RU2456195C2 - One-wheel vehicle and vehicle stabiliser - Google Patents

One-wheel vehicle and vehicle stabiliser Download PDF

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Publication number
RU2456195C2
RU2456195C2 RU2010140844/11A RU2010140844A RU2456195C2 RU 2456195 C2 RU2456195 C2 RU 2456195C2 RU 2010140844/11 A RU2010140844/11 A RU 2010140844/11A RU 2010140844 A RU2010140844 A RU 2010140844A RU 2456195 C2 RU2456195 C2 RU 2456195C2
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RU
Russia
Prior art keywords
vehicle
characterized
driver
flywheels
equipped
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RU2010140844/11A
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Russian (ru)
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RU2010140844A (en
Inventor
Павел Сергеевич Сулимов (RU)
Павел Сергеевич Сулимов
Original Assignee
Павел Сергеевич Сулимов
Шушура Игорь Владимирович
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Priority to RU2010140844/11A priority Critical patent/RU2456195C2/en
Publication of RU2010140844A publication Critical patent/RU2010140844A/en
Application granted granted Critical
Publication of RU2456195C2 publication Critical patent/RU2456195C2/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00Unicycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Abstract

FIELD: transport.
SUBSTANCE: invention relates to gyroscopic stabilisers. Two flywheels 12 are mounted on frame 1 to rotate in opposite directions. In vertical position of vehicle, flywheels 12 have parallel rotational axes. Both flywheels 12 may turn in plane perpendicular to direction of motion. With vehicle inclined from vertical position, rotational axis of one flywheel 12 retains vertical position while that of another flywheel in inclined through angle equal to vehicle inclination angle.
EFFECT: higher stability.
13 cl, 6 dwg

Description

The invention relates to vehicles, in particular to unicycle vehicles, and can be used both for recreation and movement, and for moving goods.

Known vehicle Segway, manufactured by the American company Segway LLC, consisting of two wheels located on the same axle with a foot platform located between them. The driver is standing on the site and holds the control stick of the vehicle. The vehicle uses a sophisticated system of gyroscopes and computers and moves back and forth in accordance with the inclination of the driver's body. The vehicle is rotated by turning the control knob.

The disadvantages of this vehicle is its width, causing restrictions associated with its use in the general flow of pedestrians.

Known vehicle Honda U3-X, consisting of one complex wheel and electronic stabilization of the driver's position. The main wheel has the ability to rotate around its own axis, and also has many small wheels located around its rim with the possibility of rotation. The axles of the small wheels are in the plane of the main wheel, which allows the vehicle to move in a direction perpendicular to the plane of the main wheel, and while rotating the large and small wheels in any direction chosen by the driver. The vehicle is controlled by tilting the driver’s body, which is controlled by a system of gyro sensors and an electronic control circuit.

The use of this vehicle due to the presence of small wheels is limited by the surface on which the vehicle moves. The surface should be firm and clean enough, such as an office floor.

The closest to the task and technical essence is the eniCycle vehicle, designed by the inventor from Slovenia, Alexander Polutnik, consisting of one wheel with an electric motor built into it. The seat is located above the wheel with a suspension consisting of a shock absorber and a spring. The gyro sensor is rigidly fixed to the seat on which the driver is located. The change in the angle of inclination of the driver relative to the vertical in the plane of the direction of movement is determined by the gyro sensor. The signal from the gyro sensor enters the electronic system and changes the speed of the engine in such a way as to return the balance to eniCycle. If the driver leans forward, the speed increases, and if he leans back, the speed decreases. Thus, the balance of the vehicle is restored. The disadvantage of this vehicle is that the stabilization of the vehicle on a roll (counteracting a fall on its side) is carried out by the driver himself balancing the body and changing the position of the wheel relative to the vertical axis. This method of maintaining equilibrium is very difficult and requires great preliminary training of the driver. In addition, a fall from a vehicle from a sedentary state is associated with personal injury.

The objective of the proposed invention is the creation of an easy-to-drive and safe one-wheeled vehicle for use in open spaces, in particular in urban conditions.

The proposed technical solution allows you to stabilize a unicycle on a roll and thereby protect the driver from falling on his side.

The problem is solved in that the vehicle stabilization device consists of two flywheels mounted on the frame of the vehicle. Flywheels rotate in opposite directions and have the ability to deviate in a plane perpendicular to the direction of movement of the vehicle. The axis of rotation of the flywheels are parallel. Both flywheels are equipped with stops set in such a way that when the vehicle is tilted away from the vertical position, the axis of rotation of the first flywheel remains vertical, and the axis of rotation of the second flywheel deviates by the angle of deviation of the vehicle from the vertical position.

Also, the stated technical problem is solved by the fact that a wheel is mounted on the frame of a one-wheeled vehicle and an electric motor is fixed for rotating the wheel. Also, at least one gyro sensor is rigidly mounted on the frame, designed to measure the angular deviation of the frame from a vertical position in the plane of the direction of movement of a one-wheeled vehicle. A vehicle control unit is located on the frame, designed to process the measurement results received from the gyro sensor and change the speed and direction of rotation of the electric motor. In addition, the battery pack is located on the frame, designed to power consumers. On both sides of the wheel on the frame are installed footrests for the driver. Moreover, the one-wheeled vehicle is additionally equipped with a vehicle stabilization device including two flywheels. Flywheels are mounted on the frame, rotate in opposite directions and have the ability to deviate in a plane perpendicular to the direction of movement of the vehicle. The axis of rotation of the flywheels are parallel. Both flywheels are equipped with stops so that when the unicycle is tilted away from the vertical position, the axis of rotation of the first flywheel remains vertical, and the axis of rotation of the second flywheel deviates by the angle of deviation of the vehicle from the vertical position.

In a particular case, the wheel and electric motor are made in the form of a motor wheel.

In the particular case, the vehicle is equipped with a handle for supporting the driver’s hands with the possibility of fixing it in the folded and extended position.

In the particular case of the footrests of the vehicle are equipped with sensors for the presence of the driver on the vehicle, which are connected to the vehicle control unit.

In a particular case, the vehicle is equipped with a display with indicators located on it. Information on the operation of individual devices, in particular the speed of the flywheel, and the vehicle as a whole, in particular its speed, can be displayed on this display.

In the particular case, the vehicle is equipped with stops-clamps of the lower leg of the driver.

In the particular case, at least one support roller is mounted on each footrest of the vehicle.

In a particular case, a suspension system is installed between the frame and the wheel on the vehicle.

In the particular case, the vehicle is equipped with a protective casing made of a polymer material.

In the particular case, the protective casing is additionally equipped with reflectors.

In the particular case, the protective casing is additionally provided with at least one headlamp.

In the particular case, the vehicle is additionally equipped with a sound source.

The invention is further illustrated by a detailed description of a specific example of execution and drawings, in which:

figure 1 shows an embodiment of a vehicle;

figure 2 shows a schematic diagram of a vehicle;

figure 3 is an embodiment of a vehicle with an engine and transmission;

figure 4 - stand for the feet of the driver with mounted support rollers;

figure 5 is an example of the installation of flywheels on a vehicle;

figure 6 shows a schematic diagram of the operation of the device stabilization of the vehicle.

The inventive one-wheeled vehicle, as shown in FIG. 1 and FIG. 2, comprises a frame 1 with a wheel 2 and an electric motor 3 installed in the frame. The wheel 2 and the electric motor 3 are equipped with a transmission 4 for transmitting torque from the electric motor 3 to the wheel 2 (FIG. 3). As the transmission 4 can be used, for example, chain or belt transmission.

In the described specific construction, the wheel 2 and the electric motor 3 are mounted on the same axis and together form a motor wheel.

The wheel 2 is attached to the frame 1 through the suspension system 5, which is shown in figure 1 schematically. As an example, in the described construction, a shock absorber and a spring are used as a suspension system.

Also on the frame 1 of the claimed vehicle, as shown in figure 1, the gyro sensor 6 is rigidly mounted. The gyro sensor 6 registers the angle of inclination of the vehicle in the plane of the direction of movement - pitch angle. The gyro sensor 6 is connected to the vehicle control unit 7.

Also, a battery unit 8 is fixed on the vehicle frame 1.

On both sides of the wheel 2 on the frame 1, stands 9 for the driver’s feet are installed. Each stand 9 for the driver’s legs is equipped with sensors 10 for the presence of the driver on the vehicle and at least one support roller 11, as shown in Fig.4. In the described example, limit switches are used as sensors 10. Sensors 10 availability of the driver is connected to the control unit 7 of the vehicle.

The vehicle has a stabilization device consisting of two flywheels 12 mounted on the frame 1 of the vehicle. An example of the installation of the flywheels 12 on the frame 1 is shown in Fig.5. Both flywheels 12 are equipped with stops 13. Flywheels 12 are equipped with electric motors 14 of the flywheels (Fig. 5), which are connected to the battery unit 8 and are switched on by a separate switch. Flywheels 12 are mounted to rotate in opposite directions (Fig.6) and have the ability to deviate in a plane perpendicular to the direction of movement of the vehicle (Fig.5 and Fig.6). In this case, when the frame 1 deviates from a vertical position in a plane perpendicular to the direction of movement of the vehicle, the axis of one of the flywheels 12 remains in the vertical position, and the axis of the other deviates with the frame 1, holding the stop 13.

The vehicle (figure 1) is equipped with indicators 15, in the described example, located on the handle 16 for supporting the driver. Indicators 15 are made, for example, in the form of a scoreboard. The handle 16 for supporting the driver is mounted on the frame 1 and, for ease of operation of the vehicle, has the ability to fix at least in the extended and folded state.

For convenience, the vehicle can be equipped with stoppers 17 of the driver’s leg, rigidly attached to the frame 1 of the vehicle, and a casing 18. For the safe operation of the vehicle, the casing 18 is equipped with reflectors 19 and a headlight 20. Also, for safety, a sound signal source is installed on the vehicle 21.

The power supply of all electric power consumers of the vehicle, namely the electric motor 3, the gyro sensor 6, the vehicle control unit 7, the flywheel electric motors 12, the indicators 15, the headlights 20, the sound signal source 21, is produced from the battery unit 8.

The vehicle operates as follows.

The vehicle is installed in a vertical position and, holding it by the handle 16, the electric motors of the flywheel 12 are turned on. Before the flywheel 12 sets the required speed, the vehicle must be in the vertical position. Indicators 15 signal that the flywheels have reached 12 rpm necessary for the stabilization device to operate.

After turning on the vehicle stabilization device, the driver stands with his feet on the stands 9. In this case, the sensors 10 for the presence of the driver on the vehicle include a vehicle control unit 7.

The driver on the vehicle begins to move, for example, forward. To do this, it is enough to tilt the vehicle in the direction of the intended movement. The tilt can be made using either the handle 16 to support the driver, and the stops, latches 17, or using them together. The control unit 7 according to the data on the angle of deviation from the vertical in the plane of the direction of movement (pitch angle) received from the gyro sensor 6, seeks to maintain a stable position of the vehicle in pitch by changing the speed and direction of rotation of the electric motor. In the process of uniform rectilinear movement, a balance is established between the speed of the vehicle and the angle of inclination of the vehicle (pitch angle). Any change in the angle of inclination of the vehicle leads to a change in the speed and direction of rotation of the electric motor 3 and, therefore, to restore the necessary balance between the speed of the vehicle and its pitch inclination.

The vehicle is braked by moving the vehicle to a vertical position.

Thus, the vehicle together with the driver maintains a stable position and has the ability to gain speed and braking.

The safety of using the vehicle is enhanced by sensors 10 having a driver on it. In the absence of both legs of the driver on the stands 9 of the vehicle, about which a signal from the sensors 10 is supplied to the vehicle control unit 7, the current supply to the electric motor 3 is completely turned off and the vehicle can only be towed manually.

Also, traffic safety is enhanced by the installation of the support rollers 11 on the supports 9 for the legs. When moving in the immediate vicinity of vertical surfaces, such as a parapet, wall or high curb, the risk of the vehicle engaging in a protruding part, namely, a footrest 9 for the surface, is significantly reduced. In this case, the rollers 11 slide along a vertical surface and prevent the foot supports 9 from engaging with said surface, which can lead to an uncontrolled fall of the vehicle with the driver.

Traffic safety is also increased, and vehicle control is simplified by the presence on the vehicle of the stoppers 16 of the driver’s leg. The driver, resting on the stops, latches 17, conveniently fixes the legs on the vehicle, and also has the additional ability to adjust the inclination of the vehicle using the legs and control the speed of the vehicle.

To protect the driver from possible dirt emissions from under the wheel 2, the clothes getting into the wheel 2, the vehicle is equipped with a casing 18. In order to facilitate the construction, the casing is made of a polymeric material, for example, a composite material based on polycarbonate and ABS plastic.

To ensure the safety of movement on the vehicle in conditions of poor visibility, the vehicle is equipped with reflectors 19 and a headlight 20 mounted on the casing 18.

In order to ensure the safety of road users, the vehicle is equipped with an audio signal source 21.

Claims (13)

1. A one-wheeled vehicle, consisting of a frame and a wheel mounted on the frame, an electric motor for rotating the wheel, at least one gyro sensor, a vehicle control unit connected to it, designed to process measurements by the gyro sensor of the angular deviation of the frame from a vertical position in the plane of the unicycle vehicle and changes in speed and direction of rotation of the electric motor, battery pack, footrests for the driver mounted on a frame with both x sides of the wheel, characterized in that the one-wheeled vehicle is additionally equipped with a vehicle stabilization device including two flywheels mounted on a frame that rotate in opposite directions and are mounted with the possibility of deviation in a plane perpendicular to the direction of movement of the vehicle, the rotation axes of the flywheels are parallel, both flywheels are equipped with stops set in such a way that when tilting the unicycle vehicle to the sides y from a vertical position, the axis of rotation of the first flywheel maintains a vertical position, and the axis of rotation of the second flywheel deviates by the angle of deviation of the vehicle from the vertical position.
2. A one-wheeled vehicle according to claim 1, characterized in that the wheel and electric motor are made in the form of a motor wheel.
3. The one-wheeled vehicle according to claim 1, characterized in that the vehicle is equipped with a handle for supporting the driver, which has the ability to fix it in the folded and extended positions.
4. The one-wheeled vehicle according to claim 1, characterized in that the footrests are equipped with sensors for the presence of the driver on the vehicle, which are connected to the control unit of the vehicle.
5. A one-wheeled vehicle according to claim 1, characterized in that the vehicle is equipped with indicators of the operation of vehicle systems.
6. The one-wheeled vehicle according to claim 1, characterized in that the vehicle is additionally equipped with stops-clamps of the lower leg of the driver.
7. The one-wheeled vehicle according to claim 1, characterized in that each driver’s footrest is provided with at least one support roller mounted on the outside of the driver’s stand.
8. The one-wheeled vehicle according to claim 1, characterized in that a suspension system is installed between the frame and the wheel.
9. The one-wheeled vehicle according to claim 1, characterized in that the vehicle is equipped with a protective casing made of a polymer material.
10. A one-wheeled vehicle according to claim 9, characterized in that the protective casing is additionally equipped with reflectors.
11. The one-wheeled vehicle according to claim 9, characterized in that the protective casing is further provided with at least one headlamp.
12. A one-wheeled vehicle according to claim 9, characterized in that the vehicle is further provided with a sound source.
13. The vehicle stabilization device, consisting of two flywheels mounted on the vehicle frame, which rotate in opposite directions and can be deflected in a plane perpendicular to the direction of movement of the vehicle, while the axis of rotation of the flywheels are parallel, both flywheels are equipped with stops installed in such a way so that when the vehicle is tilted away from the vertical position, the axis of rotation of the first flywheel remains vertical, and the axis of the of the second flywheel deviates by the angle of deviation of the vehicle from the vertical position.
RU2010140844/11A 2010-10-06 2010-10-06 One-wheel vehicle and vehicle stabiliser RU2456195C2 (en)

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Application Number Priority Date Filing Date Title
RU2010140844/11A RU2456195C2 (en) 2010-10-06 2010-10-06 One-wheel vehicle and vehicle stabiliser

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Application Number Priority Date Filing Date Title
RU2010140844/11A RU2456195C2 (en) 2010-10-06 2010-10-06 One-wheel vehicle and vehicle stabiliser
PCT/RU2011/000750 WO2012047127A1 (en) 2010-10-06 2011-09-30 One-wheeled vehicle and device for stabilizing same

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2601485C2 (en) * 2014-08-25 2016-11-10 Александр Поликарпович Лялин Single-axle vehicle
RU2619683C1 (en) * 2014-06-13 2017-05-17 Ханчжоу Шик Интеллиджэнт Текнолоджи Ко., Лтд Electric balanced vehicle
RU2628251C1 (en) * 2015-07-29 2017-08-15 Сяоми Инк. Method and device for providing the stationary state of the balancing vehicle
WO2017204681A1 (en) * 2016-05-10 2017-11-30 Станислав Борисович БАЗУЕВ Device for controlling the tilt of a two-wheeled vehicle
RU2657108C2 (en) * 2016-06-23 2018-06-08 Бейдзин Сяоми Мобайл Софтвэр Ко., Лтд. Method and device for safe driving

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CN102673700A (en) * 2012-06-01 2012-09-19 温宝忠 Electric enicycle for transport
CN103407528A (en) * 2013-07-24 2013-11-27 钟淑娣 Self-balancing electric monocycle with extendable handlebars
CN103818502B (en) * 2014-01-13 2016-03-02 嘉兴斯麦龙电子科技有限公司 A kind of convenient assembling of self-balancing single-wheel electric vehicle and waterproof construction
JP6115486B2 (en) * 2014-01-28 2017-04-19 トヨタ自動車株式会社 Moving body
CN106414225B (en) * 2015-08-20 2019-02-26 罗春晖 A kind of electric unicycle with miscellaneous function
CN108466668A (en) * 2018-02-11 2018-08-31 坎德拉(深圳)科技创新有限公司 Automatic rolling walking device and its motion control method
CN108297964A (en) * 2018-02-11 2018-07-20 坎德拉(深圳)科技创新有限公司 Biped robot and its ambulation control method
CN108454727A (en) * 2018-02-11 2018-08-28 坎德拉(深圳)科技创新有限公司 Reverse sync mechanism and robot
CN108515508A (en) * 2018-02-11 2018-09-11 坎德拉(深圳)科技创新有限公司 Two-wheel robot

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SU867758A1 (en) * 1979-02-26 1981-09-30 Харьковский авиационный институт им.Н.Е.Жуковского Device for enhancing transverse stability of land vehicle
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Cited By (6)

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Publication number Priority date Publication date Assignee Title
RU2619683C1 (en) * 2014-06-13 2017-05-17 Ханчжоу Шик Интеллиджэнт Текнолоджи Ко., Лтд Electric balanced vehicle
RU2601485C2 (en) * 2014-08-25 2016-11-10 Александр Поликарпович Лялин Single-axle vehicle
RU2628251C1 (en) * 2015-07-29 2017-08-15 Сяоми Инк. Method and device for providing the stationary state of the balancing vehicle
WO2017204681A1 (en) * 2016-05-10 2017-11-30 Станислав Борисович БАЗУЕВ Device for controlling the tilt of a two-wheeled vehicle
RU2657108C2 (en) * 2016-06-23 2018-06-08 Бейдзин Сяоми Мобайл Софтвэр Ко., Лтд. Method and device for safe driving
US10234860B2 (en) 2016-06-23 2019-03-19 Beijing Xiaomi Mobile Software Co., Ltd. Method and device for safety driving

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RU2010140844A (en) 2012-04-20

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Effective date: 20181007