CN210101876U - Self-balancing electric motorcycle with semi-automatic driving function - Google Patents

Abstract

The utility model discloses a self-balancing electric motorcycle car with semi-autopilot function, it uses inertial sensor and camera to fuse, relies on angle sensor real-time measurement automobile body roll angle to utilize dynamic model and under-actuated system control to turn to motor, wheel driving motor and front and back wheel brake and keep the vehicle balanced. The motorcycle comprises front wheel system, turn motor, steering wheel, cushion, rear wheel system, automatic undercarriage, control system, running-board, frame and vision sensing camera, the utility model discloses a balance car has the characteristics different with the balance car that exists on the present market, and it does not need the high-speed rotation of the extremely high flywheel of energy consumption to keep the balance of automobile body, only needs the extremely low balance control ware of a relative simple power consumption to keep the steady balance of automobile body to go. Has strong practicability.

Description

Self-balancing electric motorcycle with semi-automatic driving function

Technical Field

The utility model relates to a single track vehicle autopilot technical field especially relates to a coupling through machine vision, inertial navigation realizes the autopilot of single track vehicle automatic balance and simple road conditions.

Background

The development of the automobile era causes a series of contradictions between roads, population, parking places and the like, and the phenomena of traffic jam and air pollution are increasingly serious in recent years in various major cities in China. Traffic investigations have shown that the average number of passengers carried by a single electric motorcycle is 1.12 and the number of passengers carried by a single car is 1.24. The automobile has a volume which is several times that of the electric bicycle, however, the number of passengers is almost the same, which is not a huge waste, and leads to excessive traffic jam. Scientific analysis finds that: there are hundreds of different compounds in automobile exhaust, of which the total lead emission reaches 40 million tons per year, which becomes the most serious source of atmospheric pollution, and the automobile exhaust pollution is known as an 'invisible killer'. The electric motorcycle is driven only by electric power, and pollution is avoided. However, the electric motorcycle has a technical demand for a driver, and is highly dangerous when traveling at a high speed.

At present, automobile pollution is more serious, and road traffic is more and more blocked. The huge economic loss of society due to traffic congestion has developed into a non-negligible problem. Aiming at the conditions that the existing automobile occupies a large area and consumes much energy, and the passenger capacity is not consistent with the energy consumption of the automobile, the novel electric motorcycle which occupies a small space, consumes little energy, is convenient to go out and is safe is designed. The utilization rate of resources is improved, and the problem of serious pollution is relieved.

Meanwhile, the shared bicycle industry is more and more developed nowadays and is deeply welcomed by all communities, but the social problems that the appearance of the city is influenced by random parking and random release and the public space is occupied are also brought. And the operation of the bicycle is easy to cause the unbalanced problem, which is easy to cause traffic accidents.

Accordingly, further improvements and improvements are needed in the art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a simple structure and have the self-balancing electric motorcycle car of semi-autopilot function.

The purpose of the utility model is realized through the following technical scheme:

a self-balancing electric motorcycle with a semi-automatic driving function mainly comprises a front wheel system, a turning motor, a steering wheel device, a cushion, a rear wheel system, an automatic landing gear, a control system, a pedal plate, a frame and a camera. The front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the frame. And the turning motor is arranged at the front end of the frame, is connected with the front wheel system and is electrically connected with the control system. The steering wheel device is arranged at the top of the front end of the frame and is electrically connected with the control system. The cushion is arranged at the top of the rear end of the frame. The automatic undercarriage is arranged at the rear end of the frame, is positioned in front of the rear wheel system and is electrically connected with the control system; the pedal is arranged at the bottom of the frame and is electrically connected with the control system. The camera is arranged at the front end of the frame, is positioned in front of the steering wheel device and is electrically connected with the control system; the control system is arranged at the bottom of the frame.

Specifically, the frame includes a front elbow, a main frame, and a rear elbow. The front elbow is arranged in front of the main body framework and fixedly connected with the main body framework. The rear elbow is arranged behind the main body framework and fixedly connected with the column framework. And a steering wheel device mounting position is arranged at the tail end of the front bent pipe. And a cushion mounting plate is arranged at the tail end of the rear tail bent pipe. And a rear tail cross rod is arranged below the tail end of the rear tail bent pipe.

Specifically, the automatic landing gear keeps a retracted state when the vehicle normally runs, automatically descends when the vehicle is about to stop after the speed of the vehicle is reduced, prevents the vehicle body from toppling due to imbalance caused by low speed, and simultaneously plays a role in supporting the vehicle body after the vehicle is stopped and powered off.

Specifically, the camera feeds back information of the running surrounding environment of the vehicle to the controller core board in the control system.

Furthermore, the front wheel system mainly comprises a coupler, a frame front end sleeve, a front fork, a front wheel, a front oil brake and a first encoder. One end of the coupler is connected with the motor, and the other end of the coupler is connected with the front fork. The front fork passes through the front sleeve of the frame. And the front oil brake is arranged on the support column at the right end of the front fork. The first encoder reading head is installed on a support column at the right end of the front fork. The first encoder synchronizing wheel is arranged on the front wheel axle and rotates synchronously with the front wheel to realize real-time reading of the rotating speed of the front wheel. The front wheel is a driving wheel and internally provided with a driving motor.

Furthermore, the steering wheel device is arranged at the tail end of a front elbow of the frame and mainly comprises a steering wheel and a steering wheel base. The steering wheel base is fixed on the steering wheel device mounting position. The steering wheel is installed on the steering wheel base and is electrically connected with the control system.

Furthermore, the rear wheel system mainly comprises a shock absorber, a rear oil brake, a rear wheel, a second encoder and a rear tailstock. One end of the shock absorber is connected with the rear tail cross rod, and the other end of the shock absorber is connected with the rear tail frame. The rear oil brake is arranged on the rear wheel. The rear wheel is arranged on the rear tail frame and is connected with the rear tail frame through a rear wheel shaft. And a reading head of the second encoder is arranged at the connecting position of the rear tailstock, the synchronizing wheel and the rear wheel shaft and rotates coaxially with the rear wheel, so that the rotating speed of the rear wheel is read in real time. And the connecting point of the shock absorber connected with the rear tail frame is positioned at the front end of the mounting point of the encoder mounted on the rear tail frame.

Further, the control system is installed at the lower end of the main framework in a welding mode; the control system mainly comprises: the first accommodation cavity and the second accommodation cavity. The first accommodating cavity comprises a battery box shell, and a front wheel motor driver, a front wheel turning motor driver, a controller core board and a controller core board acrylic bottom board are arranged in the first accommodating cavity. The second accommodating cavity comprises a lithium battery and a battery fixing plate. Front wheel motor driver and front wheel turning motor driver place and hold the chamber left end at first, and the bottom is fixed in battery case shell bottom with the bolt. The front wheel motor driver is clamped on the first accommodating cavity through the gland plate and used for fixing the position. The controller core board acrylic bottom board is positioned at the right end of the first containing cavity, and an angle sensor is arranged on the controller core board acrylic bottom board. The controller core board is fixedly installed on the controller core board acrylic bottom board and located in the first accommodating cavity, and the controller core board is respectively electrically connected with the front wheel motor driver, the front wheel turning motor driver and the lithium battery. The second holds the chamber and has placed the lithium cell, the lithium cell is locked in the second by the battery fixed plate and holds the intracavity.

Specifically, the running-board is installed at the main body framework front end of frame, the running-board mainly includes: a rear suspension, a footrest, and a front suspension. The rear suspension plate is welded at the front end part of the main framework. The front suspension plate is welded at the lower part of the front bent pipe. The rear suspension plate and the front suspension plate are arranged on the same horizontal plane. The front end of the pedal is arranged on the front suspension plate, and the rear end of the pedal is arranged on the rear suspension plate and is electrically connected with the control system.

The products at home and abroad are mainly based on flywheels to realize self-balance of vehicles; the automatic balance of the vehicle is kept by keeping the rotating speed of 5000-12000 revolutions per minute when the two flywheels under the driver seat are opened. However, some problems exist, such as high energy consumption of the flywheel, and once serious impact occurs, huge kinetic energy is released, so that certain potential safety hazard exists. Therefore, a different method is proposed for dynamic description and control of the two-wheel vehicle by using self-researched unconstrained vehicle dynamics system equations. The multifunctional computer is used for replacing the brain of a driver, an optimal control scheme is calculated, and the steering angle is controlled by the turning motor controlled by the computer to replace the hands of the driver, so that the balance of the vehicle body is kept, and the self-balance of the vehicle is effectively and safely realized.

Because the utility model discloses a product has small (about one third that has ordinary family car volume), the efficiency is high, the security is strong (can independently balance), therefore very suitable substitute as sharing bicycle or use in the urban road of current traffic jam as individual modern vehicle. Because the occupied road space of the vehicle is reduced, the traffic volume of the existing road can be increased by 2-3 times, and the congestion condition of the road can be obviously improved; in addition, the vehicle can also adopt new energy as power, can effectively reduce air pollution caused by fuel oil, and has very high green benefit. Under the era background of the country advocating the environmental protection trip increasingly and popularizing new energy vehicle, the utility model discloses if can succeed the industrialization, but the wide application is in urban road traffic, competes with current ordinary family car and replaces current ordinary four-wheel family car very probably. To sum up, the utility model discloses a ripe product has very extensive application scope and popularization prospect.

The utility model discloses a working process and principle are: the self-balancing single-rail balance car belongs to a small electric car, is small in size, low in price and small in occupied area, and can solve the problem of automobile exhaust emission and the problem of high energy consumption caused by the fact that the current mainstream balance car uses a flywheel to rotate at a high speed to keep balance. Self-balancing is realized mainly through a calculation algorithm, and high energy consumption and high cost of a flywheel are abandoned. The turning motor controlled by the balance controller realizes stable inclination control and large-angle turning, and the control main board replaces a high-power gyroscope, so that the energy consumption is lower. A battery pack is formed by 60V lithium batteries for electric vehicles on the market, the single power is only 1000w, the capacity is 20AH, and the continuous working current is 20A. The disassembly is supported, the replacement is simple and convenient, and the estimated continuous mileage of the battery pack is 60-70 kilometers.

Compared with the prior art, the utility model discloses still have following advantage:

(1) the utility model provides a self-balancing electric motorcycle car's that has semi-autopilot function whole car structure inherits in traditional motorcycle type, nevertheless has more integrated design effect than traditional motorcycle, is suitable for balanced motorcycle system framework design.

(2) The utility model provides a self-balancing electric motorcycle car with semi-autopilot function adopts the front wheel drive, can realize that turning radius is little, more can be applicable to road traffic's unmanned motorcycle car design.

(3) The utility model provides a self-balancing electric motorcycle car with semi-autopilot function does not need the flywheel high-speed rotation that the energy consumption is very high to keep the balance of automobile body, only needs the very low balance control ware of a simple energy consumption relatively to keep the steady balance of automobile body to go.

Drawings

Fig. 1 is a schematic view of the whole structure of the self-balancing electric motorcycle with the semi-automatic driving function provided by the present invention.

Fig. 2 is a processing flow chart of the control system in the semi-automatic mode of the present invention.

Fig. 3 is a schematic diagram of a relationship of a complete vehicle processing system provided by the present invention.

Fig. 4 is a flowchart of the controller core board controlling the motor provided by the present invention.

Fig. 5 is a schematic structural view of a front wheel system provided by the present invention.

Fig. 6 is a schematic structural diagram of a steering wheel device provided by the present invention.

Fig. 7 is a schematic structural diagram of a rear wheel system provided by the present invention.

Fig. 8 is a schematic view of the structure of the foot pedal provided by the present invention.

Fig. 9 is a schematic structural diagram of a control system provided by the present invention.

Fig. 10 is a schematic view of the frame structure provided by the present invention.

The reference numerals in the above figures illustrate:

1-a front wheel system, 2-a turning motor, 3-a steering wheel device, 4-a cushion, 5-a rear wheel system, 6-an automatic landing gear, 7-a control system, 8-a pedal, 9-a frame and 10-a camera;

101-coupler, 102-frame front end sleeve, 103-front fork, 1031-support column, 104-front wheel, 105-front oil brake, 106-first encoder;

301-steering wheel, 302-steering wheel base;

501-a shock absorber, 502-a rear oil brake, 503-a rear wheel, 504-a second encoder and 505-a rear tailstock;

701-a gland plate, 702-a front wheel motor driver, 703-a front wheel turning motor driver, 704-a battery box housing, 705-a controller core plate, 706-a controller core plate acrylic base plate, 707-a battery fixing plate, 708-a lithium battery, 710-a first accommodating cavity, 720-a second accommodating cavity;

801-rear suspension board, 802-pedal, 803-front suspension board;

901-front elbow, 9011-steering wheel device installation position, 902-main body framework, 903-back tail elbow, 9032-back tail cross bar;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described with reference to the accompanying drawings and examples.

Example 1:

as shown in fig. 1 to 10, the present embodiment discloses a self-balancing electric motorcycle with a semi-automatic driving function, which mainly includes a front wheel system 1, a turning motor 2, a steering wheel device 3, a seat cushion 4, a rear wheel system 5, an automatic landing gear 6, a control system, a pedal, a frame, and a camera. The front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the frame. And the turning motor is arranged at the front end of the frame, is connected with the front wheel system and is electrically connected with the control system. The steering wheel device is arranged at the top of the front end of the frame and is electrically connected with the control system. The cushion is arranged at the top of the rear end of the frame. The automatic undercarriage is arranged at the rear end of the frame, is positioned in front of the rear wheel system and is electrically connected with the control system; the pedal is arranged at the bottom of the frame and is electrically connected with the control system. The camera is arranged at the front end of the frame, is positioned in front of the steering wheel device and is electrically connected with the control system; the control system is arranged at the bottom of the frame. The utility model provides a self-balancing electric motorcycle car concrete structure as follows:

1. mechanical structure

The frame 9 comprises a front elbow 901, a main body framework 902 and a rear tail elbow 903; the tail end of the front elbow 901 is provided with a steering wheel mounting position 9011; a cushion mounting plate 9031 is arranged at the tail end of the rear tail bent pipe 903; a rear tail cross rod 9032 is arranged below the tail end of the rear tail bent pipe 903;

the front wheel system 1 comprises a coupler 101, a frame front end sleeve 102, a front fork 103, a front wheel 104, a front oil brake 105 and a first encoder 106, wherein specifically, one end of the coupler 101 is connected with the motor 2, and the other end is connected with the front fork 103; the front fork 103 penetrates through the frame front end sleeve 102; the front oil brake 105 is installed on a right supporting column 1031 at the right end of the front fork 103, a reading head of the first encoder 106 is installed on the right supporting column 1031 at the right end of the front fork 103, and a synchronous wheel of the first encoder 106 is installed on an axle of a front wheel and rotates synchronously with the wheel, so that the rotating speed of the front wheel can be read out by the first encoder 106 in real time; the front wheel 104 is a driving wheel and internally provided with a driving motor, the motor 2 is arranged on a motor bracket of a front bent pipe 901 of the frame 9, the steering wheel 3 is arranged at the tail end of the front bent pipe 901 of the frame 9, and the front wheel specifically comprises a steering wheel 301 and a steering wheel base 302;

the rear wheel system 5 includes a shock absorber 501, a rear oil brake 502, a rear wheel 503, a second encoder 504, and a rear tailstock 505. One end of the shock absorber 501 is connected with a rear tail cross rod, and the other end of the shock absorber is connected with a rear tail frame 505; the reading head of the second encoder 504 is arranged on the rear tailstock 505, the synchronizing wheel and the rear wheel shaft and rotates coaxially with the rear wheel, so that the second encoder 504 can read the rotating speed of the rear wheel in real time; specifically, the connection point of the damper 501 to the rear tail frame 505 is located at the front end of the mounting point of the second encoder 504 to the rear tail frame 505.

The automatic undercarriage 6 keeps a retracted state when the vehicle normally runs, automatically descends when the vehicle is about to stop after the speed of the vehicle is reduced, prevents the vehicle body from toppling due to imbalance caused by slow speed, and simultaneously plays a role in supporting the vehicle body after parking and power failure;

the control system 7 is installed at the lower end of the main body framework 902 through welding; the device case 7 includes: a first receiving chamber 710, a second receiving chamber 720; the first accommodating cavity 710 comprises a battery box shell 704, a front wheel motor driver 702, a front wheel turning motor 2 driver 703 and a controller core board acrylic bottom board 706 are arranged in the battery box shell 704, the front wheel motor driver 702 and the front wheel turning motor 2 driver 703 are arranged at the left end of the first accommodating cavity 710, and the bottom of the first accommodating cavity is fixed at the bottom of the battery box shell 704 through bolts; the front wheel motor driver 702 is clamped on the first accommodating cavity 710 by a gland plate 701 for fixing a position; the controller core board acrylic bottom board 706 is positioned at the right end of the first accommodating cavity 710, an angle sensor is arranged on the controller core board acrylic bottom board 706, and the controller core board 705 is fixedly installed on the controller core board acrylic bottom board 706 and positioned in the first accommodating cavity 710; a lithium battery 708 is placed in the second accommodating cavity 720, and the lithium battery 708 is locked in the second accommodating cavity 720 by a battery fixing plate 707;

a foot board 8 is mounted on the front end of the main frame 902 of the frame 9, and the foot board 8 comprises: a rear suspension plate 801, a footrest 802, and a front suspension plate 803; the rear suspension plate 801 is welded at the front end part of the main body framework 902; the front suspension plate 803 is welded at the lower part of the front elbow 901; the rear suspension plate 801 and the front suspension plate 803 are on the same horizontal plane; the pedals 802 are mounted at the front end on the front suspension plate 803 and at the rear end on the rear suspension plate 801.

2. Control section

2.1 vehicle control System

2.1.1 Manual control mode

The driver performs manual steering by controlling the rotation angle of the front wheel turning motor using the steering wheel 3, and controls acceleration and deceleration in traveling of the vehicle through the foot pedal 8.

2.1.2 semi-automatic control mode

In the case where the driver drives manually, the speed encoder (106 and 504), the vision sensor 10, and the angle sensor on the core board 705 on the vehicle body are kept in an operating state. The speed encoders (106 and 504) acquire the real-time running speed of the vehicle body, the vision sensor 10 acquires an image in front of the real-time running, the speed sensor acquires the inclination angle of the vehicle body in real time, the information sensing core board 705 processes the information, and the corresponding rotation angle of the front wheel turning motor 2 and the rotation speed (namely the running speed) of the front wheel inner motor 104 are output according to the actual situation, so that the balance maintenance of the vehicle body is realized; when the vehicle speed is reduced and the vehicle is about to stop, the automatic landing gear 6 automatically falls to support the vehicle body, and the automatic landing gear and the vehicle body all play a role in safety protection for a driver.

2.1.3 automatic control mode

The mode is suitable for a shared motorcycle mode, when a vehicle stops, after a driver leaves the vehicle, the controller collects and trains the vehicle to keep a working state, and the angle sensor, the camera 10 and the speed encoders 105 and 504 in the controller core board 705 acquire information of the front environment, the inclination angle, the running speed and the like of the vehicle when the vehicle body runs in real time and drive the rotation angle of the vehicle turning motor 2 and the front wheel motor wheel 104 to automatically go to a nearby place suitable for parking and flameout.

2.2 specific workflow of the controller core Board processor

And (4) importing the dynamic model into MATLAB, and calculating an optimal PID coefficient by using an LQR algorithm. The CPU can obtain the state of the vehicle body, thereby calculating the control quantity and realizing the accurate torque output of the motor.

2.3 hardware Module

The utility model uses the core processor module is STM32F 4. STM32F4 is a high performance microcontroller developed by ST (semiconductor meaning). It adopts 90 nm NVM process and ART (Adaptive Real-Time memory accelerator)^TM). The ART technology enables a program to be executed in a zero waiting mode, improves the program execution efficiency, brings the performance of context-M4 into full play, and enables STM32F4 series to reach 210DMIPS @168 MHz.

The utility model discloses an inertia measurement unit is MPU 6050. MPU-6000(6050) is the first global integrated 6-axis motion processing component, and compared with a multi-component scheme, the problem of time axis difference between a combined gyroscope and an accelerator is solved, and a large amount of packaging space is reduced. The fusion calculation data of the rotation matrix of 6 axes or 9 axes, quaternion (quaternion) and Euler Angle form (Euler Angle form) is output in digital form.

The angle and angular velocity of the wheel is measured by the encoder module function and input capture. The utility model discloses a this encoder is incremental encoder, and is integrated in the motor the inside, 2500PPR (the every revolution a week sends 2500 pulses).

The driver configured by the motor is Accelnet Panel of Copley controls, and the driver can communicate with an upper computer through RS-232, so that the allowed modes of the driver, the maximum output current and the like are configured.

Example 2:

the utility model discloses a further embodiment does, control system 7 is as whole car control brain, be responsible for the realization of the coordinated movement mechanism of whole car, specific include the work through front wheel driver controller 702 control front wheel motor wheel 104, realize advancing and retreat of whole car, through control turn motor 2 work, realize turning left right of front wheel system 1 and rotate, when the vehicle operation, when monitoring the automobile body unbalanced, drive turn motor 2 during operation, produce the moment of torsion, with the shaft coupling 101 transmit moment of torsion to the front fork 103 last transmission for front wheel 104, through the cooperation with turn motor 2 of motor 104 in the front wheel, realize advancing of whole car, the balance under the turn.

In addition, the wheel rotating speeds recorded by the encoders (106, 504) are fed back to the control system 7, and the control system 7 adjusts the rotating speeds of the front wheels 104 and the turning motor 2 through encoder feedback signals so as to control the running condition of the whole vehicle; in general, the information such as the front environment, the inclination angle, the running speed and the like during the running of the vehicle body is obtained in real time through the angle sensor, the camera 10 and the speed encoders 105, 504 in the controller core board 705 of the control system 7 on the vehicle body, and the rotation angle of the turning motor 2 and the rotation speed of the front wheel motor wheel 104 are adjusted through a corresponding control algorithm to eliminate the inclination of the vehicle body, so that the balanced running of the vehicle is maintained, and the function of automatically enabling the vehicle to go to a proper position for parking after the vehicle is parked can also be achieved.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims (6)

1. A self-balancing electric motorcycle with a semi-automatic driving function is characterized by comprising a front wheel system, a turning motor, a steering wheel device, a cushion, a rear wheel system, an automatic landing gear, a control system, a pedal plate, a frame and a camera; the front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the frame; the turning motor is arranged at the front end of the frame, is connected with the front wheel system and is electrically connected with the control system; the steering wheel device is arranged at the top of the front end of the frame and is electrically connected with the control system; the cushion is arranged at the top of the rear end of the frame; the automatic undercarriage is arranged at the rear end of the frame, is positioned in front of the rear wheel system and is electrically connected with the control system; the pedal is arranged at the bottom of the frame and is electrically connected with the control system; the camera is arranged at the front end of the frame, is positioned in front of the steering wheel device and is electrically connected with the control system; the control system is arranged at the bottom of the frame;

the frame comprises a front elbow, a main body framework and a rear tail elbow; the front elbow is arranged in front of the main body framework and fixedly connected with the main body framework; the rear tail bent pipe is arranged behind the main body framework and is fixedly connected with the column framework; the tail end of the front bent pipe is provided with a steering wheel device mounting position; the tail end of the rear tail bent pipe is provided with a cushion mounting plate; a rear tail cross rod is arranged below the tail end of the rear tail bent pipe;

the automatic landing gear keeps a retracted state when a vehicle normally runs, automatically descends when the vehicle is about to stop after the speed of the vehicle is reduced, prevents the vehicle body from toppling due to imbalance caused by slow speed, and simultaneously plays a role in supporting the vehicle body after parking and power failure;

the camera feeds back information of running surrounding environment of the vehicle to the controller core board in the control system.

2. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, wherein the front wheel system comprises a coupling, a frame front end sleeve, a front fork, a front wheel, a front oil brake, and a first encoder; one end of the coupler is connected with the motor, and the other end of the coupler is connected with the front fork; the front fork penetrates through a sleeve at the front end of the frame; the front oil brake is arranged on a support column at the right end of the front fork; the first encoder reading head is arranged on a support column at the right end of the front fork; the first encoder synchronizing wheel is arranged on the front wheel axle and rotates synchronously with the front wheel to realize real-time reading of the rotating speed of the front wheel; the front wheel is a driving wheel and internally provided with a driving motor.

3. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, wherein the steering wheel device is mounted at the end of the front elbow of the frame and comprises a steering wheel and a steering wheel base; the steering wheel base is fixed on the steering wheel device mounting position; the steering wheel is installed on the steering wheel base and is electrically connected with the control system.

4. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, wherein the rear wheel system comprises a shock absorber, a rear oil brake, a rear wheel, a second encoder, and a rear tailstock; one end of the shock absorber is connected with the rear tail cross rod, and the other end of the shock absorber is connected with the rear tail frame; the rear oil brake is arranged on the rear wheel; the rear wheel is arranged on the rear tail frame and is connected with the rear tail frame through a rear wheel shaft; the reading head of the second encoder is arranged at the connecting position of the rear tailstock, the synchronizing wheel and the rear wheel shaft and rotates coaxially with the rear wheel, so that the rotating speed of the rear wheel can be read in real time; and the connecting point of the shock absorber connected with the rear tail frame is positioned at the front end of the mounting point of the encoder mounted on the rear tail frame.

5. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, characterized in that said control system is mounted at the lower end of said main frame by welding; the control system includes: a first accommodating cavity and a second accommodating cavity; the first accommodating cavity comprises a battery box shell, and a front wheel motor driver, a front wheel turning motor driver, a controller core board and a controller core board acrylic bottom board are arranged in the first accommodating cavity; the second accommodating cavity comprises a lithium battery and a battery fixing plate; the front wheel motor driver and the front wheel turning motor driver are placed at the left end of the first accommodating cavity, and the bottoms of the front wheel motor driver and the front wheel turning motor driver are fixed at the bottom of the battery box shell through bolts; the front wheel motor driver is clamped on the first accommodating cavity through a gland plate and used for fixing a position; the controller core board acrylic bottom board is positioned at the right end of the first accommodating cavity, and an angle sensor is arranged on the controller core board acrylic bottom board; the controller core board is fixedly installed on the acrylic bottom board of the controller core board, is positioned in the first accommodating cavity and is respectively and electrically connected with the front wheel motor driver, the front wheel turning motor driver and the lithium battery; the second holds the chamber and has placed the lithium cell, the lithium cell is locked in the second by the battery fixed plate and holds the intracavity.

6. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, wherein the foot pedal is mounted at a front end of a main frame of the frame, the foot pedal comprising: a rear suspension, a footrest, and a front suspension; the rear suspension plate is welded at the front end part of the main framework; the front suspension plate is welded at the lower part of the front bent pipe; the rear suspension plate and the front suspension plate are arranged on the same horizontal plane; the front end of the pedal is arranged on the front suspension plate, and the rear end of the pedal is arranged on the rear suspension plate and is electrically connected with the control system.

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