KR100392487B1 - Single-wheeled bicycles with the ability to prevent falls back and forth - Google Patents

Abstract

The present invention is directed to providing a stabilization 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 according to the present invention, one wheel for moving the bicycle, the frame for fixing each component around the wheel, the handle, a pedal to obtain the driving force, spring and gearbox, to prevent the falling forward, speed Brake device for reducing and preventing falling back, Solenoid valve for driving stabilization mechanism to prevent the bicycle from falling back and forth, Controller for controlling the mechanism, Control power supply for supplying electricity to the controller, and riding Characterized in that consists of a saddle for.

Description

Single-wheeled bicycles with the ability to prevent them from falling back and forth {.}

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

1 schematically shows a bicycle with a single wheel. A bicycle with a single wheel basically consists of one wheel 1, a hub 2, a saddle 3 and a pedal 4 and a frame 5 for fixing it. 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.

A single wheel bicycle having a stabilization mechanism for preventing the fall from front and rear in such a single wheel bicycle is proposed in the applicant's prior patent application 2000-10176, which is a single wheel 21 as shown in FIG. Frame 22 for fixing each component, handle 23, pedal 24 for driving force, hub and rotary gear device 25, brake device 26 for speed reduction, and stabilization mechanism. It consists of a small electric motor 27 and pulley 28 for driving, a controller 29 for driving a stabilization restoring mechanism, a storage battery 30 for supplying electricity to the electric motor 27, and a saddle 31 for riding. do.

Like a two-wheeled bicycle, the effect of falling to the left or right can be overcome by the driver's simple sensational manipulation, ie by adjusting the direction in the falling direction, and by having a stabilization mechanism that prevents the single-wheeled bicycle from falling back and forth. You can ride without a big difficulty like a bicycle.

However, this prior art is difficult to miniaturize the electric motor 27, the controller 29, the battery 30 and the manufacturing cost is also increased while the appearance structure is not simple.

SUMMARY OF THE INVENTION In view of the above problems in the related art, the present invention is to solve the instability of the bicycle which is about to fall back and forth in a single-wheel bicycle, and does not require the electric motor 27. As the electric motor 27 is not required, It is an object of the present invention to provide a unicycle having a small and inexpensive front and rear fall prevention mechanism that requires only a battery of the battery.

1 is a single wheel bicycle according to the prior art

Figure 2 is a single wheel bicycle with a front and rear fall prevention function of the applicant of the present applicant

3 is a single wheel bicycle having a front and rear fall prevention function according to the present invention

4 is a block diagram of a controller of a single wheel bicycle having a rear fall prevention function according to the present invention.

5 is a block diagram of a controller of a single wheel bicycle having a front and rear fall prevention function according to the present invention.

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

32: wheel 40: solenoid valve for brake control

33 frame 41: solenoid valve for gearbox control

34: handle 42: controller

35 pedal 43 control power supply

36: spring 44: saddle

37: gearbox 45: angle sensor

38: brake

39: hub

The single wheel bicycle having such a stabilization mechanism is one wheel 32 for moving the bicycle as shown in FIG. 3, a frame 33 for fixing each component about the wheels, a handle 34, a pedal for obtaining driving force. (35), spring 36 and gearbox 37 for preventing the fall forward, brake device 38 for reducing the speed and falling backward, the hub 39, stabilization mechanism to prevent the bicycle from falling back and forth A brake control solenoid valve 40 for driving and a solenoid valve 41 for controlling a gearbox, a controller 42 for controlling the mechanism, a battery 43 for supplying electricity to the controller, and a ride Saddle 44, the frame 33 and the saddle 44 is characterized by consisting of an angle sensor 45 for measuring the angle of inclination with respect to the gravity (vertical) direction. The operation principle of the single wheel bicycle according to this configuration is as follows.

First, the function of preventing the single-wheeled bicycle from falling back is explained. When the single-wheeled bicycle moves forward, the rider tries to fall backward due to the movement of the center of gravity (inertia). However, when pressure is applied to the brake 38 of the single wheel bicycle, the inertia of the rider's center of gravity is moved forward by the inertia and offsets each other to fall back, thereby stabilizing. This brake pressure control acts continuously by the sensitive response reaction of the angle sensor 45, and precisely controls the action to fall back.

In other words, the brake increases the pressure applied to the brake in proportion to the angle of falling backward, which causes the brake to be strong when falling down a lot and weakly brakes when falling slightly backward. For example, the degree of braking can be determined by adjusting the length of time for which the brake is broken, such as the ABS brake of a vehicle.

On the other hand, when you want to stop the running bike using a handbrake of a single wheel bicycle, which is combined with the brake 38 through the controller 41 to decelerate in combination.

In addition, in most cases, the back falls in most cases, in the single-wheeled bicycle running forward to fall back, or by turning the pedal (35) brightly, if you turn the wheels by proper practice does not fall enough to single wheels You can drive a bicycle. However, to achieve mechanical stabilization without practice, you can use a device with the function to prevent the following fall.

In order to stabilize the falling forward during the forward driving of the single wheel bicycle, the bicycle wheel 32 should be rotated forward to grasp the center of gravity. In order to realize this, a gearbox 37 interlocked with the wheel shaft is attached and a bundle of winding springs 36 interlocked with the gearbox 37 is attached. The gearbox 37 can be easily purchased on the market and can be switched between forward and reverse rotation. The principle of this device is that the gear box 37 interlocked with the wheel shaft is set to turn only in the normal direction so that the spring 36 is wound by the gear box 37. If it is detected that the inclination forward by the angle sensor 45, the gearbox 37 is set to rotate only in the reverse direction by using the momentary torque by the loosening of the spring 36 in the wound state (wheel) 32) is further rotated forward to prevent it from falling forward.

Now, when there is no inclination forward, the gearbox 37 is set to rotate only in the forward direction, and the spring 36 is wound to be in a ready state to prevent the fall forward.

Next, the electrical signals and the control of the stabilization mechanism will be described.

Figure 4 is a block diagram of a controller of a single wheel bicycle with a fall prevention function in the rear according to the present invention, the angle sensor 45, rear fall prevention command generator 47, hand brake command generator 48, solenoid drive amplifier 49, a brake solenoid 40, and a brake 38. As shown in FIG.

The controller is mounted on a single wheel bicycle having the stabilization mechanism of FIG. 3 and the driving principle is as follows. The angle indicating the degree of inclination backward from the inclination measurement angle sensor 45 for controlling the stabilization mechanism is output to the rear fall prevention command generator 47.

The rear fall prevention command generator 47 commands the solenoid drive amplifier 49 and the solenoid drive amplifier 49 operates the brake solenoid 40. As the pressure of the brake 38 on the wheel 32 shaft is adjusted by the operation of the brake solenoid 40, it is possible to stabilize the action of falling backward.

5 is a block diagram of a controller of a single-wheeled bicycle having a forward and backward fall prevention function according to the present invention, an angle sensor 45, a rear fall prevention command generator 47, a hand brake command generator 48, a solenoid driving amplifier 49 ), A controller for the rear fall prevention function consisting of the brake solenoid 40 and the brake 38, the front fall prevention command generator 51, the solenoid drive amplifier 52, the gear box solenoid 41, the gear box ( 37), a spring 36, a spring winding degree measuring device 53 is composed of a controller having a forward fall prevention function.

The spring retractor is secured to the spring box or bicycle frame by means of one end of the spring fixed to the spring reeling / unwinding shaft and the other end of the spring via a strong tension spring. Therefore, as the spring used for the fall prevention is wound, the tension spring for measuring the spring wound is tensioned (stretched), and when the spring wind reaches the set value, the electrical contact interlocked with the tension spring is closed, and the contact signal is Is input to the controller, and the spring is unwound by the forward / reverse switching of the gear box. To some extent, the contact is opened again, and the spring for the fall prevention starts to rewind by changing the rotation direction of the gear box. By repeating this action, the spring keeps the proper winding.

The controller is mounted on a single wheel bicycle having the stabilization mechanism of FIG. 3 and the driving principle is as follows. Stabilization of the action to fall backward is as described in Figure 4, the forward fall angle measured through the angle sensor 45 is transmitted to the front fall prevention command generator 51 for stabilization of falling forward. The command generator 51 then issues a command to control the gearbox solenoid 41 valve via the solenoid drive amplifier 52. The gearbox 37 controlled by the gearbox solenoid 41 may stabilize forward / backward rotation to fall forward by the force of the winding and unwinding of the spring 36. In addition, when the spring 36 is wound, it is wound with a low torque and is controlled by the spring winding degree measuring instrument 53, and when released in conjunction with the forward fall prevention command generator 51, a large torque may be generated.

Here, the angle sensor 45 for measuring the front and rear inclination is not common in the market, and considering the high price, the displacement indicating the tilting back and forth using the gravity acceleration using an inexpensive and easily available acceleration sensor You can get the angle. For example, instead of the angle sensor 45, the displacement angle can be easily obtained by using the calculator using outputs Xout and Yout represented by Equations 1 and 2, which are obtained from the acceleration sensor ADXL202 of the analog device.

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 64, g is the gravitational acceleration, Is the horizontal acceleration of the bike. In general, if the displacement angle α is well controlled in a very small range, sin α α and cos α Using the fact that it is approximated to 1, Equations 1 and 2 can be simplified to Equations 3 and 4, so that control can be made very easily.

In Equations 3 and 4, the unknowns are α and ( Since it is two, the displacement angle α and the horizontal acceleration of the bicycle from two simultaneous equations Can be obtained.

In the above description for convenience of description of the present invention to some extent in the form of specific embodiments, these descriptions are presented by way of example only, those skilled in the art can be various modifications having a similar effect to the present invention without departing from the spirit and scope of the present invention. You will know.

The present invention provides a stabilization 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. It will also satisfy the various needs of bicycle users and will contribute to the leisure industry.

Claims (6)

For single wheel bikes, An angle measuring sensor measuring an angle at which the bicycle falls back and forth; A braking control device (41) configured to be proportional to the degree of braking of the wheels by the angle falling backward measured by the angle measuring sensor; Single with a function to prevent falling to the front and rear, characterized in that it includes a spring 36 attached to the wheel side and is normally wound and then released when measured as falling forward by the angle measuring sensor. Wheel bicycle. The method of claim 1, The braking control device includes a solenoid, and a single wheel bicycle having a function of preventing the fall of the front and rear, characterized in that the brake is determined by adjusting the intermittent interval of the solenoid. The method according to claim 1 or 2, The angle measuring sensor is a single wheel bicycle having a function to prevent falling to the front and rear, characterized in that it includes an acceleration sensor and a calculator for calculating the output of the acceleration sensor. The method according to claim 1 or 2, Single wheel bicycle having a function to prevent falling to the front and rear, characterized in that it further comprises a gear box (37) installed in conjunction with the wheel and the spring (36). The method of claim 1, When the spring 36 is wound more than a predetermined degree to prevent falling to the front and rear, characterized in that it further comprises a spring winding degree measuring unit for generating a control signal for switching the rotation direction of the gear box 37 Single wheel bike with the function. delete