CN2860988Y

CN2860988Y - Electric unicycle

Info

Publication number: CN2860988Y
Application number: CN 200520119959
Authority: CN
Inventors: 张丽君
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2005-12-08
Filing date: 2005-12-08
Publication date: 2007-01-24
Anticipated expiration: 2015-12-08

Abstract

This utility model relates to a unicycle, especially relating to an electric unicycle for leisure and entertainment, comprising a vehicle frame, wheels, foot pedals and an electric driving system. The wheels are connected with the vehicle frame by a rotating axis and the foot pedals are installed at the two sides of the vehicle frame. The utility model also comprises a self-stabilizing system which is composed of an angle sensor and an inclination controller. The angle sensor is set at the flank of the vehicle frame and electrically connected with the inclination controller that is electrically connected with the electric driving system. This utility model overcomes the defects that the past unicycle is hard to be balanced and only the professional one can use the unicycle. The invention is also featured with simple structure, facility for operation and strong flexibility. Whether the adults or the children can breezily operate this utility model at home or in the office and this utility model is especially applicable in the sites such as a pedestrian street, a square, a carnie and a large-sized meeting place.

Description

A kind of electronic unicycle

[technical field]

The utility model relates to unicycle, the electronic unicycle of particularly a kind of amusement and recreation.

[background technology]

Existing unicycle mainly drives by manpower, and its structure comprises vehicle frame, vehicle seat, pedal and wheel, and pedal directly links to each other with the wheel shaft of wheel, and moving forward and backward of vehicle all is the rotating realization that the rider passes through toe clip motor-car wheel.Because rider's center of gravity is higher than wheel shaft all the time, the balance of vehicle need the rider by reach or after move own center of gravity and cooperate and realize this just special training of needs.The rider with rotating before and after the pedal drive wheels, reaches dynamical equilibrium by constantly.The turning of vehicle by center of gravity about skew, cause that the both sides flange radius changes, cause wheel the right and left rolling distance poor, realize turning to.The rider generally has only by special training, has grasped consummate technology and the superb sense of equilibrium could use, such as circus wagon performer, so unicycle enters common family and still has very big obstacle.

[summary of the invention]

The purpose of this utility model is to provide a kind of employing motor-driven, can keep the electronic unicycle of balance in operational process automatically.

The technical scheme that its technical matters that solves the utility model adopts is: a kind of electronic unicycle, comprise vehicle frame, wheel, pedal and power drive system, and described wheel is connected with vehicle frame by rotating shaft, and pedal is installed in the vehicle frame both sides; Also comprise the self-stabilization system; Described self-stabilization system comprises angular transducer and inclination controller; Described angular transducer is arranged on the vehicle frame side, is electrically connected with inclination controller; Inclination controller is electrically connected with power drive system.

Further, described power drive system comprises power supply, driving governor, electrical motor, flower wheel and is with synchronously; Described driving governor is electrically connected with electrical motor and power supply; Electrical motor links to each other by being with synchronously with flower wheel, and flower wheel is connected with described wheel is coaxial; Described driving governor, electrical motor and power supply are installed in vehicle frame inside, are positioned at the wheel top.

Further, also comprise chopper in the described power drive system, be connected between power supply and the driving governor that its control end links to each other with inclination controller.

Further, the utility model also comprises vehicle seat, is arranged on the vehicle frame top, and power control switch is installed on the vehicle seat.

Further, the utility model also comprises shaft-like handle, is arranged on the vehicle frame, and power control switch is installed on handle or the shaft.

Further, described vehicle frame is the boxlike of single face opening, and the described electric drive trains self-stabilization system that unifies is arranged on boxlike vehicle frame inner tip, and the part of wheel is hidden by vehicle frame.

The utility model unicycle adopts direct motor drive, in conjunction with the sensor of measuring the angle of inclination, the any slight center of gravity that the user produces changes, electrical motor all can produce an electricity forward or backward and drive, make the single wheel drive keep self-balancing, thereby overcome unicycle in the past is difficult to balance without master-hand shortcoming.Vehicle frame adopts the installation boxlike of an opening, so that control system is placed on the inside, keeps the attractive in appearance of bicycle profile, and when running into unforeseen circumstances people car and fall down, the boxlike vehicle frame also can play protection and support the function of car body.That the utility model has simultaneously is simple in structure, processing ease, advantage that alerting ability is strong.No matter adult, child can operate the utility model bicycle very like a cork, at home and office can play.The utility model bicycle is particularly useful for the impassable occasions of automobile such as shopping mall, square, recreation ground and large-scale meeting-place, can behave and ride instead of walk, move flexibly, but FYA again.

[description of drawings]

Fig. 1 is the front view of a kind of electronic unicycle of the utility model.

Fig. 2 is the left view of a kind of electronic unicycle of the utility model.

Fig. 3 is the circuit structure block diagram of the utility model control system.

Fig. 4 is the fuzzy control principle figure that the electronic unicycle of the utility model is adopted.

[specific embodiment]

With preferred embodiment the utility model is further elaborated with reference to the accompanying drawings below.

As depicted in figs. 1 and 2, electronic unicycle described in the utility model comprises vehicle seat 1, vehicle frame 2, wheel 4, pedal 3, power drive system 5 and self-stabilization system 6.Vehicle frame 2 adopts the boxlike shape of an opening, vehicle seat 1 be installed in vehicle frame 2 above, promptly relatively on the another side of opening.Wheel 4 is installed in vehicle seat 1 bottom by a rotating shaft, captives joint with rotating shaft, and the part of wheel 4 is hidden by vehicle frame 2.Pedal 3 is installed in vehicle frame 2 both sides.Power drive system 5 and self-stabilization system 6 are installed in the inside of vehicle seat 1.Vehicle frame has played the effect of protecting its interior arrangement, has kept the attractive in appearance of bicycle profile again, and simultaneously, when running into unforeseen circumstances people car and fall down, the boxlike vehicle frame also can play protection and support the function of car body.

Fig. 3 is the circuit structure block diagram of control system in the utility model.Reference value among the figure is a program initial setting in the inclination controller, and wherein, power drive system 5 comprises power supply 51, chopper 52, driving governor 53, electrical motor 54, flower wheel 55 and is with 56 synchronously.Described power supply 51 provides electric energy by chopper 52 to driving governor 53, and rectification is carried out in the output of 52 pairs of power supplys 51 of chopper (storage battery), carries out being input to driving governor 53 after lifting/voltage reducing is handled.Driving governor 53 links to each other with electrical motor 54, the rotating at control motor 54 and rotating speed.Electrical motor 54 rotates thereby drive wheel 4 by being with 56 to drive flower wheel 55 rotations synchronously, drives bicycle and moves forwards or backwards.Wherein, driving governor 53, electrical motor 54 and power supply 51 are installed in vehicle frame 2 inside, are positioned at wheel 4 tops.The switch of power supply 51 is installed in the position that makes things convenient for the driver to operate on the vehicle seat 1.The automobile person by source switch easily steering vehicle advance or retreat.The center of gravity by the rider of turning about vehicle then moves to left or moves to right and causes that the wheel left side or the right flange radius change, thereby causes the difference of left and right sides rolling distance, realizes turnon left or right-hand corner.

Self-stabilization system 6 comprises angular transducer 61 and inclination controller 62.Angular transducer 61 is arranged on vehicle frame 2 sides, is electrically connected with inclination controller 62, and inclination controller 62 is electrically connected with power drive system.

Angular transducer 61 be used to measure rider and vehicle's center of gravity forward/retrodeviate the angle of inclination v that (promptly leans forward or hypsokinesis) from the upright position (Δ v), and pass to inclination controller 62.The signal that inclination controller 62 is accepted from angular transducer 61 by fuzzy control, calculates clear and definite value and gives chopper 52 and driving governor 53.For keeping the balance of vehicle, send the torque instruction that needs by driving governor 53, (the torque instruction of all driving motors is all by driving governor output), driving motor 54 advances vehicle or retreats.The big more Vehicle Speed in angle of inclination is fast more, and when tilting to keep certain angle, the output of inclination controller 62 no longer changes, and the output of driving governor does not change, and vehicle is at the uniform velocity to travel.When stationary vehicle, the numerical value of angular transducer 61 inputs is almost nil, in order to keep the balance of vehicle, the angle of inclination that angular transducer 61 is measured becomes definite controlling quantity after being controlled by inclination controller 62 obfuscations, be input to chopper 52 and driving governor 53, the torque instruction that balance needs is kept in driving governor 53 outputs, and driving motor 54 moves forwards or backwards for up to a hundred times with about per second and keeps the vertical stable of vehicle.When rider's center of gravity is mobile to the left or to the right, can cause the turnon left or the right-hand corner of wheel 4.Like this, by adopting direct motor drive, in conjunction with the sensor of measuring the angle of inclination, the slight center of gravity that produces for the user changes, and motor all can produce an electricity forward or backward and drive, and makes unicycle keep self-balancing.

Fig. 4 is the fuzzy control principle figure that the electronic unicycle of the utility model is adopted.Fuzzy control is exactly the computing machine or the chip that have adopted FUZZY ALGORITHMS FOR CONTROL in essence, and it is made of three essential parts: (1) becomes the variable that available fuzzy set is described with the explicit value " obfuscation " of input; (2) the applicational language rule is carried out fuzzy reasoning; (3) The reasoning results is made a strategic decision and reverse gelatinization (being also referred to as sharpening, ambiguity solution), make it to be converted into definite controlling quantity.

As an improvement of the present utility model, also comprise shaft-like handle, be arranged on the vehicle frame, be positioned at the place ahead of vehicle seat 1, can regulate it and regulate bolt to regulate its angle of inclination, make the driver feel comfortable.Power supply 51 master cocies are installed on handle or the shaft, convenient driver's operation, and help driver's on the go to keep balance better.

Claims

1, a kind of electronic unicycle comprises vehicle frame, wheel, pedal and power drive system, and described wheel is connected with vehicle frame by rotating shaft, and pedal is installed in the vehicle frame both sides; It is characterized in that: also comprise the self-stabilization system; Described self-stabilization system comprises angular transducer and inclination controller; Described angular transducer is arranged on the vehicle frame side, is electrically connected with inclination controller; Inclination controller is electrically connected with power drive system.

2, electronic unicycle according to claim 1 is characterized in that: described power drive system comprises power supply, driving governor, electrical motor, flower wheel and is with synchronously; Described driving governor is electrically connected with electrical motor and power supply; Electrical motor links to each other by being with synchronously with flower wheel, and flower wheel is connected with described wheel is coaxial; Described driving governor, electrical motor and power supply are installed in vehicle frame inside, are positioned at the wheel top.

3, electronic unicycle according to claim 2 is characterized in that: also comprise chopper in the described power drive system, be connected between power supply and the driving governor that its control end links to each other with inclination controller.

4, electronic unicycle according to claim 1 is characterized in that: also comprise vehicle seat, be arranged on the vehicle frame top, power control switch is installed on the vehicle seat.

5, electronic unicycle according to claim 1 is characterized in that: also comprise shaft-like handle, be arranged on the vehicle frame that power control switch is installed on handle or the shaft.

6, electronic unicycle according to claim 1 is characterized in that: described vehicle frame is the boxlike of single face opening, and the described electric drive trains self-stabilization system that unifies is arranged on boxlike vehicle frame inner tip, and the part of wheel is hidden by vehicle frame.