Two-wheel balancing vehicle

1. A two-wheel balancing vehicle, comprising:

a chassis comprising one or more mounting interfaces configured to detachably mount one or more fighting modules for robotic competition;

two wheel assemblies respectively mounted at a left side and a right side of the chassis, each of the two wheel assemblies comprising a wheel and a driving motor drivingly connected with the wheel and mounted to the chassis;

an inertial measurement unit; and

a control system communicatively connected with the inertial measurement unit and the driving motor, the control system configured to receive sensing signals provided by the inertial measurement unit and to control a balancing state of the two-wheel balancing vehicle, wherein:

the inertial measurement unit and the control system are mounted to the chassis;

the fighting module for robotic competition comprises one or more of a shooting module, a gimbal module, a sensor module, and a mechanical arm module; and

the shooting module comprises:

a mounting shaft configured to detachably mount in the mounting interface;

an ammunition storage box configured to mount to the mounting shaft and to store bullets;

a launcher configured to rotatably connect with the mounting shaft and to launch the bullets; and

two friction wheels provided on two sides of a shooting entry port of the launcher opposing each other, wherein:

the ammunition storage box and the launcher are connected through a conduit; and

a launching channel for launching the bullets is formed between the two friction wheels.

2. The two-wheel balancing vehicle of claim 1 , wherein the control system is configured to control an operating parameter of the driving motor to control the balance state of the two-wheel balancing vehicle, the operating parameter of the driving motor comprises one or more of a rotation speed, a rotation direction, and an acceleration.

3. The two-wheel balancing vehicle of claim 1 , wherein the balance state of the two-wheel balancing vehicle comprises: a balanced state, a tilted state, or a state in which the two-wheel balancing vehicle completely falls to the ground.

4. The two-wheel balancing vehicle of claim 1 , wherein the one or more mounting interfaces comprise a plurality of mounting interfaces separately provided at a ceiling surface of the chassis.

5. The two-wheel balancing vehicle of claim 4 , wherein a spacing between two adjacent mounting interfaces among the plurality of mounting interfaces is 8 mm or an integer multiple of 8 mm.

6. The two-wheel balancing vehicle of claim 1 ,

wherein the shooting module further comprises a pitch motor configured to drivingly connect with the launcher, and

wherein the pitch motor is configured to control the launcher to rotate relative to the mounting shaft to adjust a pitch angle of the launcher.

7. The two-wheel balancing vehicle of claim 1 , wherein the launcher is configured to rotate relative to the chassis around an axis of the mounting shaft in a plane parallel with the chassis.

8. The two-wheel balancing vehicle of claim 7 , wherein the shooting module further comprises a yaw motor configured to drivingly connect with the mounting shaft, and to control the launcher to rotate relative to the chassis to adjust a yaw angle of the launcher.

9. The two-wheel balancing vehicle of claim 1 , wherein the wheel is a Mecanum wheel.

10. A two-wheel balancing vehicle, comprising:

a chassis comprising one or more mounting interfaces configured to detachably mount one or more fighting modules for robotic competition;

two wheel assemblies respectively mounted at a left side and a right side of the chassis, each of the two wheel assemblies comprising a wheel and a driving motor drivingly connected with the wheel and mounted to the chassis;

an inertial measurement unit;

a control system communicatively connected with the inertial measurement unit and the driving motor, the control system configured to receive sensing signals provided by the inertial measurement unit and to control a balancing state of the two-wheel balancing vehicle; and

a referee system configured to sense a signal indicating that the two-wheel balancing vehicle is under attack by another two-wheel balancing vehicle or another fighting vehicle,

wherein the inertial measurement unit and the control system are mounted to the chassis, and

wherein the control system is configured to:

control an operating parameter of the driving motor to control the balance state of the two-wheel balancing vehicle, the operating parameter of the driving motor comprising one or more of: a rotation speed, a rotation direction, and an acceleration; and

communicatively connect with the referee system, and to transmit an alarm signal to an alarming system based on a sensing signal received from the referee system.

11. The two-wheel balancing vehicle of claim 10 , wherein the control system is configured to:

analyze the sensing signal received from the referee system to determine a degree of attack suffered by the two-wheel balancing vehicle; and

control the two-wheel balancing vehicle to tilt based on the degree of attack suffered by the two-wheel balancing vehicle and the sensing signal provided by the inertial measurement unit.

12. The two-wheel balancing vehicle of claim 11 , wherein the degree of attack suffered by the two-wheel balancing vehicle comprises one or more of an attacking intensity, an attacking location, and an attacking type.

13. The two-wheel balancing vehicle of claim 11 , wherein when the control system is configured to control the two-wheel balancing vehicle to tilt based on the degree of attack suffered by the two-wheel balancing vehicle and the sensing signal provided by the inertial measurement unit, the control system is further configured to:

determine a first operating parameter of the driving motor based on the degree of attack;

determine a second operating parameter of the driving motor based on the sensing signal of the inertial measurement unit;

add the first operating parameter with the second operating parameter to obtain a third operating parameter of the driving motor; and

control the driving motor based on the third operating parameter.

14. The two-wheel balancing vehicle of claim 11 , wherein when the control system is configured to control the two-wheel balancing vehicle to tilt based on the degree of attack suffered by the two-wheel balancing vehicle and the sensing signal provided by the inertial measurement unit, the control system is further configured to:

obtain a tilting direction and a tilting angle of the two-wheel balancing vehicle based on the degree of attack suffered by the two-wheel balancing vehicle;

determine a center of gravity axis for tilting based on the tilting direction and the tilting angle of the two-wheel balancing vehicle; and

set the center of gravity axis as a reference line for dynamic balancing of the two-wheel balancing vehicle.

15. The two-wheel balancing vehicle of claim 10 , wherein the control system is further configured to control the two-wheel balancing vehicle to restore balance based on a determination that a predetermined time period has lapsed after the two-wheel balancing vehicle is tilted.

16. The two-wheel balancing vehicle of claim 10 , wherein the alarm system comprises a lamp column configured to adjust one or more of a brightness, color, or length of a lamp strip based on the alarm signal.