EP1986910A2 - Motorised transport vehicle for pedestrians - Google Patents

Motorised transport vehicle for pedestrians

Info

Publication number
EP1986910A2
EP1986910A2 EP06831175A EP06831175A EP1986910A2 EP 1986910 A2 EP1986910 A2 EP 1986910A2 EP 06831175 A EP06831175 A EP 06831175A EP 06831175 A EP06831175 A EP 06831175A EP 1986910 A2 EP1986910 A2 EP 1986910A2
Authority
EP
European Patent Office
Prior art keywords
wheel
user
fork
motor
wedges
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06831175A
Other languages
German (de)
French (fr)
Inventor
Marc Simeray
Janick Simeray
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1986910A2 publication Critical patent/EP1986910A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the principle and the realization of a motorized and autonomous electric support to assist a city dweller in his daily movement.
  • the invention is a motorized electrical support that assists the city dweller in his pedestrian movement and remains compatible with all the constraints listed above.
  • the invention meets the following criteria:
  • the state of the art includes the ⁇ Segway, a support platform comprising two wheels, rechargeable batteries, an inertial central stabilization device, a handlebar secured to the platform.
  • This platform is not compact enough to move unhindered on the sidewalk, it is too slow to travel on the road, and finally its weight of about 30 kg prohibits access to public transport.
  • Patent DE 100 27 466 describes a unicycle on which the pedestrian climbs, on two pedals, is supported by the hands on a handle that transmits a longitudinal inclination to the frame of the unicycle.
  • An electronic device measures the longitudinal inclination of this unicycle by means of an electronic inclinometer and slaves the position of the wheel to keep it in line with the user's center of gravity, in order to prevent its fall, according to a pendulum effect reversed.
  • the machine advances as soon as the user inclines the handle forward.
  • the wheel has a square profile so that the user is stable laterally. As a result, the trajectory is guided along the longitudinal axis.
  • the means for rotating is not described, it is understood that it requires to take a brief support on the ground, in order to transmit a lateral torque.
  • turning the handle can not rotate, because the pedals and the handle are integral through the fork.
  • Patent DE 100 27 466 does not therefore meet the criteria of the invention insofar as it requires the user to maintain the handle, with at least one hand, on the other hand, it does not allow an agile and harmonious management insofar as only the longitudinal displacement is provided, finally the electronics of the control of the motor is controlled by an inclinometer, a solution different from that adopted by the invention.
  • the user 11 circulates by resting on two foot wedges 14 located under the axis of a motorized wheel 12, and whose axis is fixed on a fork 15 which also comprises two guide supports which clutch the calf and leg.
  • the combination of the foot wedges 14 and guide supports makes it possible to transmit to the leg the forces and the reaction torque of the wheel, acting as a lever.
  • the wheel is slaved by means of the signal delivered by an accelerometer, fixed to the fork 15 whose longitudinal measurement axis and perpendicular to the fork is indicated by 16. If the accelerometer measures a positive component towards the before, then this indicates the beginning of a fall to the front of the user and this acceleration serves as a reference to the control electronics of the wheel motor to advance and restore balance. The equilibrium is obtained for the zero measurement of the accelerometer.
  • the fork is linked to the user's frame of reference, the condition of equilibrium - relative longitudinal acceleration zero - is then always true, whatever the speed and the acceleration of training.
  • the servo electronics according to the invention is then elementary.
  • the electronic For an inclination of the leg of about 10 ° forward generating a relative acceleration of about 1, 7 m / s 2 in the user reference, the electronic triggers the full power of the motor, the one allowing the maximum speed.
  • the motor control is proportional linear for all the intermediate values, and also has a critical damping to avoid the risk of oscillation of the wheel under the user, because of the high power of the engine.
  • an inclination of 10 ° towards the rear triggers either a recoil of the wheel at full power, or a braking.
  • the braking is accompanied by a recovery of the energy, which is fed back into the battery.
  • FIG. 2 indicates the different situations of the invention
  • the invention moves the user, in balance on the two feet wedges.
  • the user is maintained in longitudinal balance by the effect of the servo electronics; he only has to manage lateral balance, exactly as he does after learning on a bike.
  • the rotation is triggered by an inclination of the body on the side where the user wants to turn and by a shoulder movement to reset the course, exactly as it is done on a bike which we release the handlebars.
  • the foot wedges are folded, the guide supports too, in this position the electronics is disconnected, the invention is in storage mode, as it is inserted in for example a backpack.
  • the folded guide supports can for example in this position serve as a handle.
  • the servo of the wheel is connected as soon as one of the two feet is in a foot hold, the right or the left indifferently.
  • the enslavement is disconnected as soon as both feet have left the feet.
  • FIG. 3 describes an exemplary non-exclusive embodiment of the invention:
  • the tire comprises a tire 301 in a rim 302.
  • the tire may also be an elastomer tread.
  • Rechargeable batteries 303 indifferent technology are placed in the wheel.
  • An switching power switching electronics 307 regulates the power of the motor 310.
  • the shim 304 is attached to the fork 305 and is connected to the support guide 315 via a rod 306.
  • the spring 316 recalls the foot wedge 304 and the guide 315 in the high position in the absence of the foot, thanks to the pivot 314.
  • each shim has a connector, the two connectors are connected in parallel to the supply circuit.
  • the wheel is connected to the fork 305 by means of ball bearings 308 and 313.
  • the motor 310 located in the axis of the wheel is associated with a gearbox 311 for example of the harmonic type, the detail of which is explained in FIG.
  • the gearbox can also be made from a more traditional gear chain, the latter driving the wheel on the rim 302.
  • the motor 310 is of the linear type or of the brushless type. In the latter case it is associated with a 307 type driver adapted to the brushless motor control.
  • the information delivered by the accelerometer and its solid-state treatment 312 of the fork 305 is transmitted by a connector 309 of the rotating type, or to a simple connector type audio jack.
  • FIG. 4 describes an exemplary embodiment of a simple and economical harmonic gearbox for a high speed brushless motor. It comprises at 42 a pinion integral with the motor shaft, for example 20 teeth.
  • It comprises 3 other pinions 42 of greater diameter for example 100 teeth each, all three distributed at 120 ° around the motor pinion.
  • FIG. 5 gives an exemplary embodiment of the motor control and servocontrol electronics.
  • It comprises an integrated accelerometer 51 of silicon type with suspended internal flyweight associated with a capacitor and a circuit for measuring the capacitance.
  • This sensor delivers a variable output voltage according to the acceleration, the zero acceleration corresponding to the mid-power voltage.
  • a triangular voltage generator 52 made for example from current and capacitor generator, associated with a comparator 55, composes a variable PWM signal for controlling the motors, respecting the proportionality and linearity of the output of 53.
  • the switch 54 cuts the circuit as soon as both feet have left the foot wedges.
  • the rotating connector 56 transmits commands and power.
  • the control bridge 57 with Mos transistor transmits to the motor 58 a power proportional to the signal processed by 53.
  • the energy is delivered by the batteries 59, but also, during braking, the energy is restored to the batteries 59 via the bridge of the diodes 57.
  • the accelerometer 51 figure 5 and 16 Figure 1 and 312 Figure 3 is: ADXL 103 of ⁇ analog device.
  • the brushless motor is for example Cyclon car 2000 of the company ⁇ Cyclon which delivers 1 kw to 40 000 revolutions.
  • the engine driver is Flash pro because 1 00 from the same company.
  • the gearbox is HDUC14 ⁇ Harmonie drive
  • the batteries are lithium ion polymer batteries from different suppliers.
  • the fork and the wheel are made of aluminum.
  • - is compact, transportable and light, for example in a backpack
  • - a volume less than 40 cm in diameter, 15 cm thick is rechargeable on a household power socket, by means of a charger adapted to the type of batteries, or by adding a fuel, for a fuel battery. - has about one hour of autonomy, or 14 km.
  • the ergonomics and control of the invention are intuitive and do not require the use of hands, by means of o two guide supports (13,315) which enclose the legs of the user and transmit the driving torques o an engine (310) which keeps the wheel in line with the center of gravity of the city by means of o electronic control (307) motor linearly controlled by a longitudinal accelerometer (16) secured to the fork - its start is intuitive and automatic means o two power switches of the said electronic activated by the weight of the feet on both said feet wedges.
  • its steering in the lateral direction is agile by means of: a wheel (302) whose narrow tread (301) is of substantially round profile.
  • the invention is easily transportable by means of a bag and or a handle and a storage compacted by means of two feet wedges (304) and two retractable support guides (315) connected by a rod (306).
  • FIG. 6 This embodiment of FIG. 6 comprises, like the preceding one, retractable pedals 61, a tread 62, a housing 63 and a guide clamp 64.
  • FIG. 7 details this embodiment, in 701, 702 and 703 respectively the pedals, the tread and the casing, in 705 magnets secured to a slot 712, a bearing roller 706, bearing on said slot 712, a winding 707 which, in combination with 705, produces a torque motor, powered by electronics not shown, and batteries 708.
  • Two other rollers 709 and 711 guide the hollow wheel, and there is a handle 710.
  • Figure 8 shows the retracted pedal 81, the roller 86 and its hub mounted on ball bearings.
  • the weight of the user is directly carried by the pedals, transmitted to the hubs 87 and the groove 712 and the tread 702.
  • the other two rollers 709 and 711 only guide the wheel without undergoing effort.
  • the motricity is ensured by a linear motor, 707, without friction of transmission, and with the possibility to be able to recover the kinetic energy in the batteries.
  • the control electronics of this engine is summarized in FIG.
  • the accelerometer sensor 91 delivers a signal proportional to the acceleration.
  • the action of the motor aims to keep this measured acceleration constant and zero, by means of a drifting filter 92, which introduces a damping compensation, a reference 94, amplifier 93 and a reaction 95, an H 98 bridge which supplies the motor 99 and finally a feedback reaction 96 with a frequency response greater than 100 Hz.
  • the output of the amplifier is in permanent commutation at a frequency greater than 100 Hz, by the combined action of the reaction and the slower counter-reaction.
  • the motor is controlled according to a linear function of the acceleration and its derivative, from a variable PWM signal.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

The invention relates to a portable, self-contained light vehicle which is intended to be used as a means for urban transport together with public transport. The inventive vehicle consists of a motorised wheel (12) on which the user's lateral balance is maintained by means of speed and the user's longitudinal balance is maintained by an automatism which is controlled by an accelerometer (16). According to the invention, the toe clips (14) and the guide supports (13) which clamp the leg are retractable. The vehicle can be steered without using the hands. The assembly is stored in a bag, e.g. a backpack, and weighs less than 4 kilograms.

Description

Motorisation pour piéton. Pedestrian motorization.
L'invention concerne le principe et la réalisation d'un support électrique motorisé et autonome pour assister un citadin dans son déplacement quotidien.The invention relates to the principle and the realization of a motorized and autonomous electric support to assist a city dweller in his daily movement.
Les déplacements urbains combinent des trajets de tous types : - piétonniers surUrban journeys combine journeys of all types: - pedestrians on
- trottoir- pavement
- escaliers mécaniques,- escalators,
- tapis roulants et en ascenseur- treadmills and lift
- architectures urbaines : - plans inclinés,- urban architectures: - inclined planes,
- escaliers, passerelles, zones piétonnières puis, passager de transport en commun :- stairs, footbridges, pedestrian zones then, passenger of public transport:
- en train, - en métro- by train, - by metro
- en bus- by bus
- en tramway- by tram
- en bateau mouche ...- by boat ...
L'usager du transport en commun doit composer avec une multiplicité de contraintes :The public transit user must deal with a multiplicity of constraints:
- Il a les mains prises par des objets à transporter, mallette, cartables, courses ....- He has his hands taken by objects to carry, briefcase, satchels, shopping ....
- Le transport en commun est exigu et encombré - Le trottoir est fréquenté- Public transit is cramped and congested - Sidewalk is crowded
- Les escaliers sont étroits, inclinés.- The stairs are narrow, inclined.
- La voie publique est régie par des règles strictes.- The public highway is governed by strict rules.
Arrivé à destination il doit composer avec des contraintes sociales, au travail ou à l'école, il peut difficilement changer ses chaussures, ses vêtements. Aussi il doit pouvoir utiliser le support dans sa tenue traditionnelleWhen he reaches his destination he has to deal with social constraints, at work or at school, he can hardly change his shoes, his clothes. Also he must be able to use the support in his traditional dress
Aussi, il est impossible de voyager dans le métro ou le train quotidiennement avec une bicyclette, il est difficile de descendre l'escalier avec des patins à roulettes, la planche à roulette électrique est interdite sur la voie publique, comme la trottinette, et même un engin comme le ©Segway, conçu pour le déplacement urbain de proximité, s'avère encombrant sur le trottoir, et intransportable dans le métro et le bus.Also, it is impossible to travel on the subway or train daily with a bicycle, it is difficult to go down the stairs with roller skates, the electric skateboard is prohibited on public roads, like scooters, and even a machine such as the © Segway, designed for urban commuting, is cumbersome on the sidewalk, and intransportable in the subway and bus.
L'invention est un support électrique motorisé qui assiste le citadin dans son déplacement piétonnier et qui reste compatible avec toutes les contraintes listées ci-dessus.The invention is a motorized electrical support that assists the city dweller in his pedestrian movement and remains compatible with all the constraints listed above.
Ainsi l'invention respecte les critères suivants :Thus, the invention meets the following criteria:
Le piéton supportéThe pedestrian supported
- a l'encombrement d'un piéton normal - circule sur le trottoir à une vitesse de piéton, jusqu'à environ 7 km/h- the footprint of a normal pedestrian - travels on the sidewalk at a pedestrian speed, up to about 7 km / h
- circule sur la chaussée à une vitesse inférieure à 20 km/h- travels on the roadway at a speed below 20 km / h
- a l'agilité d'un piéton normal ou d'un patineur - circule sans effort- the agility of a normal pedestrian or skater - circulates effortlessly
- dispose de ses deux mains- has both hands
- porte ses vêtements et chaussures habituelles Le support- wears his usual clothes and shoes
- est compact, transportable et léger, par exemple dans un sac à dos- is compact, transportable and lightweight, for example in a backpack
- d'un poids inférieur à 4 kilogrammes- weighing less than 4 kilograms
- d'un volume inférieur à 40 cm de diamètre, 15 cm d'épaisseur- less than 40 cm in diameter, 15 cm thick
- il est rechargeable sur une prise de courant domestique, ou par un autre moyen équivalent- it is rechargeable on a household power socket, or by another equivalent means
- Il présente environ une heure d'autonomie, ou 14 km. L'état de l'art comporte le ©Segway, une plateforme support comportant deux roues, des batteries rechargeables, un dispositif de stabilisation centrale inertielle, un guidon solidaire de la plateforme. Cette plateforme n'est pas suffisamment compacte pour circuler sans gène sur le trottoir, elle est trop lente pour circuler sur la chaussée, et enfin son poids, de l'ordre de 30 kg lui interdit l'accès aux transports en communs.- It has about one hour of autonomy, or 14 km. The state of the art includes the © Segway, a support platform comprising two wheels, rechargeable batteries, an inertial central stabilization device, a handlebar secured to the platform. This platform is not compact enough to move unhindered on the sidewalk, it is too slow to travel on the road, and finally its weight of about 30 kg prohibits access to public transport.
Le brevet DE 100 27 466 décrit un monocycle sur lequel le piéton grimpe, sur deux pédales, prend appui les mains sur un manche qui transmet une inclinaison longitudinale au cadre du monocycle.Patent DE 100 27 466 describes a unicycle on which the pedestrian climbs, on two pedals, is supported by the hands on a handle that transmits a longitudinal inclination to the frame of the unicycle.
Une électronique mesure l'inclinaison longitudinale de ce monocycle au moyen d'un inclinomètre électronique et asservit la position de la roue pour la maintenir à l'aplomb du centre de gravité de l'utilisateur, afin de prévenir sa chute, selon un effet pendulaire inversé.An electronic device measures the longitudinal inclination of this unicycle by means of an electronic inclinometer and slaves the position of the wheel to keep it in line with the user's center of gravity, in order to prevent its fall, according to a pendulum effect reversed.
L'engin avance dés que l'utilisateur incline le manche vers l'avant.The machine advances as soon as the user inclines the handle forward.
La roue présente un profil carré pour que l'utilisateur soit stable latéralement. De ce fait la trajectoire est guidée dans l'axe longitudinal.The wheel has a square profile so that the user is stable laterally. As a result, the trajectory is guided along the longitudinal axis.
Le moyen pour tourner n'est pas décrit, on comprend qu'il impose de prendre un appui bref sur le sol, afin de transmettre un couple latéral. Bien entendu, le fait de tourner le manche ne peut assurer la rotation, car les pédales et le manche son solidaires à travers la fourche.The means for rotating is not described, it is understood that it requires to take a brief support on the ground, in order to transmit a lateral torque. Of course, turning the handle can not rotate, because the pedals and the handle are integral through the fork.
Le brevet DE 100 27 466 ne répond donc pas au critères de l'invention dans la mesure ou il impose que l'utilisateur maintienne le manche, avec au moins une main, d'autre part, il ne permet pas un pilotage agile et harmonieux dans la mesure ou seul le déplacement longitudinal est prévu, enfin l'électronique de la commande du moteur est asservie par un inclinomètre, solution différente de celle adopté par l'invention.Patent DE 100 27 466 does not therefore meet the criteria of the invention insofar as it requires the user to maintain the handle, with at least one hand, on the other hand, it does not allow an agile and harmonious management insofar as only the longitudinal displacement is provided, finally the electronics of the control of the motor is controlled by an inclinometer, a solution different from that adopted by the invention.
Selon l'invention décrite figure 1 l'utilisateur 11 circule en prenant appui sur deux cales pieds 14 situés sous l'axe d'une roue 12 motorisée, et dont l'axe est fixé sur une fourche 15 qui comporte aussi deux appuis guides qui enserrent le mollet et la jambe.According to the invention described in FIG. 1, the user 11 circulates by resting on two foot wedges 14 located under the axis of a motorized wheel 12, and whose axis is fixed on a fork 15 which also comprises two guide supports which clutch the calf and leg.
La combinaison des cales pieds 14 et des appuis guides permet de transmettre à la jambe les efforts et le couple moteur de réaction de la roue, agissant comme un levier.The combination of the foot wedges 14 and guide supports makes it possible to transmit to the leg the forces and the reaction torque of the wheel, acting as a lever.
Selon l'invention, la roue est asservie au moyen du signal délivré par un accéléromètre, fixé à la fourche 15 dont l'axe de mesure longitudinal et perpendiculaire à la fourche est indiqué par 16. Si l'accéléromètre mesure une composante positive vers l'avant, alors cela indique l'amorce d'une chute vers l'avant de l'utilisateur et cette accélération sert de consigne à l'électronique de commande du moteur de la roue pour avancer et rétablir l'équilibre. L'équilibre est obtenu pour la mesure nulle de l'accéléromètre.According to the invention, the wheel is slaved by means of the signal delivered by an accelerometer, fixed to the fork 15 whose longitudinal measurement axis and perpendicular to the fork is indicated by 16. If the accelerometer measures a positive component towards the before, then this indicates the beginning of a fall to the front of the user and this acceleration serves as a reference to the control electronics of the wheel motor to advance and restore balance. The equilibrium is obtained for the zero measurement of the accelerometer.
Les conditions de cet équilibre sont mieux comprises dans le référentiel de l'utilisateur, puisque dans ce référentiel l'effet de la vitesse et de l'accélération d'entraînement sont supprimés.The conditions of this equilibrium are better understood in the reference frame of the user, since in this frame of reference the effect of the speed and the acceleration of training are suppressed.
La fourche est liée au référentiel de l'utilisateur, la condition de l'équilibre - accélération longitudinale relative nulle - est alors toujours vraie, quelque soit la vitesse et l'accélération d'entraînement.The fork is linked to the user's frame of reference, the condition of equilibrium - relative longitudinal acceleration zero - is then always true, whatever the speed and the acceleration of training.
L'électronique d'asservissement selon l'invention est alors élémentaire.The servo electronics according to the invention is then elementary.
Pour une inclinaison de la jambe d'environ 10 ° vers l'avant générant une accélération relative d'environ 1 ,7 m/s2 dans le référentiel de l'utilisateur, l'électronique déclenche la pleine puissance du moteur, celle permettant la vitesse maximum.For an inclination of the leg of about 10 ° forward generating a relative acceleration of about 1, 7 m / s 2 in the user reference, the electronic triggers the full power of the motor, the one allowing the maximum speed.
La commande du moteur est linéaire proportionnelle pour toutes les valeurs intermédiaires, et bénéficie aussi d'un amortissement critique pour éviter le risque d'une oscillation de la roue sous l'utilisateur, du fait de la forte puissance de la motorisation.The motor control is proportional linear for all the intermediate values, and also has a critical damping to avoid the risk of oscillation of the wheel under the user, because of the high power of the engine.
Selon une variante non exclusive l'invention, une inclinaison de 10 ° vers l'arrière déclenche soit un recul de la roue à pleine puissance, soit un freinage.According to a non-exclusive variant of the invention, an inclination of 10 ° towards the rear triggers either a recoil of the wheel at full power, or a braking.
Selon cette variante de l'invention, le freinage s'accompagne d'une récupération de l'énergie, qui est réinjectée dans la batterie.According to this variant of the invention, the braking is accompanied by a recovery of the energy, which is fed back into the battery.
Ce principe de fonctionnement sera détaillé dans la suite de la description.This operating principle will be detailed in the following description.
La figure 2 indique les différentes situations de l'invention,FIG. 2 indicates the different situations of the invention,
En 21 l'invention déplace l'utilisateur, en équilibre sur les deux cales pieds.In 21 the invention moves the user, in balance on the two feet wedges.
L'utilisateur est maintenu en équilibre longitudinal par l'effet de l'électronique d'asservissement ; il ne lui reste à gérer que l'équilibre latéral, exactement comme il le fait après apprentissage sur un vélo.The user is maintained in longitudinal balance by the effect of the servo electronics; he only has to manage lateral balance, exactly as he does after learning on a bike.
La rotation est déclenchée par une inclinaison du corps du coté ou l'utilisateur veut tourner et par un mouvement d'épaule pour recaler le cap, exactement comme cela est réalisé sur un vélo dont on lâche le guidon.The rotation is triggered by an inclination of the body on the side where the user wants to turn and by a shoulder movement to reset the course, exactly as it is done on a bike which we release the handlebars.
En 22, les cales pieds sont rabattus, les appuis guides aussi, dans cette position l'électronique est déconnectée, l'invention est en mode rangement, telle qu'elle est insérée dans par exemple un sac à dos. Les appuis guides rabattus peuvent par exemple dans cette position servir de poignée.In 22, the foot wedges are folded, the guide supports too, in this position the electronics is disconnected, the invention is in storage mode, as it is inserted in for example a backpack. The folded guide supports can for example in this position serve as a handle.
En 23, l'utilisateur vient de ralentir et de freiner, en s'étant incliné vers l'arrière, ou est sur le point de démarrer.In 23, the user has just slowed down and braked, tilted backwards, or is about to start.
Dans cette position; un pied est engagé sur le cale pied, la roue maintient la fourche verticale. Pour redémarrer il suffit d'incliner la jambe du cale pied vers l'avant et de lancer l'autre jambe pour ensuite la placer sur l'autre cale pied, en le rabattant, et trouver l'équilibre grâce à la vitesse initiale.In this position; a foot is engaged on the foot block, the wheel keeps the fork vertical. To restart, simply tilt the leg of the hold foot forward and throw the other leg to place it on the other foot hold, bending, and find the balance through the initial speed.
Selon l'invention, l'asservissement de la roue est connecté dés qu'un des deux pieds est dans un cale pied, le droit ou le gauche indifféremment.According to the invention, the servo of the wheel is connected as soon as one of the two feet is in a foot hold, the right or the left indifferently.
L'asservissement est déconnecté dés que les deux pieds ont quitté les cales pieds.The enslavement is disconnected as soon as both feet have left the feet.
La figure 3 décrit un exemple de réalisation non exclusif de l'invention :FIG. 3 describes an exemplary non-exclusive embodiment of the invention:
Elle comporte un pneu 301 dans une jante 302. Le pneu peut aussi être une bande de roulement en élastomère.It comprises a tire 301 in a rim 302. The tire may also be an elastomer tread.
Des batteries rechargeables 303, de technologie indifférente sont placées dans la roue. Par exemple nickel cadmium, nickel métal hydrure, lithium ion, lithium ion polymère ou enfin pile à combustible, à éthanol ou méthanol par exemple.Rechargeable batteries 303, indifferent technology are placed in the wheel. For example nickel cadmium, nickel metal hydride, lithium ion, polymer lithium ion or finally fuel cell, ethanol or methanol for example.
Une électronique 307 de commutation de puissance à découpage régule la puissance du moteur 310.An switching power switching electronics 307 regulates the power of the motor 310.
Le cale pied 304 est fixé à la fourche 305 et est reliée au guide appui 315 par l'intermédiaire d'une tringle 306. Le ressort 316 rappelle le cale pied 304 et Ie guide 315 en position haute en l'absence du pied, grâce au pivot 314.The shim 304 is attached to the fork 305 and is connected to the support guide 315 via a rod 306. The spring 316 recalls the foot wedge 304 and the guide 315 in the high position in the absence of the foot, thanks to the pivot 314.
Dès que le cale pied se rabat un connecteur non représenté s'ouvre, il rompt alimentation l'électronique de commande du moteur. Chaque cale dispose d'un connecteur, les deux connecteurs sont reliés en parallèle au circuit d'alimentation.As soon as the shim folds a not shown connector opens, it breaks power control electronics engine. Each shim has a connector, the two connectors are connected in parallel to the supply circuit.
La roue est reliée à la fourche 305 au moyen de roulements à bille 308 et 313.The wheel is connected to the fork 305 by means of ball bearings 308 and 313.
Le moteur 310 situé dans l'axe de la roue est associé à un réducteur 311 par exemple du type harmonique, dont le détail est expliqué figure 4.The motor 310 located in the axis of the wheel is associated with a gearbox 311 for example of the harmonic type, the detail of which is explained in FIG.
Selon l'invention , le réducteur peut aussi être réalisé à partir d'une chaîne de roue dentée, plus traditionnelle, la dernière entraînant la roue sur la jante 302.According to the invention, the gearbox can also be made from a more traditional gear chain, the latter driving the wheel on the rim 302.
Selon l'invention, le moteur 310 est d u type linéaire ou bien du type brushless (sans balai). Dans ce dernier cas il est associé à un pilote 307 de type adapté à la commande de moteur brushless.According to the invention, the motor 310 is of the linear type or of the brushless type. In the latter case it is associated with a 307 type driver adapted to the brushless motor control.
Selon l'invention , l'information délivrée par l'accéléromètre et son traitement 312 solidai re de la fourche 305 est transmise par un connecteur 309 du type tournant, ou bien à un simple connecteur de type prise jack audio.According to the invention, the information delivered by the accelerometer and its solid-state treatment 312 of the fork 305 is transmitted by a connector 309 of the rotating type, or to a simple connector type audio jack.
A travers ce connecteur transitent l'alimentation du capteur, le signal PWM de commande du moteur et par exemple la masse, ou bien un second sig nal si la masse est transmise par le bâti.Through this connector pass the power supply of the sensor, the control PWM signal of the motor and for example the mass, or a second signal if the mass is transmitted by the frame.
La figure 4 décrit un exemple de réalisation de d 'un réducteur harmoniq ue simple et économiq ue pour un moteur brushless de forte vitesse de rotation . II comporte en 42 un pignon solidaire de l'arbre du moteur, par exemple de 20 dents.FIG. 4 describes an exemplary embodiment of a simple and economical harmonic gearbox for a high speed brushless motor. It comprises at 42 a pinion integral with the motor shaft, for example 20 teeth.
II comporte 3 autres pignons 42 de diamètre supérieur par exemple de 100 dents chacun, tous trois répartis à 120 ° autour du pignon moteur.It comprises 3 other pinions 42 of greater diameter for example 100 teeth each, all three distributed at 120 ° around the motor pinion.
Il comporte enfin deux couronnes extérieures accolées 43 et 44, l'une 43 de 240 dents l'autre 44 de 243 dents par exemple.It finally has two contiguous outer crowns 43 and 44, one 43 of 240 teeth the other 44 of 243 teeth for example.
Alors.So.
Le tour complet d'un pignon 42 décale une couronne 43 de 3 dents par rapport à 44, soit 3/240 tours. Il faut 12 tours de 41 pour que 42 fasse un tour complet, donc le rapport de réduction est de 3 / (240 * 12) soit 960 !The complete turn of a pinion 42 shifts a crown 43 of 3 teeth from 44, or 3/240 turns. It takes 12 turns of 41 for 42 to make a full turn, so the reduction ratio is 3 / (240 * 12) is 960!
Ceci décrit un exemple de réalisation d'un réducteur de fort rapport tel que rendu nécessaire par l'usage de moteurs pas à pas de forte puissance à très haute vitesse.This describes an exemplary embodiment of a high-speed reducer as made necessary by the use of stepper motors of high power at very high speed.
La figure 5 donne un exemple de réalisation de l'électronique de commande et d'asservissement du moteur.FIG. 5 gives an exemplary embodiment of the motor control and servocontrol electronics.
Elle com porte un accéléromètre 51 intégré de type silicium à masselotte interne suspendue associé à un condensateur et à un circuit de mesure de la capacité. Ce capteur délivre une tension de sortie variable en fonction de l'accélération, l'accélération nulle correspondant à la tension de mi-alimentation.It comprises an integrated accelerometer 51 of silicon type with suspended internal flyweight associated with a capacitor and a circuit for measuring the capacitance. This sensor delivers a variable output voltage according to the acceleration, the zero acceleration corresponding to the mid-power voltage.
Elle comporte un filtre actif amplificateur 53 dont le gain statique est régit par le rapport des deux résistances et la fréquence d'amortissement par le rapport entre la capacité du condensateur et la résistance de contre-réaction. Enfin ; un générateur de tension triangulaire 52, réalisé par exemple à partir de générateur de courants et de condensateur, associé à un comparateur 55, compose un signal PWM variable pour la commande des moteurs, en respectant la proportionnalité et la linéarité de la sortie de 53.It comprises an active amplifier filter 53 whose static gain is governed by the ratio of the two resistances and the damping frequency by the ratio between the capacity of the capacitor and the feedback resistance. Finally ; a triangular voltage generator 52, made for example from current and capacitor generator, associated with a comparator 55, composes a variable PWM signal for controlling the motors, respecting the proportionality and linearity of the output of 53.
Dans le schéma, il est indiqué deux commandes PWM, l'une correspond à une commande du moteur vers l'avant; l'autre vers l'arrière.In the diagram, two PWM commands are indicated, one corresponds to a motor control forward; the other backward.
L'interrupteur 54 coupe le circuit dés que les deux pieds ont quitté les cales pieds.The switch 54 cuts the circuit as soon as both feet have left the foot wedges.
Le connecteur tournant 56 transmets les commandes et l'alimentation.The rotating connector 56 transmits commands and power.
Le pont de commande 57 à transistor Mos selon l'état de l'art transmet au moteur 58 une puissance proportionnelle au signal traité par 53.The control bridge 57 with Mos transistor according to the state of the art transmits to the motor 58 a power proportional to the signal processed by 53.
Selon l'invention l'énergie est délivrée par les batteries 59, mais aussi, lors d'un freinage, l'énergie est restituée aux batteries 59 par l'intermédiaire du pont de des diodes de 57.According to the invention the energy is delivered by the batteries 59, but also, during braking, the energy is restored to the batteries 59 via the bridge of the diodes 57.
Selon un exemple de réalisation de l'invention, différent composant permettent d'obtenir le résultatAccording to an exemplary embodiment of the invention, different components make it possible to obtain the result
- l'accéléromètre 51 figure 5 et 16 figure 1 et 312 figure 3 est : ADXL 103 de ©analog device.- The accelerometer 51 figure 5 and 16 Figure 1 and 312 Figure 3 is: ADXL 103 of © analog device.
- Le moteur brushless est par exemple Cyclon car 2000 de la société ©Cyclon qui délivre 1 kw à 40 000 tours.- The brushless motor is for example Cyclon car 2000 of the company © Cyclon which delivers 1 kw to 40 000 revolutions.
- Le pilote du moteur est Flash pro car 1 00 de la même société. - Le réducteur est HDUC14 de la société ©Harmonie drive- The engine driver is Flash pro because 1 00 from the same company. - The gearbox is HDUC14 © Harmonie drive
Les batteries sont des batteries lithium ion polymère de différents fournisseurs.The batteries are lithium ion polymer batteries from different suppliers.
- La fourche et la roue sont réalisées en aluminium.- The fork and the wheel are made of aluminum.
Selon ce mode de réalisation ; il est vérifié queAccording to this embodiment; it is verified that
Le piéton supporté par l'inventionThe pedestrian supported by the invention
- présente l'encombrement d'un piéton normal- presents the footprint of a normal pedestrian
- circule sur le trottoir à une vitesse de piéton, jusqu'à environ 7 km/h- travels on the sidewalk at a pedestrian speed, up to about 7 km / h
- circule sur la chaussée à une vitesse inférieure à 20 km/h- travels on the roadway at a speed below 20 km / h
- a l'agilité d'un piéton normal ou d'un patineur- the agility of a normal pedestrian or skater
- circule sans effort- flows effortlessly
- dispose de ses deux mains- has both hands
- porte ses vêtements et chaussures habituelles L'invention- wears his usual clothes and shoes The invention
- est compacte, transportable et légère, par exemple dans un sac à dos- is compact, transportable and light, for example in a backpack
- d'un poids inférieur à 4 kilogrammes- weighing less than 4 kilograms
- d'un volume inférieur à 40 cm de diamètre, 15 cm d'épaisseur est rechargeable sur une prise de courant domestique, au moyen d'un chargeur adapté au type de batteries, ou grâce à l'ajout d'un combustible, pour une batterie à combustible. - présente environ une heure d'autonomie, ou 14 km.- a volume less than 40 cm in diameter, 15 cm thick is rechargeable on a household power socket, by means of a charger adapted to the type of batteries, or by adding a fuel, for a fuel battery. - has about one hour of autonomy, or 14 km.
L'ergonomie et le pilotage de l'invention sont intuitifs et ne nécessite pas l'usage des mains, au moyen de o deux appuis guides (13,315) qui enserrent les jambes de l'utilisateur et transmettent les couples moteurs o une motorisation (310) qui maintien la roue à l'aplomb du centre de gravité du citadin au moyen o une électronique (307) de pilotage du moteur commandée linéairement par un accéléromètre longitudinal (16) solidaire de la fourche - sa mise en route est intuitive et automatique aux moyens de o deux commutateurs d'alimentation de la dite électronique activés par le poids des pieds sur les deux dits cales pieds. - son pilotage en direction latéral est agile au moyen de : o une roue (302) dont la bande de roulement étroite (301 ) est de profil sensiblement rond.The ergonomics and control of the invention are intuitive and do not require the use of hands, by means of o two guide supports (13,315) which enclose the legs of the user and transmit the driving torques o an engine (310) which keeps the wheel in line with the center of gravity of the city by means of o electronic control (307) motor linearly controlled by a longitudinal accelerometer (16) secured to the fork - its start is intuitive and automatic means o two power switches of the said electronic activated by the weight of the feet on both said feet wedges. its steering in the lateral direction is agile by means of: a wheel (302) whose narrow tread (301) is of substantially round profile.
L'invention est facilement transportable au moyen d'un sac et ou d'une poignée et d'un rangement rendu compact au moyen de deux cales pieds (304) et deux guides appuis (315) rétractables reliés par une tringle (306).The invention is easily transportable by means of a bag and or a handle and a storage compacted by means of two feet wedges (304) and two retractable support guides (315) connected by a rod (306).
Un autre mode de réalisation de l'invention est décrit ci après. Il a pour objet de résoudre les problèmes posés par la précédente mise en œuvre, la résistance des pivots à la charge et aux chocs, et les problèmes d'inertie intrinsèque de la roue, qui pénalise sa réactivité pour l'asservissement d'équilibre.Another embodiment of the invention is described below. Its purpose is to solve the problems posed by the previous implementation, the resistance of the pivots to the load and shocks, and the intrinsic inertia problems of the wheel, which penalizes its responsiveness for balance servoing.
Cette réalisation figure 6 comporte comme la précédente des pédales rétractables 61 , une bande de roulement 62, un carter 63 et une pince guide 64. La figure 7 détaille cette réalisation, en 701 , 702 et 703 respectivement les pédales, la bande de roulement et le carter, en 705 des aimants solidaires d'une gente 712, un galet de roulement 706, en appui sur la dite gente 712, un bobinage 707 qui réalise an combinaison avec 705 un moteur couple, alimenté par une électronique non représentée, et des batteries 708. Deux autres galets 709 et 711 guident la roue creuse, et on retrouve une poignée 710.This embodiment of FIG. 6 comprises, like the preceding one, retractable pedals 61, a tread 62, a housing 63 and a guide clamp 64. FIG. 7 details this embodiment, in 701, 702 and 703 respectively the pedals, the tread and the casing, in 705 magnets secured to a slot 712, a bearing roller 706, bearing on said slot 712, a winding 707 which, in combination with 705, produces a torque motor, powered by electronics not shown, and batteries 708. Two other rollers 709 and 711 guide the hollow wheel, and there is a handle 710.
La figure 8 montre la pédale rétractée 81 , le galet 86 et son moyeux monté sur roulement à billes.Figure 8 shows the retracted pedal 81, the roller 86 and its hub mounted on ball bearings.
Par cette réalisation, le poids de l'utilisateur est directement porté par les pédales, transmis au moyeux 87 et à la gente 712 et à la bande de roulement 702.By this embodiment, the weight of the user is directly carried by the pedals, transmitted to the hubs 87 and the groove 712 and the tread 702.
Cette transmission directe des efforts sans portée ni torsion autorise des matériaux légers. La bande de roulement n'est pas déformée par l'effort porté.This direct transmission of effort without bearing or torsion allows lightweight materials. The tread is not deformed by the effort worn.
Les deux autre galets 709 et 711 ne font que guider la roue sans subir d'effort.The other two rollers 709 and 711 only guide the wheel without undergoing effort.
La motricité est assurée par un moteur linéaire, 707, sans frottement de transmission, et avec la possibilité de pouvoir récupérer l'énergie cinétique dans les batteries. L'électronique de commande de ce moteur est résumée figure 8.The motricity is ensured by a linear motor, 707, without friction of transmission, and with the possibility to be able to recover the kinetic energy in the batteries. The control electronics of this engine is summarized in FIG.
Elle comporte comme mise en œuvre originale une méthode commutation PWM aléatoire, fondée sur un comportement de comparateur de l'ampli linéaire, en haute fréquence uniquement.It has as original implementation a random PWM switching method, based on linear amplifier comparator behavior, in high frequency only.
Le capteur 91 accélérométrique, délivre un signal proportionnel à l'accélération. L'action du moteur vise à maintenir constante et nulle cette accélération mesurée, au moyen d'un filtre dérivateur, 92, qui introduit une compensation d'amortissement, d'une référence 94, d'amplificateur 93 et d'une réaction 95, d'un pont en H 98 qui alimente le moteur 99 et enfin d'une contre réaction 96 à réjeçtion des fréquences supérieures à 100 Hz.The accelerometer sensor 91 delivers a signal proportional to the acceleration. The action of the motor aims to keep this measured acceleration constant and zero, by means of a drifting filter 92, which introduces a damping compensation, a reference 94, amplifier 93 and a reaction 95, an H 98 bridge which supplies the motor 99 and finally a feedback reaction 96 with a frequency response greater than 100 Hz.
Selon ce principe, la sortie de l'amplificateur et est en commutation permanente à une fréquence supérieure à 100 Hz, par l'action combinée de la réaction et de la contre réaction plus lente.According to this principle, the output of the amplifier is in permanent commutation at a frequency greater than 100 Hz, by the combined action of the reaction and the slower counter-reaction.
Par ce biais, le moteur est commandé selon une fonction linéaire de l'accélération et de sa dérivée, à partir d'un signal PWM variable. By this means, the motor is controlled according to a linear function of the acceleration and its derivative, from a variable PWM signal.

Claims

Revendications claims
1 ) Support mobile électrique autonome destiné à transporter un citadin comportant : une roue unique (12), un moteur électrique (310), une batterie (303), une fourche (15), deux cales pieds (14), caractérisé en ce que1) Stand-alone electric mobile stand intended for transporting a city dweller comprising: a single wheel (12), an electric motor (310), a battery (303), a fork (15), two foot wedges (14), characterized in that
- son ergonomie et son pilotage sont intuitifs et ne nécessite pas l'usage des mains, au moyen de o deux appuis guides (13,315) qui enserrent les jambes de l'utilisateur et transmettent les couples moteurs o une motorisation (310) qui maintien la roue à l'aplomb du centre de gravité du citadin au moyen o une électronique (307) de pilotage du moteur commandée linéairement par un accéléromètre longitudinal (16) solidaire de la fourche - sa mise en route est intuitive et automatique aux moyens de o deux commutateurs d'alimentation de la dite électronique activés par le poids des pieds sur les deux dits cales pieds. - son pilotage en direction latéral est agile au moyen de : o une roue (302) dont la bande de roulement étroite (301 ) est de profil sensiblement rond.- Its ergonomics and its piloting are intuitive and does not require the use of hands, by means of o two guide supports (13,315) which encircle the user's legs and transmit the motor couples o an engine (310) which maintains the wheel perpendicular to the center of gravity of the city by means of o electronic engine control (307) controlled linearly by a longitudinal accelerometer (16) secured to the fork - its start is intuitive and automatic means o so-called electronic power switches activated by the weight of the feet on the so-called foot wedges. its steering in the lateral direction is agile by means of: a wheel (302) whose narrow tread (301) is of substantially round profile.
2) Support selon la revendication caractérisé en ce qu'il est facilement transportable au moyen d'un sac et ou d'une poignée et d'un rangement rendu compact au moyen de deux cales pieds (304) et deux guides appuis (315) rétractables reliés par une tringle (306). 2) Support according to the claim characterized in that it is easily transportable by means of a bag and or a handle and a storage compacted by means of two wedges feet (304) and two guides supports (315) retractable connected by a rod (306).
EP06831175A 2005-11-25 2006-11-27 Motorised transport vehicle for pedestrians Withdrawn EP1986910A2 (en)

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FR0511982A FR2893907A1 (en) 2005-11-25 2005-11-25 Electrical movable support for e.g. portable, self-contained light vehicle, has motorization maintaining wheel in line with center of gravity, and steering electronic controlled linearly by longitudinal accelerometer integrated to fork
PCT/FR2006/002590 WO2007060336A2 (en) 2005-11-25 2006-11-27 Motorised transport vehicle for pedestrians

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WO (1) WO2007060336A2 (en)

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US8616313B2 (en) 2013-12-31
FR2893907A1 (en) 2007-06-01
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US20090266629A1 (en) 2009-10-29
WO2007060336A2 (en) 2007-05-31

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