KR100364374B1 - Single Wheel Bicycle - Google Patents

Abstract

The present invention seeks to provide a stabilization restoration mechanism that prevents a single wheeled bicycle from falling over in order to solve the underlying instability of attempting to fall back and forth of a bicycle having a single wheel. Single wheel bicycle of the present invention for this purpose, one wheel for moving the bicycle; A frame for fixing each component about the wheels; A handle for adjusting the direction; Pedal and rotary gear devices for obtaining drive force, brake devices for reducing speed; An electric motor and pulley for driving a stabilization restoring mechanism to prevent the bicycle from falling back and forth; A controller for driving the electric motor; A storage battery for supplying electricity to the electric motor; And a saddle for riding.

Description

Single Wheel Bicycle

The present invention relates to a bicycle having a single wheel. In particular, the present invention relates to a bicycle having a stabilization restoration mechanism that prevents the bicycle from falling by overcoming the instability of the unicycle on which the bicycle is about to fall back and forth.

As shown in FIG. 1, a conventional bicycle uses a frame 2 to fix each component about two wheels 1 and 2, a handle 3 to adjust a direction, and a driving force. Pedal (4) and rotary gear device (5) for gain, chain (6) for transmitting torque to the rear wheel, brake device (7) for reducing speed and saddle (8) for riding It is composed. In general, a bicycle having two wheels in front and rear has a stable dynamic structure in which the entire center of gravity is placed between the front and rear wheels so that it does not fall back and forth. On the other hand, the effect of falling to the left and right can be overcome by simple sensory manipulation of the driver, that is, adjusting the direction in the falling direction. In other words, the restoring force is generated due to the acceleration by the inertia and the direction adjustment according to the forward speed to prevent the fall.

2 is a view for explaining the principle of the generation of the restoring force to prevent falling to the left and right, this restoring force can be expressed as shown in Equation (1). In FIG. 2, the vector diagram represented by V, V ₀ , ΔV, F, etc. should be seen as being displayed on a plane parallel to the ground.

F = ma

F =

In Equation 1, m represents the total mass of the masses of the bicycle and the rider, G represents the center of gravity of the total mass m and θ is Vector and The angle difference between the vectors, Is Vector and The size of the vector. Equation 1 is an expression expressed on the basis of the center of gravity, where F is a restoring force vector for restoring a fall, and a is an acceleration vector according to a speed change in a traveling direction. The two-wheeled bicycle can stably run without falling to the left or right due to the restoring force as shown in Equation 1, which offsets the force to fall when driving.

On the other hand, in the case of a bicycle having a single wheel, it is a very difficult problem to stably adjust the bicycle without falling over it.

3 schematically shows a bicycle and a rider having a single wheel. A bicycle having a single wheel basically consists of one wheel 31, a saddle 32, a pedal 33 and a frame 34 for fixing the same. A bicycle with a single wheel is only in contact with the ground at one point, i.e. point contact, so the probability that it can fall 360 degrees in all directions is similar to when trying to erect a pointed bar on a flat ground. Have.

Thus, a bicycle with a single wheel can only ride a limited number of highly trained people, such as circus members, and even these require a high degree of proficiency to ride in very high effort, concentration and tension.

SUMMARY OF THE INVENTION An object of the present invention is to provide a bicycle having a stabilization mechanism in which a single wheel bicycle does not fall back and forth, in order to solve the fundamental instability of the bicycle to fall back and forth in the bicycle having a single wheel.

In order to achieve the above object, the present invention provides a wheel for moving a bicycle, a frame for fixing each component about the wheel, a handle for adjusting a direction, a pedal and a rotating gear device for obtaining driving force, and a speed A brake device for reducing, an electric motor and pulley for driving a stabilization restoring mechanism to prevent the bicycle from falling back and forth, a controller for driving the electric motor, a storage battery for supplying electricity to the electric motor, and a saddle for riding It is characterized by.

1 is a view showing a conventional general bicycle,

2 is a view for explaining the principle of generating a restoring force to prevent falling from side to side in a conventional general bicycle,

3 is a view schematically showing a bicycle and a rider having a conventional general single wheel,

4 is a single wheel bicycle view having a stabilization mechanism for the fall prevention according to the present invention,

5a to 5d are views for explaining the principle of the stabilization mechanism under the assumption that the single wheel bicycle is stationary according to the present invention;

6a and 6b is a view for explaining the overturning force to fall forward the bicycle according to the invention,

7a and 7b is a view for explaining the principle that is restored by the rotation of the electric motor assuming that the wheel is fixed in accordance with the present invention,

8a to 8d are views for explaining the principle of the stabilization mechanism under the assumption that the single wheel bicycle is stationary according to the present invention;

9A and 9B are views for explaining the stabilization restoration mechanism when the bicycle is accelerated according to the present invention;

10A to 10B are diagrams for explaining the stabilization restoration mechanism when the bicycle is decelerated according to the present invention;

11 is a block diagram of a controller 49 of a single wheel bicycle having a stabilization restoration mechanism according to an embodiment of the present invention.

12 is a circuit diagram exemplarily illustrating a configuration of a power amplifier in the case of using a small DC motor as a stabilization restoration driving motor according to the present invention;

FIG. 13 is a view showing an output of a switching signal according to the present invention to a driving circuit so that the driving circuit switches the power MOSFET;

14 is a view for explaining the displacement angle and the flow of power in accordance with the present invention,

FIG. 15 shows another practical embodiment of the controller 49 shown in FIG.

16a and 16b show a means for transmitting power to the wheels for stabilization and restoration drive of a single wheel bicycle according to the invention.

<Description of the symbols for the main parts of the drawings>

41: wheel 42: frame

43: handle 44: pedal

45: rotary gear device 46: brake device

47: electric motor 48: pulley

49: controller 50: storage battery

51: saddle

The single wheel bicycle having a stabilization mechanism for preventing the fall has a frame 42 for fixing each component about one wheel 41, a handle 43 for adjusting a direction, and driving force as shown in FIG. 4. Pedal 44 and rotary gear unit 45, brake unit 46 for reducing speed, small electric motor 47 and pulley 48 for driving stabilization mechanism, controller 49 for realizing stabilization restoration mechanism. ), A storage battery 50 for supplying electricity to the electric motor 47, and a saddle 51 for riding.

In order to easily explain the principle of the stabilization mechanism in such a single-wheeled bicycle, first, the case where the bicycle is stopped is explained, and secondly, when the bicycle proceeds forward with a constant speed, thirdly, the bicycle The following describes the case of starting the vehicle to accelerate the speed and the case of stopping the bicycle by decelerating during the fourth driving.

As a first case, Figures 5a-d are diagrams for explaining the principle of the stabilization mechanism under the assumption that the single wheel bicycle is stationary. FIG. 5A is a diagram of a situation in which the occupant falls forward by an angle α with respect to a plane perpendicular to the ground. In FIG. 5A, the overturning force of the bicycle to fall forward is represented by Equation (5).

Where m is the mass loaded on the bike's wheel axle, g is the gravitational acceleration, and α ₀ is the initial angle of displacement of the inclination from the vertical axis of the ground on which the wheel touched. At this time, when the motor for the stabilization restoration mechanism rotates in the counterclockwise direction as shown in Figure 5b, the wheel is rolled forward by friction between the pulley 48 and the wheel 41, the bicycle wheel shaft is accelerated.

At this time, the single-wheeled bicycle may be stabilized and restored or reversely rolled over according to the conditions of approximations Equations 6 and 7 under the assumption that the angle α is small.

Where g is gravity acceleration and v is the horizontal movement speed of the wheel axle.

If the stabilization restoring mechanism works according to the condition of Equation 7, the bicycle of FIG. 5A state gradually decreases the displacement angle α to fall from the ruled axis, and inclines only by α ₁ smaller than the initial α ₀ as shown in FIG. 5B. You lose. Accordingly, the overturning force of the bicycle to fall forward gradually decreases according to Equation 5, and through FIG. 5C which becomes α ₂ smaller than α ₁ , the center of gravity of the electric motor is on the vertical axis line from the ground as shown in FIG. 5D. On the gravitational acceleration vector line, in this case α _n = 0), the overturning force is minimized and ultimately stable. On the other hand, if the stabilization restoring mechanism operation of this single-wheeled bicycle has the condition of Equation 6, as shown in Figs. 6A-B, the displacement angle α is gradually increased with the larger angle of displacement α ₁ from the initial α ₀ . It is eventually overturned.

In this single wheel bicycle, another type of restoring force is additionally applied to the restoring process according to the process of FIG. 5. Another restoring force is the torque caused by the rotation of the motor 47 for driving the stabilization restoring mechanism. Assuming that the wheel is fixed without rotating as shown in Figure 7a-b, it shows a principle that is restored by the rotation of the electric motor. In FIG. 7, if the bicycle wheel is fixed to the ground and does not rotate, the driving motor 47 and the pulley 48 fixed to the frame rotate counterclockwise around the bicycle wheel, and thus, the displacement angle is α _0. Will be gradually reduced to α _{1 and} so on. In this case, the overturning force may be expressed by Equation 8.

Where Fx 'is the restoring force modified by the driving of the stabilization restoring mechanism motor 4, Fm is the restoring force by the driving of the motor, and Rc and Rm are the radius of the wheel and the axis of the wheel from the axis of the wheel (G), respectively. Mark the distance. Therefore, the stabilization restoration discriminants of Equations 6 and 7 are represented by Equation 9.

8A-D illustrate the principle of the restoration stabilization mechanism in a situation where the angle falls backward by an angle with respect to the vertical of the ground. In this case, except that the rotation direction of the drive motor 47 is clockwise, the process is almost the same as the process of stabilizing and restoring in a situation of falling forward, and thus, further description thereof will be omitted.

Second, the case where the bicycle is moving forward at a constant speed will be described. The principle of the stabilization restoration mechanism when a single-wheeled bicycle runs at a constant speed is similar to that at rest. That is, the principles shown in FIGS. 5A-D, 6A-B and 8A-D and described above apply as is. However, the restoring mechanism drive motor 47 is in reference to a state in which torque is generated while contacting with the wheel 41 of the bicycle, while generating no torque. At this time, if the occupant is about to fall forward, that is, when a displacement angle in the forward direction occurs, the speed of the motor is driven in the direction of reducing the displacement angle as described above. That is, the motor speed at this time is expressed as the sum of the speed proportional to the average speed of the bicycle and the speed for driving the stabilization restoring mechanism as shown in Equation (10).

N _m = N _m0 + N _mx

Where N _m0 is the motor speed proportional to the average rotational speed of the bicycle wheel having a constant speed, and N _mx is the change in speed due to the driving of the restoring mechanism. As explained earlier, the restoring mechanism is based on the displacement angle α, the gravitational acceleration g, and the parallel acceleration of the wheel center axis. Restoration stabilization mechanism The torque of the electric motor 47 acts, but the stabilization mechanism works regardless of the traveling speed.

If the occupant is about to fall backward, that is, when a displacement angle to the rear occurs, the drive is reduced by the speed of the electric motor 47 as opposed to when the front displacement angle occurs. That is, the motor speed at this time is expressed as the difference between the speed proportional to the speed of the bicycle and the speed for driving the stabilization restoration mechanism as shown in Equation (11).

N _m0 is an electric motor speed proportional to the average rotational speed of the bicycle wheel 41 having a constant speed, and N _mx is a change in speed due to the restoration mechanism driving. As explained earlier, the reconstruction mechanism is the displacement angle α, the gravitational acceleration g and the parallel traveling acceleration of the wheel center axis. Restoration stabilization mechanism It works by the torque of the motor, but the stabilization mechanism works regardless of the traveling speed.

Third, a diagram for explaining the stabilization restoration mechanism in the case where the bicycle is accelerated is shown in Figs. 9A-B. FIG. 9A shows a case where the displacement angle α is generated forward by starting the bicycle at a stop. In this case, the torque of the motor 47 to restore the displacement angle appears in the direction of applying a force in the direction of the arrow around the pulley 48 of FIG. 9A. At this time, the torque of the electric motor 47 acts in a direction to assist the rotational acceleration of the bicycle wheel 41. This restoring force required at this time may be expressed by Equation 12.

Fig. 9B shows a case where the displacement angle α is generated rearward by starting the bicycle from the stop. In this case, the torque of the motor 47 to restore the displacement angle appears in the direction of applying a force in the direction of the arrow around the pulley 48 of FIG. 9A. At this time, the torque of the electric motor 47 acts in the direction of disturbing the rotational acceleration of the bicycle wheel 41. The necessary restoring force can be expressed by Equation 13.

As in FIG. 9B, disadvantageous elements during acceleration are stabilized based on this angle by giving an appropriate displacement angle forwardly proportional to the acceleration instead of a line perpendicular to the ground (on the gravitational acceleration line) to zero displacement angle. This can be solved by restoration control.

Fourthly, the restoration stabilization mechanism at the time of deceleration is opposite to that at the time of acceleration, and this case is shown in Figs. 10A-B. That is, the drive motor 47 rotates in a direction that prevents deceleration (in the case of FIG. 10A) or assists (in the case of FIG. 10B). As shown in FIG. 10A, when the bicycle prevents deceleration and stops, it may also be solved by moving the reference displacement angle to the rear similarly to the acceleration.

11 is a block diagram of a controller 49 of a single wheel bicycle having a stabilization restoring mechanism according to an embodiment of the present invention, wherein the vertical displacement angle and horizontal acceleration generator 100 constituted by the acceleration sensor 101 and the calculator 102 are shown. , A torque command generator 110, and a power amplifier 120 including a torque controller 121, an adder 122, a current controller 123, a quadrant converter 124, a current sensor 125, and the like. . Although the horizontal acceleration and the vertical displacement angle are measured using the acceleration of the bicycle, the vertical displacement angle may be directly detected using the angle sensor.

12 is an example of a configuration circuit of a power amplifier in the case of using a small DC motor as the stabilization restoration drive motor. In this power amplifier, the quadrant converter 124 is configured using a power MOSFET, and the power amplifier controller 126 is a device capable of generating a current for driving a small DC motor by receiving a torque command.

Fig. 13 outputs a switching signal to the drive circuit, which causes the drive circuit to switch the driving power MOSFET.

Here, if the acceleration sensor 101 is configured using the ADXL202 manufactured by the analog device in order to implement FIG. 11, the output of the acceleration sensor 101 is represented by equations (14) and (15).

Where Xout is the horizontal acceleration output of the acceleration sensor, Yout is the vertical displacement angle output, K is the output constant of the acceleration sensor 101, g is the gravitational acceleration, Using the fact that it is approximated to 1, equations (14) and (15) can be simplified to equations (16) and (17), so that control can be made very easily.

In Equations 16 and 17, the unknowns are α and ( ), So from the two simultaneous equation solutions Can be obtained.

The function of the torque command generator 110 can be obtained as an interpretation of the actual system and the experimental data, which can also be expressed as Equation (18). This is represented schematically in FIG. 13.

In other words, if the constant speed is maintained without acceleration or deceleration, the torque command value passes the zero point of the coordinate, and if the torque command curve is modified in proportion to the deceleration amount or acceleration amount, the irrationality during deceleration or acceleration is compensated as described above. can do.

14 is for explaining the displacement angle and the flow of power. Power flow through the front and rear stabilization restoring mechanism of the single-wheeled bicycle is determined according to the equations of equations (19) and (20).

That is, when the displacement angle of the front and rear slope and the horizontal acceleration of the wheel 41 satisfy Equation 19, the wheel must be accelerated by driving the electric motor 47 by supplying electric power to prevent the fall, and the displacement angle and the wheel 1 When the horizontal acceleration of) satisfies Equation 20, in order to prevent the motor 47 from falling, the electric motor 47 is operated in a generating braking state so that the generated power charges the battery. Thus, as the reference displacement angle is modified in accordance with the state of charge of the battery, the battery can keep the proper state of charge continuously.

FIG. 15 shows another practical embodiment of the controller 49 shown in FIG. The controller 49 of FIG. 11 includes an electric output command function, a center of gravity correction function, a battery state discrimination function, a brake signal generator, a displacement angle correction priority discriminator, and the like. If you want to push the bicycle by combining the electric power and manpower, such as climbing a hill, you can apply the electric power command. The electric power output command is configured so that a signal is applied from a signal generator attached to a handlebar of a bicycle. Also, since the center of gravity varies depending on the person riding a single wheel bicycle or the riding position of a rider, the motor ( 47) The current flowing to 47 is often not zero. In this case, the current flow can be cumulatively filtered and used to correct the center of gravity. The center of gravity corrector 152 receives the current of the current sensor 125 and produces an output for adjusting the displacement angle. The discriminator 151 monitors the state of charge of the charger and maintains an appropriate amount of charge, thereby eliminating the need for a separate charger or charging process. That is, as shown in the curve of FIG. 14, the rechargeable battery can be charged and discharged by adjusting the displacement angle so as to maintain an appropriate charge amount according to the state of charge of the battery. The brake signal generator 156 receives a signal from a brake signal output associated with a brake operating mechanism attached to the handle 43 or the like, and causes the bicycle to shift the center of gravity to the rear in order to appropriately decelerate the bicycle, thereby abruptly decelerating and overturning. To ensure a stable stopping process. On the other hand, the center of gravity correction, battery status discrimination, and output of the brake signal generator 156 are all input to the displacement angle correction priority discriminator 155 to make the brake signal the first priority, the center of gravity correction the second priority, and the storage battery. Charge and discharge are the third priority to adjust the displacement angle.

16A and 16B may use the method using the pulley of FIG. 16A or the disc-shaped motor of FIG. 16B as a means for transmitting power to the wheels for stabilization and restoration drive of a single wheel bicycle. Here, Figure 16a is composed of an external rotor motor 161, pulley 162, shaft 163, gear head 164 and the wheel 165, Figure 16b is a disk-shaped electric motor 166, shaft ( 167 and wheels 168.

The present invention provides a stabilization restoration mechanism as described above so that a bicycle having a single wheel does not fall back and forth, thereby solving the instability of the single wheel bicycle. As a result, the single-wheeled bicycle rider can ride easily and comfortably by simple sensory handle operation to correct the left and right falls as if riding a two-wheeled bicycle. In addition, since the single-wheeled bicycle is simple in structure and can be manufactured in a small size, it can be easily carried in a passenger car, etc., so that the single-wheeled bicycle can be more widely used than in the case of a general biped. On the other hand, a single wheel bicycle having a stabilization restoring mechanism is capable of driving both manpower and electric drive simultaneously in a difficult place such as a hill, in parallel with the operation of the stabilization restoring mechanism, so it is very suitable for hilly areas such as Korea. As a result, the distribution of bicycles can be widely used, and the expansion of bicycles can improve the health of the people and national energy saving effects.

Claims (39)

delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete One wheel 41, a frame 42 for fixing each component about the wheel, a handle 43 for adjusting the direction, a pedal 44 for obtaining driving force, and a rotary gear device ( 45) A single wheel bike comprising: An electric motor (47) acting on the wheel to provide a driving force; A controller 49 for controlling and driving the electric motor 47 so that the wheel 41 rotates in the same direction as the single-wheeled bicycle is to fall back and forth; It includes a storage battery 50 for supplying electricity to the electric motor 47 and the controller 49, The driving force and the driving direction of the electric motor 47 are determined by the tilted angle a and the horizontal acceleration dv / dt of the single wheel bicycle. The tilted angle a and the horizontal acceleration dv / dt are based on the output of the semiconductor sensor 101 which outputs the horizontal acceleration output Xout and the vertical displacement angle Yout of the bicycle. Single wheel bicycle, characterized in that obtained. The method of claim 25, The calculation is performed based on the horizontal acceleration output Xout and the vertical displacement angle output Yout of the single-wheel bicycle output from the semiconductor sensor 101, so that the forward and backward inclination angle a and the horizontal acceleration dv / dt Single wheel bicycle further comprises a calculator (102) for outputting. The method of claim 25 or 26, And a battery state discriminator (151) for monitoring the state of the battery (50) to maintain an appropriate state of charge. The method of claim 25 or 26, And a center of gravity compensator (152) for correcting a change in the center of gravity due to the posture of the rider or the rider of the single wheel bike. The method of claim 25 or 26, And further comprising an electric power command switch attached around the handle to apply the propulsion of the single wheel bicycle. The method of claim 25 or 26, Single wheel bicycle, characterized in that the driving force of the electric motor is transmitted to the wheel through a pulley in contact with the single wheel bicycle. The torque command generator 110 of claim 26, wherein the torque command generator 110 generates torque of the electric motor 47 based on the tilted angle a and the horizontal acceleration dv / dt output from the calculator 102. Single wheel bike, characterized in that it further comprises). 32. The single wheel bicycle according to claim 31, further comprising a power amplifier (120) for generating a voltage and a current for driving the electric motor (47) in response to the torque command of the torque command generator (110). 33. The single wheel bicycle according to claim 32, wherein the power amplifier (120) uses a quadrant converter (124) using a power MOSFET. delete delete delete delete delete delete