阅读说明：本技术 双轮行驶系统、动量轮组件、动量轮平衡调节方法及介质 (Two-wheel traveling system, momentum wheel assembly, momentum wheel balance adjustment method, and medium ) 是由 张正友 杨思成 来杰 王帅 陈相羽 赵龙飞 于 2019-11-01 设计创作，主要内容包括：本申请实施例公开了一种双轮行驶系统、动量轮组件、动量轮平衡调节方法及介质,涉及人工智能技术领域。双轮行驶系统包括：主框架、前把转向组件、后轮组件和动量轮组件；前把转向组件、后轮组件分别与主框架连接；动量轮组件包括：动量轮、动量轮轴、动量轮支架和可调部件；动量轮套接在动量轮轴上,动量轮轴套接在动量轮支架上,动量轮支架与可调部件连接,可调部件与主框架连接；其中,动量轮轴沿车身前后方向设置,且动量轮的位置在竖直方向上是可调节的。本申请实施例通过可调部件调节动量轮的位置,使得动量轮产生的回复力可以有效恢复车体的平衡。(The embodiment of the application discloses double-wheel driving systems, a momentum wheel assembly, a momentum wheel balance adjusting method and a medium, and relates to the technical field of artificial intelligence.)

The self-balancing double-wheel running system of kinds is characterized by comprising a main frame, a front steering assembly, a rear wheel assembly and a momentum wheel assembly;

the front steering assembly and the rear wheel assembly are respectively connected with the main frame;

the momentum wheel assembly comprises: the momentum wheel, the momentum wheel shaft, the momentum wheel bracket and the adjustable component;

the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, the momentum wheel support is connected with the adjustable component, and the adjustable component is connected with the main frame;

wherein the momentum wheel shaft is arranged along the front-rear direction of the vehicle body, and the position of the momentum wheel is adjustable in the vertical direction.

2. Two-wheeled travel system according to claim 1,

the adjustable component comprises an adjustable lead screw, a threaded hole matched with the external thread of the adjustable lead screw is formed in the main frame, the adjustable lead screw is in threaded connection with the main frame through the threaded hole, and the end of the adjustable lead screw is connected with the momentum wheel bracket;

alternatively, the first and second electrodes may be,

the adjustable component comprises a linear shaft, a linear bearing is arranged on the main frame, the linear shaft is sleeved with the linear bearing, and the end of the linear shaft is connected with the momentum wheel support.

3. A two-wheel drive system according to claim 1, wherein the momentum wheel holder is a U-shaped holder;

the U-shaped bracket comprises an th supporting component and a second supporting component which are opposite, and the th supporting component and the second supporting component are connected through a connecting part;

a bearing is arranged on the th supporting part, and a second bearing is arranged on the second supporting part;

the end of the momentum wheel shaft is sleeved with the bearing, and the other end of the momentum wheel shaft is sleeved with the second bearing.

4. The two-wheel travel system of claim 1, wherein the momentum wheel assembly further comprises a momentum wheel motor;

the momentum wheel motor is fixedly connected with the momentum wheel support, an output shaft of the momentum wheel motor is connected with the end of the coupler, and the other end of the coupler is connected with the momentum wheel shaft.

5. The two-wheel drive system of any one of wherein the momentum wheel and the momentum wheel axle are connected by any one of selected from the group consisting of a spline connection and a flat key connection.

6. The two-wheeled vehicle system of any one of claims 1-4 and , wherein the front handle steering assembly includes front wheels, a front handle bearing, a front handle motor and a front handle sleeve, and the rear wheel assembly includes rear wheels, a rear wheel motor and a rear wheel carrier;

the front wheel is sleeved on the front handle, the front handle is sleeved on the front handle sleeve through the front handle bearing, the front handle motor is fixedly connected with the front handle sleeve, and the front handle sleeve is connected with the main frame;

the rear wheel motor is arranged in the center of the rear wheel hub, an output shaft of the rear wheel motor is fixedly connected with the rear wheel frame, and the rear wheel frame is connected with the main frame.

7. The two-wheeled travel system of claim 6, wherein a motor shaft of the front handle motor is coaxial with a rotation shaft of the front handle.

8. The two-wheel traveling system according to of any one of claims 1 to 4, wherein the two-wheel traveling system is any of a self-balancing bicycle, a self-balancing robot, a self-balancing motorcycle, a self-balancing electric vehicle, and a self-balancing two-wheel vehicle.

The momentum wheel assembly applied to the self-balancing double-wheel running system is characterized by comprising a momentum wheel, a momentum wheel shaft, a momentum wheel bracket and an adjustable component;

the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, and the momentum wheel support is connected with the adjustable component.

10. The assembly of claim 9, wherein the adjustable component comprises an adjustable lead screw or a linear shaft.

11. The assembly of claim 9, wherein the momentum wheel support is a U-shaped support;

the U-shaped bracket comprises an th supporting component and a second supporting component which are opposite, and the th supporting component and the second supporting component are connected through a connecting part;

a bearing is arranged on the th supporting part, and a second bearing is arranged on the second supporting part;

the end of the momentum wheel shaft is sleeved with the bearing, and the other end of the momentum wheel shaft is sleeved with the second bearing.

12. The assembly of claim 9, wherein the momentum wheel assembly further comprises a momentum wheel motor;

the momentum wheel motor is fixedly connected with the momentum wheel support, an output shaft of the momentum wheel motor is connected with the end of the coupler, and the other end of the coupler is connected with the momentum wheel shaft.

A momentum wheel balance adjustment method of , wherein the method is used for adjusting the momentum wheel of the two-wheel driving system of any of claims 1 to 8, the method comprises:

applying th direction rotation initial speed to the momentum wheel, wherein the th direction is clockwise or anticlockwise;

if the momentum wheel rotates in the second direction when stopping, placing a balance weight at the th highest point position after the momentum wheel stops rotating, wherein the th highest point position refers to the position with the largest distance to the ground on the momentum wheel which stops after the momentum wheel rotates in the second direction, and the second direction is opposite to the th direction;

starting from the step of applying th direction rotation initial speed to the momentum wheel again, applying the second direction rotation initial speed to the momentum wheel when the momentum wheel stops and no revolution of the second direction exists;

if the momentum wheel rotates in the th direction when stopping, placing the balance weight at the second highest point position after the momentum wheel stops rotating, wherein the second highest point position is the position with the largest distance to the ground on the momentum wheel which stops after the rotation in the th direction;

and the step of applying the initial rotation speed of the th direction to the momentum wheel is executed again until no rotation of the th direction exists when the momentum wheel stops, and the adjustment is determined to be finished.

14/ momentum wheel balance adjustment device, characterized in that the device is used for adjusting the momentum wheel of the two-wheel driving system of any of claims 1-8, the device comprises:

an initial speed applying module, configured to apply an initial rotational speed of th direction to the momentum wheel, where the th direction is clockwise or counterclockwise;

a balance weight placing module, configured to place a balance weight at the th highest point after the momentum wheel stops rotating if there is rotation in a second direction when the momentum wheel stops rotating, where the st highest point is a position on the momentum wheel that stops after the rotation in the second direction and is farthest from the ground, and the second direction is opposite to the th direction;

the initial speed applying module is further configured to perform the step of applying an initial rotational speed in the th direction to the momentum wheel again until the momentum wheel stops and there is no revolution in the second direction, and apply the initial rotational speed in the second direction to the momentum wheel;

the weight placing module is further configured to place the weight at a second highest point position after the momentum wheel stops rotating if the momentum wheel stops rotating in the th direction, where the second highest point position is a position on the momentum wheel that stops rotating in the th direction and has a largest distance from the ground;

the initial speed applying module is further configured to perform the step of applying the initial rotational speed in the th direction to the momentum wheel again until the momentum wheel stops and no rotation in the th direction exists, and determine that the adjustment is completed.

15, computer readable storage medium having stored therein at least instructions, at least program segments, a set of codes, or a set of instructions, the at least instructions, the at least program segments, the set of codes, or the set of instructions being loaded and executed by a processor to implement the method of claim 13.

Technical Field

The embodiment of the application relates to the technical field of artificial intelligence, in particular to double-wheel driving systems, a momentum wheel assembly, a momentum wheel balance adjusting method and a medium.

Background

The bicycle has been on for hundreds of years, and the balancing problem is the hot spot of people.

In the related art, a technician has solved the balancing problem of the self-balancing bicycle by installing a momentum wheel at a position of the self-balancing bicycle, when a body of the self-balancing bicycle is inclined, the momentum wheel is accelerated to rotate, and restoring force for restoring the body to a balanced state is generated.

However, when the mass distribution or the total weight of the self-balancing bicycle is changed, the restoring force generated by the momentum wheel in the above-described related art cannot effectively restore the balance of the vehicle body.

Disclosure of Invention

The embodiment of the application provides double-wheel driving systems, momentum wheel assemblies, momentum wheel balance adjusting methods and media, which can be used for solving the technical problem that restoring force generated by momentum wheels in the related technology can not effectively restore balance of a vehicle body.

, the embodiment of the application provides self-balancing double-wheel running systems, which comprise a main frame, a front handle steering assembly, a rear wheel assembly and a momentum wheel assembly;

the front steering assembly and the rear wheel assembly are respectively connected with the main frame;

the momentum wheel assembly comprises: the momentum wheel, the momentum wheel shaft, the momentum wheel bracket and the adjustable component;

the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, the momentum wheel support is connected with the adjustable component, and the adjustable component is connected with the main frame;

wherein the momentum wheel shaft is arranged along the front-rear direction of the vehicle body, and the position of the momentum wheel is adjustable in the vertical direction.

In another aspect, embodiments of the present application provide momentum wheel assemblies comprising a momentum wheel, a momentum wheel axle, a momentum wheel support, and an adjustable member;

the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, and the momentum wheel support is connected with the adjustable component.

In another aspect, embodiments of the present application provide momentum wheel balance adjustment methods for adjusting the momentum wheel in the above two-wheel driving system, the method including:

applying th direction rotation initial speed to the momentum wheel, wherein the th direction is clockwise or anticlockwise;

if the momentum wheel rotates in the second direction when stopping, placing a balance weight at the th highest point position after the momentum wheel stops rotating, wherein the th highest point position refers to the position with the largest distance to the ground on the momentum wheel which stops after the momentum wheel rotates in the second direction, and the second direction is opposite to the th direction;

starting from the step of applying th direction rotation initial speed to the momentum wheel again, applying the second direction rotation initial speed to the momentum wheel when the momentum wheel stops and no revolution of the second direction exists;

if the momentum wheel rotates in the th direction when stopping, placing the balance weight at the second highest point position after the momentum wheel stops rotating, wherein the second highest point position is the position with the largest distance to the ground on the momentum wheel which stops after the rotation in the th direction;

and the step of applying the initial rotation speed of the th direction to the momentum wheel is executed again until no rotation of the th direction exists when the momentum wheel stops, and the adjustment is determined to be finished.

In a further aspect, the present application provides momentum wheel balance adjustment devices for adjusting the momentum wheel in the above two-wheel driving system, the devices including:

an initial speed applying module, configured to apply an initial rotational speed of th direction to the momentum wheel, where the th direction is clockwise or counterclockwise;

a balance weight placing module, configured to place a balance weight at the th highest point after the momentum wheel stops rotating if there is rotation in a second direction when the momentum wheel stops rotating, where the st highest point is a position on the momentum wheel that stops after the rotation in the second direction and is farthest from the ground, and the second direction is opposite to the th direction;

the initial speed applying module is further configured to perform the step of applying an initial rotational speed in the th direction to the momentum wheel again until the momentum wheel stops and there is no revolution in the second direction, and apply the initial rotational speed in the second direction to the momentum wheel;

the weight placing module is further configured to place the weight at a second highest point position after the momentum wheel stops rotating if the momentum wheel stops rotating in the th direction, where the second highest point position is a position on the momentum wheel that stops rotating in the th direction and has a largest distance from the ground;

the initial speed applying module is further configured to perform the step of applying the initial rotational speed in the th direction to the momentum wheel again until the momentum wheel stops and no rotation in the th direction exists, and determine that the adjustment is completed.

In yet another aspect, embodiments of the present application provide computer-readable storage media having stored therein at least instructions, at least program segments, code sets, or instruction sets, the at least instructions, the at least program segments, code sets, or instruction sets being loaded and executed by a processor to implement the above-described methods.

, embodiments of the present application provide computer program products that, when executed, are configured to perform the above-described methods.

The technical scheme provided by the embodiment of the application can bring the following beneficial effects:

the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, the momentum wheel support is connected with the adjustable component, the position of the momentum wheel can be adjusted by adjusting the adjustable component, the position of the momentum wheel can be adjusted in the vertical direction, when the mass or the mass distribution of the double-wheel driving system changes, the position of the momentum wheel can be adjusted through the adjustable component, and the restoring force generated by the momentum wheel can effectively restore the balance of the vehicle body.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a self-balancing two-wheeled vehicle system provided by embodiments of the present application;

FIG. 2 is a schematic diagram of an embodiment of the present application after adjustment of the momentum wheel position;

fig. 3 to 4 are schematic views of self-balancing two-wheel driving systems according to another embodiments of the present application;

FIG. 5 is a top view of a self-balancing two-wheeled vehicle system as provided by embodiments of the present application;

FIG. 6 is a schematic view of a momentum wheel assembly provided by embodiments of the present application;

FIG. 7 is a flow chart of a momentum wheel balance adjustment method according to embodiments of the present application;

FIG. 8 is a block diagram of a momentum wheel balance adjustment device provided by embodiments of the present application;

fig. 9 is a schematic diagram of a self-balancing two-wheel driving system provided by embodiments of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further with reference to the accompanying drawings.

In other words, Artificial Intelligence is comprehensive techniques in computer science, which attempts to understand the essence of Intelligence and produces new intelligent machines that can react in a manner similar to human Intelligence.

Artificial intelligence is an comprehensive subject, and relates to the field , namely, both hardware-level technology and software-level technology, and the artificial intelligence basic technology includes technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation/interaction systems, electromechanical integration and the like.

The robot is kinds of automatic task-executing machines controlled by computer program or electronic circuit, and the robot is composed of executing mechanism, driving device, detecting device and control system, and complex machinery.

Robot control can be divided into joint space control and cartesian space control according to the space in which the control quantity is located. In the tandem type multi-joint robot, the control of joint space is performed for variables of each joint of the robot, and the cartesian space control is performed for variables of the robot end. According to the difference of the control quantity, the robot control can be divided into: position control, velocity control, acceleration control, force-position hybrid control, and the like. These controls may be joint space controls or terminal cartesian space controls.

The control method of the robot can be divided into methods such as proportion-Integral-Differential (PID) control, variable structure control, adaptive control, fuzzy control, neuron network control and the like, wherein the PID control calculates control quantity by utilizing proportion, Integral and Differential according to errors of a control system, the variable structure control refers to that a plurality of controllers are arranged in the control system, different controllers are adopted under different conditions according to a rule determined by , the adaptive control refers to that when input or interference of the control system is changed in a large range, a designed system can adaptively adjust system parameters or control strategies to enable output to meet the design requirements, the fuzzy control refers to that the input quantity is called as a fuzzy variable through fuzzy quantization, the fuzzy variable obtains fuzzy output through reasoning of the fuzzy rule, and obtains clear output through fuzzy solution for control, the neuron network control is new branches of intelligent control, is a product combining a neural network theory and a control theory, a developing science, a science and biology, a computer science and technology, an artificial physiology, a computer science and technology.

Referring to fig. 1, a schematic diagram of a self-balancing two-wheeled mobile system 10 according to embodiments of the present application is shown, where the two-wheeled mobile system 10 may include a main frame 100, a front steering assembly 200, a rear wheel assembly 300, and a momentum wheel assembly 400.

In the present embodiment, the two-wheel driving system 10 refers to a power tool having two wheels and capable of maintaining balance by itself, the two-wheel driving system 10 is any kinds of tools, such as a self-balancing bicycle, a self-balancing robot, a self-balancing motorcycle, a self-balancing electric vehicle, a self-balancing two-wheel vehicle, or other tools having two wheels, and the product form of the two-wheel driving system 10 is not limited in the present embodiment, in possible implementations, the two-wheel driving system 10 may be applied to a manned scene, and in another possible implementations, the two-wheel driving system 10 may be applied to an unmanned scene, such as an unmanned scene, a delivery scene (delivering express, taking away, delivering goods, etc.), or other scenes.

The front handle steering assembly 200 and the rear wheel assembly 300 are two separate assemblies, the front handle steering assembly 200 is used to control the direction of travel of the two-wheeled travel system 10, and the rear wheel assembly 300 is used to effect movement with the front handle steering assembly 200 . the main frame 100 is used to support and connect the front handle steering assembly 200 and the rear wheel assembly 300 such that the front handle steering assembly 200 and the rear wheel assembly 300 remain in a relatively proper position.

The front steering assembly 200 and the rear wheel assembly 300 are connected to the main frame 100, respectively.

The momentum wheel assembly 400 may include: momentum wheel 401, momentum wheel axle 402, momentum wheel support 403, and adjustable member 404.

The momentum wheel assembly 400 is used to maintain the static balance and the dynamic balance of the two-wheel traveling system 10, the static balance of the two-wheel traveling system 10 may be achieved by using restoring forces generated by the momentum wheel assembly 400 in a direction opposite to the tilting direction if the vehicle body tilts when the two-wheel traveling system 10 is stationary, and the dynamic balance of the two-wheel traveling system 10 may be achieved by using the restoring forces generated by the front steering assembly 200 and the momentum wheel assembly 400 in a direction opposite to the tilting direction if the vehicle body tilts when the two-wheel traveling system 10 moves.

The momentum wheel 401 may also be referred to as an inertia wheel, the momentum wheel 401 is a component for restoring the balance of the two-wheel traveling system 10, the momentum wheel axle 402 is a component for realizing the rotation of the momentum wheel 401, the momentum wheel bracket 403 is a component for supporting the momentum wheel 401 and the momentum wheel axle 402, and the adjustable component 404 is a component for adjusting the position of the momentum wheel 401.

The momentum wheel 401 is sleeved on the momentum wheel shaft 402, the momentum wheel shaft 402 is sleeved on the momentum wheel bracket 403, the momentum wheel bracket 403 is connected with the adjustable component 404, and the adjustable component 404 is connected with the main frame 400. The momentum wheel shaft 402 is disposed in the front-rear direction of the vehicle body, and the position of the momentum wheel 401 is adjustable in the vertical direction. The adjustment of the position of the momentum wheel 401 is achieved by the up-and-down movement of the adjustable component 404, as shown in fig. 1, which shows a schematic view before the position adjustment of the momentum wheel 401, in which case the momentum wheel 401 is located below the main frame 100, and in which case the up-and-down adjustment of the momentum wheel 401 at the lower part of the main frame 100 can be achieved by the adjustable component 404; as shown in fig. 2, which shows a schematic view of the momentum wheel 401 after the position adjustment, the momentum wheel 401 is located above the main frame 100, and the momentum wheel 401 can be adjusted up and down above the main frame 100 by the adjustable component 404. Alternatively, the adjustment of the momentum wheel 401 from below the main frame 100 to above the main frame 100 may also be achieved by the adjustable component 404.

Illustratively, the end of the momentum wheel axle 402 is oriented directly in front of the two-wheel drive system 10 and the other end of the momentum wheel axle 402 is oriented directly behind the two-wheel drive system 10. the front steering assembly 200 is positioned directly in front of the two-wheel drive system 10 and the rear wheel assembly 300 is positioned directly behind the two-wheel drive system 10. illustratively, the axis of the momentum wheel axle 402 is positioned on a horizontal plane and is positioned on a longitudinal section of the two-wheel drive system 10, i.e., the line intersecting the horizontal plane and the longitudinal section is the line on which the axis of the momentum wheel axle 402 is positioned, and the longitudinal section is a plane that passes through the center of gravity of the front wheel in the front steering assembly 200 and is perpendicular to the horizontal plane.

The momentum wheel 401 generates a restoring moment when rotating at an acceleration or deceleration, and the restoring moment M can be calculated by the following formula: and M is J.a, wherein J represents moment of inertia of the momentum wheel, and a is angular acceleration. The moment of inertia of the momentum wheel, J, can be calculated by the following equation: j-mr²Where m represents the momentum wheel mass, r is the tableThe radius of the momentum wheel is shown, the limit value of the angular acceleration a is limited by the performance of the motor, when the angular acceleration a is , if a larger restoring moment is to be obtained, the rotating inertia J of the momentum wheel needs to be larger, the momentum wheel radius r is not too large due to the constraint of the structure of the two-wheel traveling system 10, and therefore, the mass m of the momentum wheel is not too small, so that the mass distribution of the momentum wheel 401 per se on the whole two-wheel traveling system 10 is greatly influenced, and therefore, the selection of the appropriate installation position of the momentum wheel 401 is significant for the balance control of the two-wheel traveling system 10.

To sum up, in the two-wheel driving system 10 provided in the embodiment of the present application, the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, the momentum wheel support is connected with the adjustable component, and the position of the momentum wheel can be adjusted by adjusting the adjustable component, so that the position of the momentum wheel can be adjusted in the vertical direction, when the mass or the mass distribution of the two-wheel driving system 10 changes, the position of the momentum wheel can be adjusted by the adjustable component, and the restoring force generated by the momentum wheel can effectively restore the balance of the vehicle body of the two-wheel driving system 10.

In addition, the front steering assembly, the rear wheel assembly and the momentum wheel assembly in the embodiment of the application are independent modules, and the modules are high in independence, strong in expansibility and convenient to install and replace. For example, when the front steering assembly is damaged, the front steering assembly can be detached separately for installation and replacement.

Referring collectively to fig. 3-5, there are shown schematic views of a self-balancing two-wheeled vehicle system 10 provided by another embodiments of the present application.

The two-wheeled vehicle system 10 may include a main frame 100, a front handle steering assembly 200, a rear wheel assembly 300, and a momentum wheel assembly 400.

The front steering assembly 200 and the rear wheel assembly 300 are connected to the main frame 100, respectively.

The momentum wheel assembly 400 includes: momentum wheel 401, momentum wheel axle 402, momentum wheel support 403, and adjustable member 404. The momentum wheel 401 is sleeved on the momentum wheel shaft 402, the momentum wheel shaft 402 is sleeved on the momentum wheel support 403, the momentum wheel support 403 is connected with the adjustable component 404, the adjustable component 404 is connected with the main frame 400, the momentum wheel shaft 402 is arranged along the front-back direction of the vehicle body of the two-wheel traveling system 10, and the position of the momentum wheel 401 is adjustable in the vertical direction.

Illustratively, the connection of the momentum wheel 401 and the momentum wheel shaft 402 includes any of spline connection, flat key connection, when the momentum wheel 401 is splined to the momentum wheel shaft 402, an internal spline is formed on the momentum wheel 401, an external spline matching the internal spline is formed on the momentum wheel shaft 402, when the momentum wheel 401 is flat key connected to the momentum wheel shaft 402, a key is formed on the momentum wheel 401, and a key groove is formed on the momentum wheel shaft 402. the momentum wheel shaft 402 is stressed uniformly by the spline connection and the flat key connection.

In examples, the adjustable component 404 includes an adjustable lead screw, the main frame 100 has a threaded hole matching with the external thread of the adjustable lead screw, the adjustable lead screw is connected with the main frame 100 through the threaded hole, and the end of the adjustable lead screw is connected with the momentum wheel bracket 403.

The adjustable lead screw is a rotatable component with threads on the surface. The adjustable lead screw is fixedly connected with the momentum wheel support 403, for example, the adjustable lead screw may be fixedly connected with the momentum wheel support 403 in a welding manner, or the adjustable lead screw may be fixedly connected with the momentum wheel support 403 in a detachable connection manner such as a threaded connection, a snap connection, a hinge connection, or the like, and the fixed connection manner of the adjustable lead screw and the momentum wheel support 403 is not limited in the embodiment of the present application.

In another examples, the adjustable component 404 includes a linear shaft, the main frame 100 is provided with a linear bearing, the linear shaft is sleeved with the linear bearing, and the end of the linear shaft is connected with the momentum wheel bracket 403.

The linear shaft refers to a shaft having a linear motion locus, and the linear bearing refers to a bearing for supporting the linear shaft. The linear shaft is fixedly connected to the momentum wheel bracket 403, for example, the linear shaft may be fixedly connected to the momentum wheel bracket 403 by welding, or the linear shaft may be fixedly connected to the momentum wheel bracket 403 by a detachable connection such as a threaded connection, a snap connection, a hinge connection, and the like.

Illustratively, the momentum wheel bracket 403 is a U-shaped bracket, and the U-shaped bracket comprises an th supporting component and a second supporting component which are opposite to each other, and the th supporting component and the second supporting component are connected through a connecting part.

The th support part is provided with a th bearing, the second support part is provided with a second bearing, the end of the momentum wheel shaft 402 is sleeved with the th bearing, the other end of the momentum wheel shaft 402 is sleeved with the second bearing, the th bearing and the second bearing realize the rotation of the momentum wheel shaft 402.

In the illustrated embodiment, the momentum wheel assembly 400 further comprises a momentum wheel motor 405, the momentum wheel motor 405 is fixedly connected to the momentum wheel bracket 403, an output shaft of the momentum wheel motor 405 is connected to an end of a coupling 406, and the other end of the coupling 406 is connected to a momentum wheel shaft 402, the coupling 406 is components that connect two shafts or shafts and a rotating member, rotates with each other during motion and power transmission, and is not disconnected under normal conditions, in the present embodiment, the coupling 406 is used for connecting the output shaft of the momentum wheel motor 405 and the momentum wheel shaft 402, the output shaft of the momentum wheel motor 405 realizes rotation of the momentum wheel shaft 402, and the momentum wheel shaft 402 realizes rotation of the momentum wheel 401, illustratively, an attitude sensor is provided in the two-wheel driving system 10, the attitude sensor is used for collecting an attitude of the two-wheel driving system 10, the attitude sensor sends collected attitude information to a momentum wheel processor, the processor determines whether the momentum wheel 401 needs to accelerate or decelerate rotation according to the attitude information, and the processor sends an acceleration command or deceleration command to the momentum wheel motor 405 to accelerate or rotate the momentum wheel 401 to maintain a balance of the two-wheel driving system 10.

Illustratively, the front handle steering assembly 200 includes a front wheel 201, a front handle 202, a front handle bearing 203, a front handle motor 204, and a front handle sleeve 205, and the rear wheel assembly 300 includes a rear wheel 301, a rear wheel motor 302, and a rear wheel frame 303.

The front handle motor 204 is a member for providing a driving force for the rotation of the front wheel 201, and the rear wheel motor 302 is a member for providing a driving force for the rotation of the rear wheel 301.

The front wheel 202 is sleeved on the front handle 202, the front handle 202 is sleeved on the front handle sleeve 205 through the front handle bearing 203, the front handle motor 204 is fixedly connected with the front handle sleeve 205, and the front handle sleeve 205 is connected with the main frame 100; the rear wheel motor 302 is installed in the center of the rear wheel hub, the output shaft of the rear wheel motor 302 is fixedly connected with the rear wheel frame 303, and the rear wheel frame 303 is connected with the main frame 100. Illustratively, the front handle sleeve 205 is fixedly connected to the main frame 100, and the rear wheel frame 303 is fixedly connected to the main frame 100. The angle between the rotation axis of the front handle 202 and the horizontal plane can be adjusted by adjusting the front handle sleeve 205.

Illustratively, the motor shaft of the front handle motor 204 is coaxial with the rotational axis of the front handle 202. Compared with the prior art in which the motor and the front handle are arranged in parallel, the rotating shaft of the front handle is rotated by the motor shaft of the motor in a gear rotating or synchronous belt rotating mode, in the technical scheme provided by the embodiment of the application, the motor shaft of the front handle 204 is coaxial with the rotating shaft of the front handle 202, the integration level is high, and the structure is more compact.

Illustratively, the two-wheeled vehicle system 10 further includes a body shell 500, the front steering assembly 200 further includes a front wheel shell 206, and the rear wheel assembly 300 further includes a rear wheel shell 304. The body case 500 is fixed to the main frame 100, the front wheel case 206 is fixed to the front handle 202, and the rear wheel case 304 is fixed to the rear wheel frame 303.

To sum up, the double round system of traveling that this application embodiment provided makes momentum shaft atress comparatively even through spline connection and flat key-type connection.

In addition, the motor shaft of the front handle motor is coaxial with the rotating shaft of the front handle, so that the integration level is high, and the structure is more compact.

Referring to fig. 6, a schematic diagram of a momentum wheel assembly 400 provided by embodiments of the present application may include a momentum wheel 401, a momentum wheel axle 402, a momentum wheel bracket 403, and an adjustable member 404.

The momentum wheel 401 is sleeved on the momentum wheel shaft 402, the momentum wheel shaft 402 is sleeved on the momentum wheel bracket 403, and the momentum wheel bracket 403 is connected with the adjustable component 404.

Optionally, the adjustable member 404 includes an adjustable lead screw or a linear shaft.

Optionally, the momentum wheel bracket 403 is a U-shaped bracket, and the U-shaped bracket comprises an th supporting member and a second supporting member which are opposite to each other, and the th supporting member and the second supporting member are connected through a connecting part.

The th support component is provided with a th bearing, the second support component is provided with a second bearing, the end of the momentum wheel shaft is sleeved with the th bearing, and the other end of the momentum wheel shaft is sleeved with the second bearing.

Optionally, the momentum wheel assembly 400 further comprises a momentum wheel motor 405, the momentum wheel motor 405 is fixedly connected to the momentum wheel bracket 403, an output shaft of the momentum wheel motor 405 is connected to the end of the coupling 406, and the other end of the coupling 406 is connected to the momentum wheel shaft 402.

Optionally, the connection mode of the momentum wheel 401 and the momentum wheel shaft 402 comprises any items of spline connection and flat key connection.

To sum up, in the momentum wheel assembly provided in the embodiment of the present application, the momentum wheel is sleeved on the momentum wheel shaft, the momentum wheel shaft is sleeved on the momentum wheel support, the momentum wheel support is connected with the adjustable component, and when the mass or the mass distribution of the two-wheel traveling system 10 changes, the position of the momentum wheel can be adjusted by the adjustable component, so that the restoring force generated by the momentum wheel can effectively restore the balance of the vehicle body of the two-wheel traveling system 10.

Referring to fig. 7, it shows a flowchart of a momentum wheel balance adjustment method provided by embodiments of the present application, which is used for adjusting the momentum wheel in the two-wheel driving system described in the above embodiments, and the method may include the following steps:

in step 701, an initial rotation speed in the th direction is applied to the momentum wheel.

In the embodiment of the present application, the th direction is a clockwise direction or a counterclockwise direction, it should be noted that the momentum wheel balance adjustment method provided by the embodiment of the present application may be performed by a user or an electronic device.

Step 702, judging whether the momentum wheel rotates in the second direction when stopping; if yes, go to step 703; if not, go to step 704.

In the present embodiment, the second direction is opposite to the th direction, the second direction is counter-clockwise if the th direction is clockwise and the second direction is clockwise if the th direction is counter-clockwise.

And 703, placing a balance weight at the highest point after the momentum wheel stops rotating.

In the embodiment of the present application, the highest point position refers to a position where the distance from the ground surface is the largest on the momentum wheel which stops after the rotation in the second direction, the balance weight refers to a weight component which is installed on the two-wheel running system and is a component which keeps the momentum wheel in dynamic balance under high-speed rotation, when the momentum wheel stops rotating, the rotation in the second direction exists, which indicates that the mass distribution of the momentum wheel is not uniform, the highest point position is a position where the mass of the momentum wheel is smaller, and the degree of the mass distribution non-uniformity of the momentum wheel can be reduced by placing the balance weight at the highest point position.

Illustratively, after the weight is placed at the highest point , the process starts again from step 701 until there is no second direction of rotation when the momentum wheel stops, and then from step 704.

And 704, applying an initial rotating speed in a second direction to the momentum wheel.

When the momentum wheel is stopped and there is no revolution in the second direction, it is stated that the momentum wheel can maintain dynamic balance when rotating in direction .

Step 705, judging whether the momentum wheel rotates in the th direction when stopping, if yes, executing step 706, if not, executing step 707.

And 706, placing a balance block at the position of the second highest point after the momentum wheel stops rotating.

In the embodiment of the application, the second highest point position refers to the position with the largest distance from the ground on the momentum wheel which stops after the rotation in the th direction, the rotation in the th direction exists when the momentum wheel stops rotating, the mass distribution of the momentum wheel is not uniform, the second highest point position is the position with the smaller mass of the momentum wheel, and the non-uniform degree of the mass distribution of the momentum wheel can be reduced by placing the balance weight at the second highest point position.

Illustratively, after the weight is placed at the second highest point, the process starts again from step 701 until there is no turn in the th direction when the momentum wheel stops, and then step 707 is executed.

Step 707 determines that the adjustment is complete.

The initial rotating speed in the same direction as is applied to the momentum wheel for multiple times, so that whether the momentum wheel rotates reversely when the momentum wheel stops is determined, the test precision is improved, and the problem that the mass distribution of the momentum wheel is not uniform is effectively solved.

In summary, in the technical solution provided in the embodiment of the present application, initial speeds are applied to the momentum wheel, to determine whether the momentum wheel rotates in the opposite direction when the momentum wheel stops, and when the momentum wheel rotates in the opposite direction, a balance block is placed at the highest point of the stopped momentum wheel, so that the operation is simple, and the uniform mass distribution of the momentum wheel is ensured, thereby improving the efficiency of the momentum wheel in maintaining the balance of the vehicle body.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Referring to fig. 8, there is shown a block diagram of a momentum wheel balance adjustment device provided in embodiments of the present application, which is used for adjusting a momentum wheel in a two-wheel driving system according to the above embodiments, and has functions for implementing the above method examples, where the functions may be implemented by hardware or by hardware executing corresponding software, and the device 800 may include an initial velocity application module 810 and a balance weight placement module 820.

The initial speed applying module 810 is configured to apply an initial speed of rotation in th direction to the momentum wheel, where the th direction is clockwise or counterclockwise.

The weight placing module 820 is configured to place a weight at the th highest point after the momentum wheel stops rotating if the momentum wheel stops rotating in the second direction, where the st highest point is a position on the momentum wheel that stops rotating in the second direction and has the largest distance to the ground.

The initial speed applying module 810 is further configured to perform the step of applying the initial rotational speed in the th direction to the momentum wheel again until the momentum wheel stops and there is no revolution in the second direction, and the second direction is opposite to the th direction.

The weight placing module 820 is further configured to place the weight at a second highest point position after the momentum wheel stops rotating if the momentum wheel stops rotating in the th direction, where the second highest point position is a position on the momentum wheel that stops rotating in the th direction and has a largest distance from the ground.

The initial velocity applying module 810 is further configured to determine that the adjustment is completed when there is no rotation in the direction when the momentum wheel stops, and the initial velocity applying module is further configured to perform from the step of applying the initial velocity of rotation in the th direction to the momentum wheel again.

In summary, in the technical solution provided in the embodiment of the present application, initial speeds are applied to the momentum wheel, to determine whether the momentum wheel rotates in the opposite direction when the momentum wheel stops, and when the momentum wheel rotates in the opposite direction, a balance block is placed at the highest point of the stopped momentum wheel, so that the operation is simple, and the uniform mass distribution of the momentum wheel is ensured, thereby improving the efficiency of the momentum wheel in maintaining the balance of the vehicle body.

It should be noted that, when the device provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the content structure of the device is divided into different functional modules to implement all or part of the functions described above.

Referring to fig. 9, a block diagram of a self-balancing two-wheel driving system 10 according to embodiments of the present application is shown, where the two-wheel driving system 10 may include a processor 901 and a memory 902.

Processor 901 may include or more Processing cores, such as a 4-core processor, an 8-core processor, etc. processor 901 may be implemented in at least hardware forms of a DSP (Digital Signal Processing), an FPGA (field Programmable Gate Array, field Programmable Array), a PLA (Programmable Logic Array), processor 901 may also include a main processor, which is a processor for Processing data in a wake-up state, also known as a CPU (Central Processing Unit), and a coprocessor, which is a low power processor for Processing data in a standby state, in some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit, image processor) for rendering and rendering content for display on a display screen, in some embodiments, processor 901 may also include an intelligent processor, AI (intelligent processor) for computing operations related to human learning.

The memory 902 may also include high speed random access memory, as well as non-volatile memory, such as or more disk storage devices, flash memory storage devices.

Those skilled in the art will appreciate that the configuration shown in fig. 9 does not constitute a limitation of the two-wheeled vehicle system 10, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be employed.

In an example embodiment, there is also provided an self-balancing two-wheeled vehicle system including a processor and a memory having stored therein at least instructions, at least programs, code sets, or instruction sets.

In an exemplary embodiment, a computer readable storage medium is also provided, having stored therein at least instructions, at least programs, sets of codes, or sets of instructions, which when executed by a processor of a computer device, at least instructions, at least programs, sets of codes, or sets of instructions, implement the above-described method.

Alternatively, the computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, there are also provided computer program products for implementing the above-described methods when the computer program products are executed.

It should be understood that "a plurality" mentioned herein means two or more than two "and/or" describing the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and that there may be three cases of a being present alone, a being present together with B being present alone, the character "/" generally indicates that the former and latter associated objects are "or" relationships.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in computer readable storage media, which may be read only memory, magnetic or optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.