the like) required by the inertia flywheel to act can be reduced, and the cost of the inertia wheel mechanism can be reduced while the structure of the inertia wheel mechanism is simplified. In addition, because the inertia flywheel has the functions of energy storage and energy release, the inertia flywheel can output relatively stable moment, and the inertia flywheel is arranged to maintain the balance of the two-wheel vehicle in the running process, so that the stability of the two-wheel vehicle in the moving process can be improved.

In one embodiment, the inertia wheel brake mechanism includes: a brake pad and a brake band-type brake; the other side of the outer rotor brushless motor, which is far away from the inertia flywheel, comprises a fixed seat; the fixed seat is fixedly arranged on the surface of the other side, far away from the inertia flywheel, of the outer rotor brushless motor; the brake block is sleeved on the fixed seat and fixedly arranged on the surface of the other side, far away from the inertia flywheel, of the outer rotor brushless motor; the brake pad is configured to rotate with the outer rotor brushless motor; the brake band-type brake is fixedly arranged at one end of the fixed seat penetrating through the brake pad; and the braking band-type brake is configured to control the outer rotor brushless motor to stop generating the fixed inertia moment.

In the implementation process, the brake block and the braking band-type brake are arranged in the inertia wheel braking mechanism, so that when the inertia flywheel is braked, the brake block is firstly contacted with the brake drum or the brake disc, and resistance is generated through friction, so that the rotation speed of the inertia flywheel starts to be slowed down. Simultaneously, the braking band-type brake also responds rapidly, and applies braking force to further prevent the outer rotor brushless motor from rotating. The braking piece and the braking band-type brake jointly act, so that a braking effect which is quicker, stable and safe can be achieved, and the braking efficiency and stability of the inertia flywheel are improved.

In one embodiment, the two-wheeled vehicle further comprises: a control device and an inertial measurement unit; the control device is arranged on the frame; the inertia measurement unit is arranged on the control device and is configured to acquire motion information of the two-wheel vehicle; the control device is connected with the inertia wheel mechanism and the inertia wheel braking mechanism; the control device is configured to generate a control signal according to the motion information and send the control signal to the inertia wheel mechanism and the inertia wheel braking mechanism; the inertia wheel mechanism and the inertia wheel braking mechanism are configured to act according to the control signal.

In the implementation process, the control device and the inertia measurement unit are arranged in the two-wheel vehicle, the inertia measurement unit is used for acquiring real-time motion information of the two-wheel vehicle, the control device is used for generating control information for controlling the inertia wheel mechanism and the inertia wheel braking mechanism according to the motion information, and further automatic control over the inertia wheel mechanism and the inertia wheel braking mechanism is achieved, participation of a user is not needed in the whole process, and use experience of the user is improved.

In one embodiment, the inertial measurement unit includes: inertial measurement chip, heating resistor and circuit board; the inertial measurement chip and the heating resistor are welded on the circuit board; the plurality of heating resistors are arranged around the inertial measurement chip; the heating resistor is configured to maintain a temperature of the inertial measurement chip within a set range.

In the implementation process, as the work of the inertial measurement unit is greatly influenced by the ambient temperature, the heating resistor is arranged around the inertial measurement chip, and the heating resistor can generate corresponding heat according to the temperature of the inertial measurement chip, so that the ambient temperature of the inertial measurement chip is adjusted, the inertial measurement chip always works at the stable ambient temperature, and the accuracy of the inertial measurement chip in measuring the motion information is improved.

In one embodiment, the inertia wheel brake mechanism includes: the brake motor, the brake band-type brake and the first traction piece; the control device is connected with the brake motor; the control device is configured to send a control signal to the brake motor; one end of the first traction piece is connected with the brake motor, and the other end of the first traction piece is connected with the brake band-type brake; the brake motor is configured to act under the control signal; the braking band-type brake is fixedly arranged on the inertia wheel mechanism; the braking band-type brake is configured to act under the control of the braking motor.

In the implementation process, the control device can generate control information according to the action condition of the inertia wheel structure by connecting the brake motor with the control device, and automatically control the brake motor based on the control information, so that the automatic control of the inertia wheel brake mechanism is realized, the operation of a user is reduced, and the experience is improved. In addition, because the control information is generated according to the actual action information of the inertia wheel mechanism, the obtained control information of the inertia wheel braking mechanism is more accurate and real, and the control accuracy of the inertia wheel braking mechanism can be further improved.

In one embodiment, the two-wheeled vehicle further comprises: steering engine, second traction piece and peripheral brake control element; the steering engine is connected with the peripheral brake control element and one end of the second traction piece; the other end of the second traction piece is connected with the brake motor; the brake motor is also configured to act under traction of the steering engine.

In the above implementation process, since the external brake control element obtains the control information input from the outside, i.e. the manual control information. The inertia wheel braking mechanism is controlled through the external braking control element, namely, the inertia wheel braking mechanism is controlled manually, and the manual mode is based on a mechanical structure to control the braking motor.

In one embodiment, the two-wheeled vehicle further comprises: a transceiver module; the receiving and transmitting module is arranged on the frame; the receiving and transmitting module is connected with the control device and external control equipment; the transceiver module is configured to send remote control information sent by external control equipment to the control device; the control device is configured to generate the control signal according to the remote control information.

In the implementation process, the transceiver module is arranged on the frame and can be used for establishing connection with external control equipment, and further, the external control equipment is used for controlling the action of the two-wheel vehicle, so that the remote control of the two-wheel vehicle is realized, and the convenience and the flexibility of the control of the two-wheel vehicle can be improved.

In a second aspect, an embodiment of the present application further provides a vehicle self-balancing control method, which is applied to the two-wheel vehicle in the first aspect, or any one of possible implementation manners of the first aspect, and includes: acquiring the current body angle of the two-wheel vehicle; calculating the inclination angle of the two-wheel vehicle according to the current vehicle body angle; wherein the inclination angle is an Euler angle; judging the current state of the two-wheel vehicle according to the relation between the inclination angle and the self-balancing angle range; if the inclination angle is judged to be in the self-balancing angle range, determining that the current state is a self-balancing state; under the self-balancing state, calculating a control signal of the inertia wheel mechanism according to the inclination angle; the inertia wheel mechanism is configured to act according to the control signal to control the inclination angle to be maintained within the self-balancing angle range.

In the implementation process, the current state of the two-wheel vehicle is monitored in real time according to the current vehicle body angle, so that when the two-wheel vehicle is in a self-balancing state, the control signal of the inertia wheel mechanism is calculated in real time according to the inclination angle of the two-wheel vehicle, the self-balancing state of the two-wheel vehicle is maintained through the inertia wheel mechanism, the risk of toppling over of the two-wheel vehicle is reduced, and the safety of the two-wheel vehicle is improved.

In one embodiment, the method further comprises: if the inclination angle is judged to be beyond the self-balancing angle range, determining that the current state is a toppling state; in the toppling state, controlling the inertia wheel mechanism to generate a fixed inertia moment; wherein the fixed moment of inertia is configured to reduce a tendency of the two-wheeled vehicle to lean; after the inclination angle is adjusted to be within the self-balancing angle range, starting an inertia wheel braking mechanism, and controlling the inertia wheel mechanism to switch to the self-balancing state; wherein the inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating the fixed moment of inertia.

In the implementation process, when the two-wheel vehicle is in the toppling state, the inertia wheel mechanism generates a fixed inertia moment to adjust the inclination angle of the two-wheel vehicle to a self-balancing angle range through the fixed inertia moment, and after the inclination angle is adjusted to the self-balancing angle range, the inertia wheel braking mechanism is started, and the inertia wheel braking mechanism controls the inertia wheel mechanism to be converted into the self-balancing state. Because the fixed inertia moment is set in advance, when the two-wheel vehicle is toppled over, the moment of inertia can be directly generated through the inertia wheel mechanism, real-time calculation of the moment of inertia is not needed according to the toppling condition, the time spent by calculating the moment of inertia can be reduced, and the righting efficiency of the two-wheel vehicle is improved. In addition, after the two-wheel vehicle reaches a self-balancing state, the inertia wheel mechanism is subjected to forced braking operation through the external inertia wheel braking mechanism, so that the self-balancing state of the vehicle is maintained, the risk of toppling of the two-wheel vehicle is reduced, and the safety of the two-wheel vehicle is improved.

In one embodiment, the fixed moment of inertia is calculated by the following formula: ; wherein, In order to fix the moment of inertia,For the weight of the inertia flywheel,Is the gravity center height of the inertia flywheel.

In the implementation process, the fixed inertia moment is calculated according to the weight, the gravity center height and the like of the inertia flywheel, and the calculated fixed inertia moment is different for different inertia flywheels, so that each inertia flywheel has a corresponding fixed inertia moment, and the accuracy of calculating the fixed inertia moment is improved.

In one embodiment, the calculating the control signal of the inertia wheel mechanism according to the inclination angle includes: acquiring real-time motion information of the two-wheeled vehicle, wherein the real-time motion information comprises the inclination angle; calculating the control signal according to the real-time motion information and an LQR controller algorithm; after calculating the control signal of the inertia wheel mechanism according to the inclination angle, the method further comprises the following steps: acquiring motion information of the inertia wheel mechanism after the inertia wheel mechanism acts according to the control signal; and adjusting the control signal according to the motion information and the first PID controller, and further controlling the inertia wheel mechanism to act based on the adjusted control information until the two-wheel vehicle reaches an equilibrium state.

In the implementation process, when the two-wheel vehicle is in a self-balancing state, control signals are adjusted in real time based on the first PID controller and the motion information, and the inertia wheel mechanism is controlled to act in real time based on the control signals, so that dynamic motion adjustment of the two-wheel vehicle is completed, self-balancing of the two-wheel vehicle can be achieved even when mass distribution on two sides of the two-wheel vehicle is unbalanced, and stability of motion of the two-wheel vehicle is improved.

In one embodiment, the control signal is calculated by the following formula:；；； ; wherein, Is the ratio value of the angle of the vehicle body,As the vehicle body speed proportional value,For the inertia wheel rotation ratio value,In order for the angle of oscillation to be a degree,For the speed of oscillation,For the outer rotor brushless motor speed,For the angle of the vehicle body,For the speed of the vehicle body,For the quality of the car body,Is the torque output to the outer rotor brushless motor.

In the implementation process, the torque output by the brushless motor of the outer rotor is calculated according to the real-time motion parameters of the two-wheel vehicle, so that the steering and rotating speed of the inertia flywheel are controlled, the motion state of the two-wheel vehicle is adjusted through the inertia flywheel, the time that the two-wheel vehicle is in a self-balancing state is prolonged, and the stability of the two-wheel vehicle in operation is improved.

In one embodiment, after the calculating the control signal of the inertia wheel mechanism according to the inclination angle, the method further includes: if the running speed of the two-wheel vehicle is greater than a speed threshold value, acquiring steering information of the two-wheel vehicle; calculating and controlling current information of the steering motor through a second PID controller and the steering information; and controlling the steering motor to act according to the current information, and continuously acquiring the steering information of the two-wheel vehicle until the two-wheel vehicle reaches an equilibrium state.

In the implementation process, when the running speed of the two-wheel vehicle is high, the steering motor is controlled to act according to the steering information of the two-wheel vehicle and the current information generated by the second PID controller, and the self-balancing state of the two-wheel vehicle is maintained through the steering motor. Because the steering angle can influence the movement of the center of gravity of the vehicle, the balance can be realized by simulating the manual control direction, so that the power consumption of a power device in the inertia wheel mechanism is saved, the energy consumption of the inertia wheel mechanism is reduced, and the duration of the two-wheel vehicle is prolonged.

In one embodiment, before the obtaining the current body angle of the two-wheeled vehicle, the method further includes: initializing elements in the two-wheeled vehicle when the two-wheeled vehicle is powered on; detecting the working state of each element in the two-wheel vehicle; and when detecting that an element with a working state being a fault state exists in the two-wheel vehicle, sending out an alarm and locking the two-wheel vehicle.

In the implementation process, after the two-wheel vehicle is electrified, the elements in the two-wheel vehicle are initialized, so that each element in the two-wheel vehicle is in an initialized state, and the accuracy of the actions of each element in the two-wheel vehicle is improved. In addition, the working state of each element is detected, and when the element with the fault state is detected, the two-wheel vehicle is locked, so that the two-wheel vehicle is prevented from being continuously used under the condition that the two-wheel vehicle has the fault, the use safety of the two-wheel vehicle is improved, and the danger of vehicles or personnel in the driving process is reduced.

In one embodiment, the method further comprises: acquiring the current ambient temperature of an inertial measurement chip; determining a temperature difference value between the current ambient temperature and a target temperature, wherein the target temperature is a temperature required to be maintained when the inertial measurement chip works; and calculating the working parameters of each heating resistor according to the temperature difference, wherein the heating resistor is configured to generate corresponding temperature according to the corresponding working parameters.

In the implementation process, in the running process of the two-wheel vehicle, the ambient temperature of the inertia measurement chip is obtained, the working parameters of the heating resistor are determined based on the temperature difference between the ambient temperature and the target temperature, and then the ambient temperature around the inertia measurement chip is adjusted through the heating resistor, so that the inertia measurement chip always works in the environment of the target temperature, the influence of the ambient temperature on the inertia measurement chip is reduced, and the measurement accuracy is improved.

In a third aspect, embodiments of the present application further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of controlling vehicle self-balancing of the second aspect, or any one of the possible embodiments of the second aspect, described above.

In a fourth aspect, an embodiment of the present application further provides a control apparatus, including: the acquisition module is used for acquiring the current body angle of the two-wheel vehicle; the calculating module is used for calculating the inclination angle of the two-wheel vehicle according to the current vehicle body angle; wherein the inclination angle is an Euler angle; the judging module is used for judging the current state of the two-wheel vehicle according to the relation between the inclination angle and the self-balancing angle range; the determining module is used for determining that the current state is a self-balancing state if the inclination angle is determined to be in the self-balancing angle range; the calculating module is further used for calculating a control signal of the inertia wheel mechanism according to the inclination angle in the self-balancing state; the inertia wheel mechanism is configured to act according to the control signal to control the inclination angle to be maintained within the self-balancing angle range.

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a two-wheeled vehicle according to an embodiment of the present application;

FIG. 2 is an exploded view of an inertia wheel mechanism of a two-wheeled vehicle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an inertial measurement unit according to an embodiment of the present application;

FIG. 4 is a flowchart of a vehicle self-balancing control method according to an embodiment of the present application;

FIG. 5 is a flow chart of a control mode of the two-wheeled vehicle provided by the embodiment of the application when the two-wheeled vehicle is in a toppling state;

FIG. 6 is a flow chart of a control method of the two-wheeled vehicle provided by the embodiment of the application when the two-wheeled vehicle is in a self-balancing state;

Fig. 7 is a schematic diagram of a functional module of a control device according to an embodiment of the present application.

Description of the drawings: 110-inertia wheel mechanism, 111-power device, 112-inertia flywheel, 120-inertia wheel braking mechanism, 121-brake block, 122-brake band-type brake, 130-first wheel, 140-second wheel, 150-frame, 160-auxiliary wheel, 170-inertia measuring chip, 180-circuit board and 190-temperature acquisition element.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

Along with the aggravation of urban traffic jam and the enhancement of environmental protection consciousness, the utilization rate of the two-wheel vehicle in the city is continuously improved due to the characteristics of small size, flexibility, easy parking and the like, and the two-wheel vehicle is favored by more and more consumers.

However, when the two-wheeled electric vehicle runs at a low speed or stops, the two-wheeled electric vehicle is easy to topple over and lose balance due to the structural characteristics and the dependence of the driver on balance, which brings potential risks to the safety of the driver and passengers. For example, in the case of waiting for a stop of a traffic light or the like, the driver must keep the balance of the vehicle, which puts higher demands on the skill and concentration of the driver. In addition, during low speed driving or through complex road conditions, the driver needs to operate the vehicle with greater caution to prevent the vehicle from toppling over due to out of balance.

However, the inventor of the present application has found through long-term research that the conventional two-wheel vehicle balance control method often depends on the experience and reaction speed of the driver, and has low efficiency.

In view of this, the present application proposes a two-wheeled vehicle, in which an inertia wheel mechanism and an inertia wheel braking mechanism are provided on the two-wheeled vehicle, and a fixed inertia moment is configured for the inertia wheel mechanism in advance, when the two-wheeled vehicle is tilted, the two-wheeled vehicle is first centered by the fixed inertia moment, and in the case that the tilting angle of the two-wheeled vehicle is within the self-balancing angle range, the inertia wheel mechanism is braked by the inertia wheel braking mechanism, so as to avoid the influence of the fixed inertia moment on the self-balancing state of the two-wheeled vehicle. Because the fixed inertia moment is set in advance, when the two-wheel vehicle is toppled over, the moment of inertia can be directly generated through the inertia wheel mechanism, real-time calculation of the moment of inertia is not needed according to the toppling condition, the time spent by calculating the moment of inertia can be reduced, and the righting efficiency of the two-wheel vehicle is improved. In addition, after the two-wheel vehicle reaches a self-balancing state, the inertia wheel mechanism is subjected to forced braking operation through the external inertia wheel braking mechanism, so that the self-balancing state of the vehicle is maintained, the risk of toppling of the two-wheel vehicle is reduced, and the safety of the two-wheel vehicle is improved.

For the convenience of understanding the present embodiment, a two-wheeled vehicle disclosed for carrying out the embodiment of the present application will be described in detail. The two-wheeled vehicle may be a two-wheeled vehicle which is provided in the forward direction of the two-wheeled vehicle and is provided in the backward and forward direction of the two-wheeled vehicle, such as a bicycle, an electric car, etc., or may be a two-wheeled vehicle which is provided in the forward direction of the two-wheeled vehicle and is provided in the left and right directions of the two-wheeled vehicle, such as a balance car, a flatbed, etc., and includes two-wheeled vehicles which are already in the actual transportation field.

As shown in fig. 1, a schematic structure of a two-wheeled vehicle (an exemplary two-wheeled vehicle is described with two wheels and two-wheeled vehicles disposed in front of and behind the front direction of the two-wheeled vehicle) includes: inertia wheel mechanism 110, inertia wheel brake mechanism 120, first wheel 130, second wheel 140, and frame 150.

Wherein first wheel 130 and second wheel 140 are disposed on frame 150; the inertia wheel mechanism 110 is arranged on the frame 150, and the inertia wheel mechanism 110 is arranged on the central axis of the two-wheel vehicle along the advancing direction of the two-wheel vehicle; the inertia wheel braking mechanism 120 is connected to the inertia wheel mechanism 110.

Alternatively, the first wheel 130 and the second wheel 140 may be disposed at both ends of the frame 150 in the traveling direction of the two-wheeled vehicle, or may be disposed at both sides of the frame 150 in the direction perpendicular to the traveling direction of the two-wheeled vehicle. The first wheel 130 and the second wheel 140 may be disposed in a front-rear direction along the front direction of the two-wheeled vehicle as shown in fig. 1, or may be disposed in other manners of two-wheeled vehicles existing in the transportation field.

The inertia wheel mechanism 110 generates corresponding moment by adjusting the rotation speed and the steering of the inertia flywheel 112, and is used for counteracting the inclination of the two-wheel vehicle. The inertia wheel mechanism 110 may include a power plant 111 and an inertia flywheel 112. Wherein the inertia flywheel 112 is configured to generate a moment by rotation, and the power device 111 is configured to provide power required for the rotation of the inertia flywheel.

In one embodiment, the inertia wheel mechanism 110 is configured to generate a fixed moment of inertia in the event that the angle of inclination of the two-wheeled vehicle exceeds a self-balancing angle range.

The fixed moment of inertia is a larger fixed moment which is set in advance. For example, the fixed moment of inertia is the maximum moment of inertia of the flywheel 112, the fixed moment of inertia is the righting moment required for the full dumping of the two-wheeled vehicle, and so on. The fixed moment of inertia may be set according to the actual situation.

The fixed moment of inertia herein is a moment in a direction opposite to the tilting direction of the two-wheeled vehicle, and is configured to reduce the inclination tendency of the two-wheeled vehicle.

In one embodiment, the inertia wheel mechanism 110 is disposed at a rear position of the frame 150 in the forward direction of the two-wheeled vehicle.

The inertia wheel braking mechanism 120 is a mechanism for braking the inertia wheel mechanism 110. The inertia wheel brake mechanism 120 is configured to control the inertia wheel mechanism 110 to stop generating a fixed moment of inertia in a case where the inclination angle of the two-wheeled vehicle is within the self-balancing angle range.

The self-balancing angle range refers to the maximum inclination angle which cannot be automatically stabilized in the running process of the two-wheeled vehicle.

In one embodiment, in the case where the inclination angle of the two-wheeled vehicle is within the self-balancing angle range, the inertia wheel mechanism 110 is switched to the self-balancing state; the inertia wheel mechanism 110 is further configured to control the inclination angle of the two-wheeled vehicle to be maintained within the self-balancing angle range according to real-time motion information of the two-wheeled vehicle in a self-balancing state.

The self-balancing state herein means a state in which the vehicle is automatically maintained stationary during running of the two-wheeled vehicle.

It will be appreciated that when the inclination angle of the two-wheeled vehicle is not within the self-balancing angle range, there is a risk of the two-wheeled vehicle tipping over. At this time, the inertia wheel mechanism 110 generates a fixed moment of inertia by controlling the rotation of the inertia flywheel 112, and the fixed moment of inertia is a relatively large moment, so that the inclination angle of the two-wheeled vehicle can be basically adjusted within the self-balancing angle range by the fixed moment of inertia. When the inclination angle of the two-wheeled vehicle is within the self-balancing angle range, the two-wheeled vehicle needs to be switched to the self-balancing state. At this time, the inertia wheel mechanism 110 does not need to generate a fixed inertia moment, and by starting the inertia wheel braking mechanism 120, the inertia wheel mechanism 110 stops generating the fixed inertia moment under the action of the inertia wheel braking mechanism 120, so as to avoid the influence of the fixed inertia moment on the self-balancing state of the two-wheel vehicle.

In addition, the two-wheeled vehicle may still have a small tipping or offset angle after the two-wheeled vehicle is switched to the self-balancing state. At this time, the inertia wheel mechanism 110 may also generate a corresponding moment of inertia according to the real-time motion state of the two-wheeled vehicle, so as to control the inclination angle of the two-wheeled vehicle to be maintained within the self-balancing angle range.

Optionally, an energy storage device, a power control device (e.g., a vehicle power electronic main switch, a fail-safe switch, a voltage detection element, a current detection element, a feedback element, etc.), may also be disposed in the frame 150 of the two-wheeled vehicle, the energy storage device configured to store energy for operation of the two-wheeled vehicle. Such as lead acid batteries, lithium batteries, and the like. The energy storage device can be selected according to actual conditions.

In one embodiment, the two-wheeled vehicle may further be provided with an auxiliary wheel 160, and the auxiliary wheel 160 is configured to adjust the inclination angle of the two-wheeled vehicle to avoid toppling of the two-wheeled vehicle when the inertia wheel mechanism 110 fails or in the event that the inertia wheel mechanism 110 fails to adjust the two-wheeled vehicle.

In the above implementation process, the inertia wheel mechanism 110 and the inertia wheel braking mechanism 120 are disposed on the two-wheel vehicle, and a fixed inertia moment is configured for the inertia wheel mechanism 110 in advance, when the two-wheel vehicle tilts, the two-wheel vehicle is first straightened by the fixed inertia moment, and under the condition that the inclination angle of the two-wheel vehicle is within the self-balancing angle range, the inertia wheel mechanism 110 is braked by the inertia wheel braking mechanism 120, so that the influence of the fixed inertia moment on the self-balancing state of the two-wheel vehicle is avoided. Because the fixed moment of inertia is set up in advance, when the two-wheeled vehicle emptys, can directly produce through inertia wheel mechanism 110, need not to carry out the real-time calculation of moment of inertia according to the condition of empting again, can reduce the time that spends because of moment of inertia calculation, improve two-wheeled vehicle righting efficiency. In addition, after the two-wheel vehicle reaches the self-balancing state, the inertia wheel mechanism 110 is subjected to forced braking operation by the external inertia wheel braking mechanism 120 so as to maintain the self-balancing state of the vehicle, reduce the risk of toppling over of the two-wheel vehicle and improve the safety of the two-wheel vehicle.

In one possible implementation, as shown in fig. 2, the inertia wheel mechanism 110 includes: an outer rotor brushless motor and an inertia flywheel 112.

The inertia flywheel 112 is fixedly arranged on one side of the outer rotor brushless motor; inertia wheel brake mechanism 120 connects the outer rotor brushless motor to the other side of inertia flywheel 112.

The external rotor brushless motor is a special direct current brushless motor. In an external rotor brushless motor, the rotor (also referred to as a rotor housing) is located outside the motor, while the stator is located inside the motor. The rotor of which rotates around the periphery of the stator. Unlike an inner rotor motor, the rotor housing of an outer rotor motor is composed of permanent magnets or electromagnets, and the stator includes windings and magnets. The structure ensures that the external rotor motor has the advantages of high energy density, high efficiency, high torque output and the like. The outer rotor brushless motor is configured to drive an inertia flywheel to rotate.

In one embodiment, the external rotor brushless motor is a brushless motor that is positively and negatively controllable.

It should be understood that since the external rotor brushless motor has a characteristic of large torque, the rotational speed of the external rotor brushless motor is set within a required range. Therefore, when the outer rotor brushless motor drives the inertia flywheel to rotate, the inertia flywheel can be well driven to realize self-balancing of the vehicle without other driving devices (such as an accelerator and a decelerator).

The external rotor brushless motor can be matched with a corresponding brushless motor driver. The innumerable motor drivers are configured to drive the outer rotor brushless motor.

The inertia flywheel 112 is a mechanical element that can rotate. When the rotation speed of the outer rotor brushless motor increases, the kinetic energy of the inertia flywheel 112 increases, and the energy is stored; when the rotation speed of the outer rotor brushless motor is reduced, the kinetic energy of the inertia flywheel 112 is reduced, and the energy is released; and then the output shaft can uniformly rotate, and then the stability of the two-wheel vehicle in the motion process is maintained.

It will be appreciated that the size of the inertia flywheel 112 may have an effect on the rotational inertia of the inertia flywheel 112, the energy storage capacity, the balance effect, the space occupation, etc., and the size of the inertia flywheel 112 may be adjusted according to the model, structure, etc. of the two-wheeled vehicle.

The inertia wheel braking mechanism 120 is configured to control the outer rotor brushless motor to stop driving the inertia flywheel 112 to generate a fixed inertia moment.

It should be appreciated that since the inertia wheel braking mechanism 120 is connected to the outer rotor brushless motor, the braking force generated by the inertia wheel braking mechanism 120 acts on the outer rotor brushless motor, and the outer rotor brushless motor stops providing power to the inertia flywheel 112 by the braking force. At this time, the inertia flywheel 112 stops generating a fixed moment of inertia.

In the above implementation, since the outer rotor brushless motor has advantages of high energy density, high efficiency, high torque output, and the like, by providing the power device 111 that drives the inertia flywheel 112 to operate as the outer rotor brushless motor, the power device 111 (e.g., accelerator, decelerator, etc.) required for the inertia flywheel 112 to operate can be reduced, and the cost of the inertia wheel mechanism 110 can be reduced while simplifying the structure of the inertia wheel mechanism 110. In addition, because the inertia flywheel 112 has the functions of energy storage and energy release, the inertia flywheel 112 can output relatively stable moment, and the inertia flywheel 112 is arranged to maintain the balance of the two-wheel vehicle in the running process, so that the stability of the two-wheel vehicle in the running process can be improved.

In one possible implementation, inertia wheel brake mechanism 120 includes: brake pad 121 and brake band-type brake 122.

The other side of the outer rotor brushless motor, which is far away from the inertia flywheel 112, comprises a fixed seat; the fixed seat is fixedly arranged on the surface of the other side, far away from the inertia flywheel 112, of the outer rotor brushless motor; the brake plate 121 is sleeved on the fixed seat and fixedly arranged on the surface of the other side, far away from the inertia flywheel 112, of the outer rotor brushless motor; the brake band-type brake 122 is fixedly arranged at one end of the fixing seat penetrating through the brake block 121.

Alternatively, the fixing base and the surface of the outer rotor brushless motor on the other side far away from the inertia flywheel 112 may be connected by a screw, a bolt, or the like, or may be connected by welding, integrally forming, or the like, and the connection manner of the fixing base and the surface of the outer rotor brushless motor on the other side far away from the inertia flywheel 112 may be selected according to practical situations.

Here, the brake pad 121 generates resistance by friction with a brake drum or a brake disc on the inertia flywheel 112, and slows down the rotation speed of the inertia flywheel 112, thereby achieving deceleration or stopping of the inertia flywheel 112. The brake pad 121 is configured to rotate with the outer rotor brushless motor.

The braking band-type brake 122 is used for braking the motor, and is mainly used for preventing the motor from being dangerous due to movement of external force under the static and power-off state. When the motor needs to be stopped, the band-type brake applies braking force, and the rotation of the motor is stopped through friction or electromagnetic action so as to rapidly reduce the rotating speed of the motor and finally stop the motor. The braking band-type brake 122 has the characteristics of quick response and sufficient braking force generation, and further can achieve a quick and accurate braking effect. The brake band-type brake 122 is configured to control the outer rotor brushless motor to stop generating a fixed moment of inertia.

It should be appreciated that brake pad 121 and brake band 122 cooperate in performing a braking operation on inertia flywheel 112. Brake pads 121 first contact the brake drum or disc, creating resistance by friction, and begin to slow the rotational speed of inertia flywheel 112. Simultaneously, the braking band-type brake 122 also responds rapidly, and applies braking force to further prevent the outer rotor brushless motor from rotating. By the combined action of the brake pads 121 and the brake band-type brake 122, a more rapid, smooth and safe braking effect can be achieved.

In the above-described implementation, by providing the brake pad 121 and the brake band-type brake 122 in the inertia wheel braking mechanism 120, when the inertia flywheel 112 is braked, the brake pad 121 first contacts the brake drum or the brake disc, and resistance is generated by friction, so that the rotational speed of the inertia flywheel 112 starts to be reduced. Simultaneously, the braking band-type brake 122 also responds rapidly, and applies braking force to further prevent the outer rotor brushless motor from rotating. The braking piece 121 and the braking band-type brake 122 jointly act, so that a quicker, stable and safe braking effect can be realized, and the braking efficiency and stability of the inertia flywheel 112 are improved.

In one possible implementation, the two-wheeled vehicle further includes: control device and inertial measurement unit.

Wherein the control device is disposed on frame 150; the inertia measurement unit is provided on a control device that connects the inertia wheel mechanism 110 and the inertia wheel brake mechanism 120.

The inertial measurement unit is here configured to acquire movement information of the two-wheeled vehicle. The inertial measurement unit may be one or more of a gyroscope, accelerometer, magnetometer, etc. Accordingly, the motion information may be one or more of angular velocity, acceleration, direction of motion, etc. The specific type of the inertial measurement unit can be selected according to actual conditions, and accordingly, the motion information can be adjusted according to the inertial measurement unit.

The control device is configured to generate a control signal according to the motion information and transmit the control signal to the inertia wheel mechanism 110 and the inertia wheel braking mechanism 120. The control device can be a singlechip, a programmable controller and the like, and can be selected according to actual conditions.

In one embodiment, inertia wheel mechanism 110 and inertia wheel braking mechanism 120 are configured to act according to a control signal.

It should be appreciated that when the inertial measurement unit, the inertia wheel mechanism 110 and the inertia wheel braking mechanism 120 are all connected to the control device. The control device can determine the current motion state and the subsequent motion trend of the two-wheel vehicle according to the acquired motion information. The control device further generates corresponding control signals according to the current motion state and the subsequent motion trend of the two-wheel vehicle, and sends the generated control information to the inertia wheel mechanism 110 and the inertia wheel braking mechanism 120 respectively.

In one embodiment, the frame 150 of the two-wheeled vehicle is mounted with an encoder for acquiring the steering angle of the front steering mechanism of the two-wheeled vehicle at a position along the forward direction of the two-wheeled vehicle.

The encoder may be a magnetic encoder, an electrical encoder, an optical encoder, etc. The encoder may be selected according to the actual situation.

Optionally, a vehicle total power control, a detector, etc. may also be provided in the two-wheeled vehicle. Wherein the control device, the detector and the vehicle total power supply control are all arranged in the control system circuit board 180.

In one embodiment, the control device is RoboMaster develop board type C. The control device adopts FreeRTOS real-time operation system to control.

The control device CAN communicate with other elements in the two-wheel vehicle in a communication mode of a CAN bus. Among them, the CAN bus has the advantage of strong anti-interference capability.

In the implementation process, the control device and the inertia measurement unit are arranged in the two-wheel vehicle, the inertia measurement unit is used for acquiring real-time motion information of the two-wheel vehicle, the control device is used for generating control information for controlling the inertia wheel mechanism 110 and the inertia wheel braking mechanism 120 according to the motion information, and further automatic control over the inertia wheel mechanism 110 and the inertia wheel braking mechanism 120 is achieved, participation of a user is not needed in the whole process, and use experience of the user is improved.

In one possible implementation, as shown in fig. 3, the inertial measurement unit includes: inertial measurement chip 170, heating resistor, and circuit board 180.

Wherein the inertial measurement chip 170 and the heating resistor are soldered to the circuit board 180. The circuit board 180 is connected to the control device through FPC flat cables and conductive contacts.

Optionally, a thermal insulation shock absorbing member is arranged between the control device and one surface of the circuit board 180 where the inertial measurement chip 170 and the heating resistor are not welded. The heat-insulating and shock-absorbing member can be sponge, rubber, foam and the like, and the heat-insulating and shock-absorbing member can be selected according to actual conditions.

The inertial measurement chip 170 is a sensor that integrates one or more inertial measurement units, and the inertial measurement chip 170 is used to measure and sense motion information during movement of the two-wheeled vehicle.

The plurality of heating resistors (shown in fig. 3, the heating resistors include 13 of R1 to R11 and R13 to R14), and the plurality of heating resistors are disposed around the inertial measurement chip 170; the two adjacent heating resistors can be arranged at intervals, can be arranged at fixed distances, can be arranged at different distances, and the specific arrangement mode of the heating resistors is selected according to actual conditions.

In one embodiment, the inertial measurement chip 170 is provided with a heating resistor around its periphery.

The heating resistor is an element for heating by heat generated by passing an electric current through the resistor. The heating capacity of the heating resistor can be adjusted by adjusting the current through the resistor. The heating resistor is configured to maintain the temperature of the inertial measurement chip 170 within a set range.

The inertial measurement chip 170 described above may also incorporate a temperature acquisition element 190, the temperature acquisition element 190 being configured to acquire the ambient temperature around the inertial measurement chip 170. Each inertial measurement chip 170 may set a corresponding set temperature range in advance, and when the ambient temperature is within the set temperature range, accuracy of motion information measured by the inertial measurement chip 170 is high.

It should be understood that when the ambient temperature acquired by the temperature acquisition element 190 is within the set temperature range, no or little current flows through the heating resistor, and the heating resistor hardly heats. When the ambient temperature acquired by the temperature acquisition element 190 is not within the set temperature range, a suitable current flows into the heating resistor, and the heating resistor heats the ambient environment around the inertial measurement chip 170. Wherein the value of the current flowing in the heating resistor can be determined according to the difference between the ambient temperature and the set temperature range.

In the above implementation process, since the operation of the inertial measurement unit is greatly affected by the ambient temperature, by setting a heating resistor around the inertial measurement chip 170, the heating resistor can generate corresponding heat according to the temperature of the inertial measurement chip 170, so as to adjust the ambient temperature of the inertial measurement chip 170, so that the inertial measurement chip 170 always works at a stable ambient temperature, and further the accuracy of measuring motion information of the inertial measurement chip 170 is improved.

In one possible implementation, the inertia wheel brake mechanism 120 includes: a brake motor, a brake band-type brake 122, and a first traction member.

Wherein, the control device is connected with the brake motor; one end of the first traction piece is connected with a brake motor, and the other end of the first traction piece is connected with a brake band-type brake 122; braking band-type brake 122 is fixedly mounted on inertia wheel mechanism 110.

The control device is used for generating a control signal according to the action information of the inertia wheel structure, and the control signal can be used for controlling the action of the brake motor. The control device is configured to send a control signal to the brake motor.

The brake motor is configured to operate under a control signal.

It should be appreciated that, because the flywheel structure is coupled to the control device, the control device may obtain motion information (e.g., whether the flywheel structure is moving, rotational speed, spin direction, etc.) of the flywheel structure. After the control device acquires the action information of the inertia wheel structure, corresponding control information is generated according to the action information. The control information can be used for controlling the start action, the action capacity or the stop action of the inertia wheel structure, and the specific control condition of the control information can be selected according to the actual condition.

Wherein the brake band-type brake 122 is configured to operate under control of a brake motor.

As can be appreciated, since the brake band-type brake 122 is connected with the brake motor, when the brake motor acts, the brake motor can drive the brake band-type brake 122 to act, and further the inertia wheel structure is controlled to act through the brake band-type brake 122.

In the above implementation process, by connecting the brake motor with the control device, the control device can generate control information according to the action condition of the inertia wheel structure, and automatically control the brake motor based on the control information, so as to realize automatic control of the inertia wheel braking mechanism 120, reduce the operation of a user, and improve the experience. In addition, since the control information is generated according to the actual motion information of the inertia wheel mechanism 110, the obtained control information of the inertia wheel braking mechanism 120 is more accurate and real, and thus the accuracy of the inertia wheel braking mechanism 120 control can be improved.

In one possible implementation, the two-wheeled vehicle further includes: steering wheel, second traction element and peripheral hardware brake control component.

The steering engine is connected with the peripheral brake control element and one end of the second traction piece; the other end of the second traction piece is connected with a brake motor.

The steering engine is used for adjusting the rotation angle of the output shaft according to the acquired control information, so as to control the action of the brake motor. The control information acquired by the steering engine can be input through a peripheral brake control element.

The brake motor is also configured to act under traction of the steering engine.

The peripheral brake control element is a peripheral brake control signal input element. Such as hand brakes, foot brakes, etc. The external brake control element can be selected according to actual conditions.

It should be understood that the external brake control element, the steering engine, the second traction member and the vehicle integral brake device of the two-wheel vehicle are two sets of brake systems. The vehicle integral braking device is used for braking wheels of the two-wheel vehicle so as to control the forward, backward and other movement conditions of the two-wheel vehicle. The external brake control element, steering engine, second traction element and the like are used for controlling the inertia wheel braking mechanism 120, and the inertia wheel braking mechanism 120 is used for controlling the action of the inertia flywheel 112 so as to maintain the balance of the vehicle in the moving process.

In one embodiment, steering engine control is prioritized over brake motor control by brake band-type brake 122.

In the above implementation process, since the external brake control element obtains the control information input from the outside, i.e. the manual control information. The inertia wheel braking mechanism 120 is controlled by the external braking control element, namely the inertia wheel braking mechanism 120 is manually controlled, and the manual mode is based on a mechanical structure to control a braking motor, so that compared with an electric control mode, the pure mechanical control mode has better stability, and the stability of the inertia wheel braking mechanism 120 control can be improved.

In one possible implementation, the method further includes: and a transceiver module.

Wherein the transceiver module is disposed on the frame 150; the receiving and transmitting module is connected with the control device and the external control equipment.

The transceiver module here may be a device for wireless communication, which is capable of transmitting and receiving signals. The transceiver module is configured to transmit remote control information sent from an external control device to the control apparatus.

In one embodiment, the transceiver module is a serial transceiver module.

The external control device is used for generating remote control information, and the remote control information can be used for controlling locking, advancing, steering, braking and the like of the two-wheel vehicle. The external control device can be a remote controller, a handheld terminal (such as a mobile phone, a tablet lamp), a computer and the like, and can be selected according to actual situations.

Wherein the control device is configured to generate the control signal based on the remote control information.

In one embodiment, the transceiver module connects the inertia wheel mechanism 110, the inertia wheel braking mechanism 120, and an external control device. The inertia wheel mechanism 110 and/or the inertia wheel braking mechanism 120 may directly act according to the remote control information obtained by the transceiver module.

In the above implementation process, by setting the transceiver module on the frame 150, the transceiver module may be used to establish connection with an external control device, and further control the motion of the two-wheeled vehicle through the external control device, so as to implement remote control of the two-wheeled vehicle, and improve convenience and flexibility of control of the two-wheeled vehicle.

The two-wheeled vehicle in the present embodiment may be used to perform each step in each method provided by the embodiments of the present application. The implementation of the vehicle self-balancing control method is described in detail below by way of several embodiments.

Referring to fig. 4, a flowchart of a vehicle self-balancing control method according to an embodiment of the application is shown. The specific flow shown in fig. 4 will be described in detail.

Step 201, a current body angle of the two-wheeled vehicle is obtained.

The current car body angle refers to the angle of the two-wheel car at the current moment, and the current car body angle can be obtained through the inertia measurement unit.

In one embodiment, the inertial measurement unit obtains the current body angle of the two-wheeled vehicle in real time.

Step 202, calculating the inclination angle of the two-wheeled vehicle according to the current vehicle body angle.

Wherein the inclination angle is Euler angle. The Euler angle can be calculated by means of Kalman filtering, quaternion calculation and the like.

It should be appreciated that, since the current body angle obtained by the inertial measurement unit is based on angular velocity measurements and is obtained by integral operation, the euler angle is used to describe the rotation angle of an object in three-dimensional space with respect to a certain reference frame. Therefore, after the current car body angle is obtained through the inertia measurement unit, the Euler angle is further calculated according to the current car body angle, so that whether the two-wheel car has a tilting trend or not can be determined through the Euler angle.

Step 203, judging the current state of the two-wheel vehicle according to the relation between the inclination angle and the self-balancing angle range.

The self-balancing angle range is an angle range in which the two-wheeled vehicle maintains a self-balancing state. For example, 0 ° to 15 °,0 ° to 25 °,0 ° to 30 °, and the like. The self-balancing angle range can be adjusted according to the type, structure and the like of the two-wheeled vehicle.

In step 204, if the inclination angle is determined to be within the self-balancing angle range, the current state is determined to be the self-balancing state.

In one embodiment, if it is determined that the tilt angle exceeds the self-balancing angle range, the current state is determined to be a toppled state.

The self-balancing state herein means a state in which the two-wheeled vehicle can automatically maintain its stability. The toppled state is a state in which the two-wheeled vehicle starts to topple down due to the unbalance.

Step 205, in the self-balancing state, calculating a control signal of the inertia wheel mechanism according to the inclination angle.

Wherein the inclination angle can be obtained by an inertial measurement unit. The inertia measuring unit can acquire the inclination angle of the two-wheel vehicle in real time, and transmits the acquired inclination angle to the control device. The control device can calculate the control signal of the inertia wheel mechanism in real time or at regular time according to the acquired inclination angle.

The control signal is configured to control the inertia wheel mechanism to generate an inertia moment opposite to the inclination direction.

The inertia wheel mechanism is configured to operate according to the control signal to control the tilt angle to remain within the self-balancing angle range.

It should be understood that in the self-balancing state, when the inclination angle is the left direction in the direction of the front of the two-wheeled vehicle, the inertia wheel mechanism generates an inertia moment in the right direction of the front of the two-wheeled vehicle. When the inclination angle is in the right direction along the advancing direction of the two-wheeled vehicle, the inertia wheel mechanism generates an inertia moment on the left side along the advancing direction of the two-wheeled vehicle. And further, the inclination angle of the two-wheel vehicle is prevented from being increased and exceeds the self-balancing angle range.

In one possible implementation, the method further includes: in a toppling state, controlling the inertia wheel mechanism to generate a fixed inertia moment; and after the inclination angle is adjusted to be within the self-balancing angle range, starting the inertia wheel braking mechanism, and controlling the inertia wheel mechanism to switch to a self-balancing state.

The fixed moment of inertia is a larger fixed moment which is set in advance. For example, the fixed moment of inertia is the maximum moment of inertia of the flywheel, and the fixed moment of inertia is the righting moment required by the two-wheel vehicle to completely topple over. The fixed moment of inertia may be set according to the actual situation.

The fixed moment of inertia is a moment opposite to the tilting direction of the two-wheeled vehicle, and is configured to reduce the tilting tendency of the two-wheeled vehicle.

The inertia wheel braking mechanism is a mechanism for braking the inertia wheel mechanism. The inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating a fixed moment of inertia when an inclination angle of the two-wheeled vehicle is within a self-balancing angle range.

In one embodiment, the inertia wheel brake mechanism is further configured to cooperate with the inertia wheel mechanism to maintain the two-wheeled vehicle in a self-balancing state when the two-wheeled vehicle is in a self-balancing state.

Specifically, as shown in fig. 5, when the two-wheeled vehicle is in a toppled state, the control manner of the two-wheeled vehicle may be as follows: and acquiring an inclination angle, and determining the dumping direction of the two-wheel vehicle according to the inclination angle. When the dumping direction is left-falling, controlling the power device to turn right; when the dumping direction is right, the power device is controlled to turn left. If the power device rotates to the maximum speed, the inertia wheel braking mechanism brakes, and the two-wheel vehicle enters a self-balancing state.

In one possible implementation, the fixed moment of inertia may be calculated by the following formula:

；

Wherein, In order to fix the moment of inertia,For the weight of the inertia flywheel,Is the gravity center height of the inertia flywheel.

It should be appreciated that there may be differences in the weight and/or center of gravity heights corresponding to different inertia flywheels. Thus, the corresponding fixed moment of inertia can be calculated for different inertia flywheels.

The fixed moment of inertia can be calculated and stored between two wheelers in use. During the use of the two-wheel vehicle, the inertia wheel mechanism can be directly controlled according to the fixed inertia moment stored in advance.

In one possible implementation, step 205 includes: acquiring real-time motion information of the two-wheel vehicle; the control signal is calculated based on the real-time motion information and the LQR controller algorithm.

The real-time motion information comprises information such as inclination angle, motion speed, motion acceleration and the like, and the real-time motion information can be selected according to actual conditions.

The real-time motion signal may be acquired by inertial measurement units, encoders, sensors, etc.

The LQR controller algorithm is a continuous time linear parameter control algorithm based on a mean square error technology. The method uses linear parameterization and a second order control method to realize optimal control by optimizing system performance indexes according to input and output requirements. The LQR algorithm minimizes deviations in the controller output state by changing the controller parameters.

In one embodiment, after step 205, the method further comprises: acquiring motion information of the inertia wheel mechanism after the inertia wheel mechanism acts according to the control signal; and adjusting control signals according to the motion information and the first PID controller, and further controlling the inertia wheel mechanism to act based on the adjusted control information until the two-wheel vehicle reaches an equilibrium state.

The first PID controller here is a feedback controller that can calculate a corresponding control amount by using a ratio, an integral, a derivative, or the like according to an error of the system, thereby controlling a corresponding element.

It should be understood that the motion information of the inertia wheel mechanism can be obtained in real time, and after the motion information of the inertia wheel mechanism is obtained in real time, a control signal can be adjusted in real time according to the motion information obtained in real time, and the inertia wheel mechanism is controlled to act based on the adjusted control signal. The dynamic circulation adjustment realizes real-time adjustment of the rotation of the inertia wheel mechanism so as to keep balance of the two-wheel vehicle.

Specifically, as shown in fig. 6, when the two-wheeled vehicle is in a self-balancing state, the control manner of the two-wheeled vehicle may be as follows: acquiring motion information, adjusting control signals according to the motion information and the first PID controller, and controlling the inertia wheel mechanism to act based on the adjusted control signals; and continuously updating the motion information after the inertia wheel mechanism acts, and adjusting control signals according to the updated motion information and the first PID controller until the two-wheel vehicle reaches a balanced state.

In one possible implementation, the control signal may be calculated by the following formula:

；

Wherein, Is the ratio value of the angle of the vehicle body,As the vehicle body speed proportional value,For the inertia wheel rotation ratio value,In order for the angle of oscillation to be a degree,For the speed of oscillation,For the outer rotor brushless motor speed,For the angle of the vehicle body,For the speed of the vehicle body,For the quality of the car body,Is the torque output to the outer rotor brushless motor.

Here, the、AndTo set a good constant in advance.

In one possible implementation, after step 205, the method further includes: if the running speed of the two-wheel vehicle is greater than the speed threshold value, acquiring steering information of the two-wheel vehicle; calculating and controlling current information of the steering motor through the second PID controller and the steering information; and controlling the steering motor to act according to the current information, and continuously acquiring the steering information of the two-wheel vehicle until the two-wheel vehicle reaches a balanced state.

The speed threshold is a speed value which is set in advance and needs steering information to control the two-wheel vehicle to keep balance, for example, 5KM/h, 10KM/h and the like. The speed threshold may be selected according to the actual situation.

In one embodiment, the inertia wheel mechanism is configured to adjust the two-wheeled vehicle to be in a balanced state when the two-wheeled vehicle is traveling at a low speed or is parked.

When the two-wheel vehicle runs at a high speed, the balance state of the two-wheel vehicle can be adjusted directly through the steering motor.

Wherein, this steering motor is brushless motor. The steering motor is used for controlling the two-wheel vehicle to realize steering.

The steering information may include information such as a steering angle, a steering direction, a steering speed, etc., and may be selected according to actual conditions. The steering information may be obtained by an information acquisition device such as an encoder.

The second PID controller is also a feedback controller, and the second PID controller can calculate a corresponding control amount by using a ratio, an integral, a derivative, or the like according to an error of the system, thereby controlling a corresponding element.

Specifically, after the steering information is acquired, the acquired steering information is input to a second PID controller, and the second PID controller outputs information such as an angle and a speed closed loop for realizing steering motor action control according to the received steering information so as to control the steering motor to act according to the information output by the second PID controller.

In one embodiment, the output of the second PID controller is current information. The steering motor operates under the action of the current information.

It should be understood that the steering information may be obtained in real time, and after the steering information is obtained in real time, the current information may be adjusted in real time according to the steering information obtained in real time, and the steering motor action may be controlled based on the adjusted current information. The dynamic circulation adjustment realizes the real-time adjustment of the rotation of the steering motor so as to keep the balance of the two-wheel vehicle.

When the balance state of the two-wheel vehicle is controlled through the steering motor, the whole two-wheel vehicle can be regarded as an inverted pendulum model, the steering angle can influence the movement of the gravity center of the vehicle, and further the balance is realized through simulating the artificial control direction so as to save the power consumption of a power device in the inertia wheel mechanism.

In one possible implementation, before step 201, the method further includes: initializing elements in the two-wheel vehicle under the condition that the two-wheel vehicle is electrified; detecting the working state of each element in the two-wheel vehicle; and when detecting that the elements with the working states being the fault states exist in the two-wheel vehicle, giving an alarm and locking the two-wheel vehicle.

The initialization includes hardware initialization, software initialization, parameter initialization, etc., and the initialization content may be selected according to the actual situation.

The elements for initializing the two-wheeled vehicle may be elements that operate after power-up, for example, elements such as an outer rotor brushless motor, a brake motor, a control device, an inertial measurement unit, a heating resistor, and a steering engine. The elements on the two-wheeled vehicle that are initialized can be selected according to the actual situation.

The working states of the elements can comprise a plurality of states such as a fault state, a normal state, a stop state and the like, and the types of the working states can be selected according to actual conditions.

The detection of the operating state can be carried out by a corresponding operating state detection program which can be stored in advance in the control device of the two-wheeled vehicle.

Optionally, the alarm mode may include alarm information display, light alarm, voice alarm, etc. Correspondingly, the two-wheel vehicle can be further provided with alarm elements such as a display screen, a buzzer, an indicator lamp and the like. The alarm element arranged on the two-wheel vehicle can be selected according to actual conditions.

The display screen can give an alarm through displaying the error code, the lamplight alarm can give an alarm through flashing alarm lamplight, the buzzer can give an alarm through playing the state sound of the error code, and the like.

It will be appreciated that in the event that a faulty component is detected in the two-wheeled vehicle, the faulty component may have an effect on the control of the travel of the two-wheeled vehicle, and that in severe cases, the safety of the travel may be produced. Thus, when a failure is detected in the two-wheeled vehicle, the two-wheeled vehicle can be locked first, and after the failure is released from the element that has determined the failure state, the two-wheeled vehicle can be unlocked.

After the two-wheel vehicle is unlocked, the two-wheel vehicle can enter a self-balancing state, elements in the two-wheel vehicle are started, and the vehicle performs self-balancing movement.

In one possible implementation, the method further includes: acquiring the current ambient temperature of an inertial measurement chip; determining a temperature difference between the current ambient temperature and the target temperature; and calculating the working parameters of each heating resistor according to the temperature difference.

The target temperature is the temperature required to be maintained when the inertial measurement chip works, and the target temperature can be the optimal working temperature of the inertial measurement chip. The target temperature may be set accordingly according to the type of the inertial measurement chip.

The current ambient temperature refers to the temperature of the ambient environment around the inertial measurement chip at the current moment.

In one embodiment, a temperature measurement device may be provided around the inertial measurement chip for detecting the ambient temperature around the inertial measurement chip. The temperature measuring device can be a temperature sensor, an infrared sensor, a thermocouple and the like, and the temperature measuring device can be selected according to actual conditions.

The heating resistor is configured to generate a corresponding temperature according to a corresponding operating parameter.

In one embodiment, each temperature difference may be set with a corresponding operating parameter, and after determining a temperature difference between the current ambient temperature and the target temperature, the operating parameter of the heating resistor may be directly determined according to the temperature difference, where the heating resistor generates corresponding heat under the action of the operating parameter.

In another embodiment, when the detected current ambient temperature is lower than the target temperature, the current ambient temperature is gradually close to the target temperature until the current ambient temperature is maintained at the target temperature by increasing the current flowing in the heating resistor and further increasing the heat generated by the heating resistor so as to increase the ambient temperature around the inertial measurement chip through the heating resistor. When the detected current ambient temperature is higher than the target temperature, the current ambient temperature is gradually close to the target temperature until the current ambient temperature is maintained at the target temperature by reducing the current flowing in the heating resistor and further reducing the heat generated by the heating resistor so as to reduce the ambient temperature around the inertial measurement chip through the heating resistor.

Based on the same application conception, the embodiment of the application also provides a control device corresponding to the vehicle self-balancing control method, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the embodiment of the vehicle self-balancing control method, the implementation of the device in the embodiment of the application can be referred to the description in the embodiment of the method, and the repetition is omitted.

Fig. 7 is a schematic diagram of a functional module of a control device according to an embodiment of the application. The respective modules in the control apparatus in the present embodiment are configured to execute the respective steps in the above-described method embodiment. The control device comprises an acquisition module 301, a calculation module 302, a judgment module 303 and a determination module 304; wherein,

The acquisition module 301 is configured to acquire a current body angle of the two-wheeled vehicle.

The calculating module 302 is used for calculating the inclination angle of the two-wheel vehicle according to the current vehicle body angle; wherein the inclination angle is Euler angle.

The judging module 303 is configured to judge a current state of the two-wheel vehicle according to the relationship between the inclination angle and the self-balancing angle range.

The determining module 304 is configured to determine that the current state is a self-balancing state if the inclination angle is determined to be within the self-balancing angle range.

The calculating module 302 is further configured to calculate a control signal of the inertia wheel mechanism according to the inclination angle in the self-balancing state; the inertia wheel mechanism is configured to act according to the control signal to control the inclination angle to be maintained within the self-balancing angle range.

In a possible implementation manner, the determining module 304 is further configured to: and if the inclination angle is judged to be beyond the self-balancing angle range, determining that the current state is a toppling state.

In a possible implementation manner, the control device further comprises a control module, which is used for controlling the inertia wheel mechanism to generate fixed inertia moment in the toppling state; wherein the fixed moment of inertia is configured to reduce a tendency of the two-wheeled vehicle to lean; after the inclination angle is adjusted to be within the self-balancing angle range, starting an inertia wheel braking mechanism, and controlling the inertia wheel mechanism to switch to the self-balancing state; wherein the inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating the fixed moment of inertia.

In a possible implementation manner, the calculating module 302 is specifically configured to: acquiring real-time motion information of the two-wheeled vehicle, wherein the real-time motion information comprises the inclination angle; calculating the control signal according to the real-time motion information and an LQR controller algorithm; after calculating the control signal of the inertia wheel mechanism according to the inclination angle, the method further comprises the following steps: acquiring motion information of the inertia wheel mechanism after the inertia wheel mechanism acts according to the control signal; and adjusting the control signal according to the motion information and the first PID controller, and further controlling the inertia wheel mechanism to act based on the adjusted control information until the two-wheel vehicle reaches an equilibrium state.

In a possible implementation manner, the control module is further configured to obtain steering information of the two-wheel vehicle if the running speed of the two-wheel vehicle is greater than a speed threshold; calculating and controlling current information of the steering motor through a second PID controller and the steering information; and controlling the steering motor to act according to the current information, and continuously acquiring the steering information of the two-wheel vehicle until the two-wheel vehicle reaches an equilibrium state.

In a possible embodiment, the control device further comprises a detection module for initializing elements in the two-wheeled vehicle in case of power-up of the two-wheeled vehicle; detecting the working state of each element in the two-wheel vehicle; and when detecting that an element with a working state being a fault state exists in the two-wheel vehicle, sending out an alarm and locking the two-wheel vehicle.

In a possible implementation manner, the calculating module 302 is specifically configured to: acquiring the current ambient temperature of an inertial measurement chip; determining a temperature difference value between the current ambient temperature and a target temperature, wherein the target temperature is a temperature required to be maintained when the inertial measurement chip works; and calculating the working parameters of each heating resistor according to the temperature difference, wherein the heating resistor is configured to generate corresponding temperature according to the corresponding working parameters.

In addition, the embodiment of the application further provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle self-balancing control method in the embodiment of the method are executed.

The computer program product of the vehicle self-balancing control method provided by the embodiment of the application comprises a computer readable storage medium storing program codes, wherein the program codes comprise instructions for executing the steps of the vehicle self-balancing control method described in the method embodiment, and the method embodiment is specifically referred to and will not be repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A two-wheeled vehicle, comprising: the device comprises an inertia wheel mechanism, an inertia wheel braking mechanism, a first wheel, a second wheel and a frame;

The first wheel and the second wheel are disposed on the frame;

The inertia wheel mechanism is arranged on the frame and is arranged on a central axis of the two-wheel vehicle along the advancing direction of the two-wheel vehicle; the inertia wheel mechanism is configured to generate a fixed inertia moment under the condition that the inclination angle of the two-wheel vehicle exceeds the self-balancing angle range; the fixed inertia moment is a righting moment required by the two-wheel vehicle to completely topple over; the self-balancing angle range is a maximum inclination angle which can automatically maintain stability and fall in the running process of the two-wheeled vehicle;

The inertia wheel braking mechanism is connected with the inertia wheel mechanism; the inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating the fixed inertia moment in a case where an inclination angle of the two-wheeled vehicle is within the self-balancing angle range;

The inertia wheel mechanism is switched to a self-balancing state under the condition that the inclination angle of the two-wheel vehicle is in the self-balancing angle range; the inertia wheel mechanism is further configured to control the inclination angle of the two-wheel vehicle to be maintained within the self-balancing angle range according to the real-time motion information of the two-wheel vehicle in the self-balancing state;

The two-wheeled vehicle further includes: a control device and an inertial measurement unit;

the control device is arranged on the frame;

The inertia measurement unit is arranged on the control device and is configured to acquire motion information of the two-wheel vehicle;

The control device is connected with the inertia wheel mechanism and the inertia wheel braking mechanism; the control device is configured to generate a control signal according to the motion information and send the control signal to the inertia wheel mechanism and the inertia wheel braking mechanism; the inertia wheel mechanism and the inertia wheel braking mechanism are configured to act according to the control signal;

wherein the control device comprises a control module;

The control module is used for acquiring steering information of the two-wheel vehicle if the running speed of the two-wheel vehicle is greater than a speed threshold; calculating and controlling current information of the steering motor through a second PID controller and the steering information; and controlling the steering motor to act according to the current information, and continuously acquiring the steering information of the two-wheel vehicle until the two-wheel vehicle reaches an equilibrium state.

2. The two-wheeled vehicle of claim 1, wherein the inertia wheel mechanism comprises: an outer rotor brushless motor and an inertia flywheel;

The inertia flywheel is fixedly arranged on one side of the outer rotor brushless motor; the outer rotor brushless motor is configured to drive the inertia flywheel to rotate;

the inertia wheel braking mechanism is connected with the other side of the outer rotor brushless motor, which is far away from the inertia flywheel; and the inertia wheel braking mechanism is configured to control the outer rotor brushless motor to stop driving the inertia flywheel to generate the fixed inertia moment.

3. The two-wheeled vehicle of claim 2, wherein the inertia wheel brake mechanism comprises: a brake pad and a brake band-type brake; the other side of the outer rotor brushless motor, which is far away from the inertia flywheel, comprises a fixed seat;

the fixed seat is fixedly arranged on the surface of the other side, far away from the inertia flywheel, of the outer rotor brushless motor;

The brake block is sleeved on the fixed seat and fixedly arranged on the surface of the other side, far away from the inertia flywheel, of the outer rotor brushless motor; the brake pad is configured to rotate with the outer rotor brushless motor;

and the braking band-type brake is configured to control the outer rotor brushless motor to stop generating the fixed inertia moment.

4. The two-wheeled vehicle of claim 1, wherein the inertial measurement unit comprises: inertial measurement chip, heating resistor and circuit board;

the inertial measurement chip and the heating resistor are welded on the circuit board;

The plurality of heating resistors are arranged around the inertial measurement chip; the heating resistor is configured to maintain a temperature of the inertial measurement chip within a set range.

5. A vehicle self-balancing control method, characterized by being applied to the two-wheeled vehicle according to any one of claims 1 to 4, comprising:

Acquiring the current body angle of the two-wheel vehicle;

calculating the inclination angle of the two-wheel vehicle according to the current vehicle body angle; wherein the inclination angle is an Euler angle;

Judging the current state of the two-wheel vehicle according to the relation between the inclination angle and the self-balancing angle range;

if the inclination angle is judged to be in the self-balancing angle range, determining that the current state is a self-balancing state;

Under the self-balancing state, calculating a control signal of the inertia wheel mechanism according to the inclination angle; the inertia wheel mechanism is configured to act according to the control signal to control the inclination angle to be maintained within the self-balancing angle range.

6. The method of claim 5, wherein the method further comprises:

If the inclination angle is judged to be beyond the self-balancing angle range, determining that the current state is a toppling state;

In the toppling state, controlling the inertia wheel mechanism to generate a fixed inertia moment; the fixed inertia moment is a righting moment required by the two-wheel vehicle to completely topple over;

after the inclination angle is adjusted to be within the self-balancing angle range, starting an inertia wheel braking mechanism, and controlling the inertia wheel mechanism to switch to the self-balancing state;

Wherein the inertia wheel braking mechanism is configured to control the inertia wheel mechanism to stop generating the fixed moment of inertia.

7. The method of claim 5, wherein calculating a control signal for a flywheel mechanism from the tilt angle comprises:

Acquiring real-time motion information of the two-wheeled vehicle, wherein the real-time motion information comprises the inclination angle;

calculating the control signal according to the real-time motion information and an LQR controller algorithm;

after calculating the control signal of the inertia wheel mechanism according to the inclination angle, the method further comprises the following steps:

acquiring motion information of the inertia wheel mechanism after the inertia wheel mechanism acts according to the control signal;

And adjusting the control signal according to the motion information and the first PID controller, and further controlling the inertia wheel mechanism to act based on the adjusted control information until the two-wheel vehicle reaches an equilibrium state.

8. The method of claim 5, wherein the method further comprises:

acquiring the current ambient temperature of an inertial measurement chip;

determining a temperature difference value between the current ambient temperature and a target temperature, wherein the target temperature is a temperature required to be maintained when the inertial measurement chip works;

And calculating the working parameters of each heating resistor according to the temperature difference, wherein the heating resistor is configured to generate corresponding temperature according to the corresponding working parameters.