TW201420407A - Electric one-wheeled vehicle and starting operation method thereof - Google Patents

Abstract

The present invention provides an electric one-wheeled vehicle, which comprises: a housing; a support frame; two stepping boards; one wheel; a control unit; a power switch; and a battery. The user may first step on the stepping board with one foot, so one end of the stepping board and the lower end of the wheel are not on the same axle center; and then, the user may place another foot on another stepping board to maintain a static balance near the riding gesture while turning on the power switch on the stepping board. At this time, when the user slightly inclines the body forward or backward, the control unit may sense the parameters, such as gesture and gesture angular speed, to drive the hub motor and follow the gesture to move forward or backward. Moreover, the present invention also discloses a starting operation method of the electric one-wheeled vehicle.

Description

Electric single wheel carrier and starting operation method thereof

The present invention relates to an electric single-wheel vehicle and a starting operation method thereof, and particularly relates to an electric single-wheel vehicle with simple structure, small volume, high endurance, low cost and easy to achieve starting and low-speed balance, and a starting operation method thereof.

In the historical development, the various imaginations of single-wheel vehicles have never stopped, and they also show people's pursuit of novelty. The well-known "popular science" records the concept design of related monocycles that have appeared in the past 100 years. Report (http://www. popsci.com/cars/gallery/2011-11/archive- gallery-many-incarnations-unicycle?image=0 ). For example, in the cover of the popular science magazine in September 1917, the concept design of the unicycle appeared. The concept was attached to a single-wheeled tank with a machine gun and power, and the engine was driven by the front propeller to accelerate, although there was still a small wheel in front. However, it will be lifted while riding and still travel in a single round. In the June 1920 issue of the popular science magazine magazine, there was the idea of a manpower-driven single-wheeled bicycle with a high-hitting, joking-like style, and a playful description of the mood of the one-wheeler. On the cover of the popular science magazine in September 1934, a unicycle for stunt performance appeared, which was modified from two-wheeled bicycles. In the June 1967 issue of the Science Journal, an example of how to learn a single-wheel ride was reported. Although there were some auxiliary methods (such as hanging on the ceiling), the monocycle manufacturer thought that learning to ride a single-wheeler did not Anything you need to learn before riding a single wheel and enjoying the fun of riding a unicycle.

The design case of the aforementioned single-wheeled vehicle is more like the props that appear in the science fiction film from the current point of view, and although the riding monocycle has its inherent danger and difficulty, it also has a futuristic future. The unique styling characteristics, as well as its unmanageable operation and intuition, are the challenges that extreme players or stunts are happy to face, and have always been the dream of design innovators.

How to make it easy to operate a single-wheeler and turn it into an entertainment or even a travel tool? The use of gyroscope's self-balencing technology is a fairly innovative solution. The earliest consumer manned electric vehicle application appeared in this technology. Segway in 2001. Segway HT (HT is the abbreviation of Human Transporter, Human Transporter) is a single-axis two-wheeled vehicle launched by Segway. It has five solid-state gyroscopes on it (in fact, the vehicle only needs three The gyroscope can completely control the forward and backward tilt and roll of the car body, so the two extra gyroscopes are actually used to ensure the safety of the vehicle. The energy source of the vehicle is two nickel-metal hydride (NiMH) rechargeable batteries. For later models, you can also choose a lithium rechargeable battery with a larger amount of electricity. In addition to the forward and backward tilt correction and forward and backward retreat, Segway's steering can be achieved in two different ways, one of which is that like most bicycles or motorcycles, the driver continues to move forward (or backwards, This is the state in which only the movements obtained by Segway are tilted to the left and right, and the weight generated by its own weight and perpendicular to the longitudinal axis of the vehicle body is used as the centripetal force at the turn to achieve the steering. In addition, the driver can also reverse the slewing (handle) part of the Segway, causing the difference between the left and right wheels of the vehicle. For example, when the faucet turns to the left, the speed of the right wheel will be faster than the left wheel, and turn left. Effect. When necessary, Segway can even make a round of backward movements to achieve the effect of in-situ steering, thus greatly improving the mobility of this vehicle. Because of this high degree of maneuverability, coupled with the rim made of thermoplastic material, the tread area is not much larger than the human feet, so in theory, Segway can reach most of the human body. Places, even roadside pavements or falls will not be too big a step.

Although Segway actually had high hopes in the industry, academia or the financial investment community before the city, it is considered to be an epoch-making great idea that can change the way people transport. However, after several years of actual observation, People have found that Segway has not received the attention of consumers as expected. The main difficulties include price, regulatory issues and safety. First, the value of each new Segway car is quite high due to the extensive use of state-of-the-art technology. For the most popular i2 models, the price is as high as $5,000, while Taiwan's i2 is priced at 26. Ten thousand Taiwan dollars up and down, equivalent to the price of five 125cc. grade speed Keda motorcycles, not to mention the electric bicycles with half the price of motorcycles, so that Segway can only maintain its high-income class consumers can afford The situation is a bit far from the vision that everyone can use at the beginning. According to statistics, from 2001 to 2007, only 30,000 Segway were sold (source: http:/Forbes.com (2009-03-11). On the other hand, because the user is standing between the two rounds The platform, and the front is the control handlebar, when the power supply is insufficient, the self-balancing failure is caused, or when the operation encounters an emergency, the user is not easy to jump back or leave the vehicle body, so many accidents also occur.

Although the development of Segway is not as expected, in the past five years, many manufacturers have turned to the design of single-wheel vehicles, and the application of self-balancing has sprung up. Although many of them aim to replace short-range electric vehicles, they are very Obviously, such innovative products that replace existing locomotives will take a long time to mature in terms of market acceptance and commercialization.

If you consider the short-distance travel tool, the steam locomotive is not the best solution. The existing electric motor car, electric bicycle or electric scooter still has the problems of portability such as weight and size. The ideal travel tool should have single riding. It is easy to carry (the smaller the size, the better), the charging and cruising range should exceed 20km (assuming 10km back and forth) to meet the needs of commuting. On the other hand, the two-wheel self-balancing vehicle system is quite complicated, and electronic differential and balance control must be considered. Therefore, many sensors must be used in the design to ensure the safety of the rider, resulting in a manufacturing cost that is more expensive than a general electric motor vehicle. Therefore, the cost of developing this type of vehicle is extremely high. From the point of view of simplifying the two-wheeled self-balancing vehicle and achieving similar functions, a vehicle that operates only with "single wheel" may be a feasible direction.

US engineer Trevor Blackwell on his website (http://tlb.org/eunicycle.html) found that one of the wheels of the Segway two-wheel self-balancing vehicle was redundant. In fact, you only need a single wheel to drive, and the unicycle will be smaller, lighter, or even lifted with one hand, so in places where it is impossible to ride, such as stairs, outdoor to indoors, or when taking public transportation. It can be easily carried, so it is in line with the characteristics of the ideal transport tool. On the other hand, Professor Klaus Hofer presented a paper on the single-wheel electric vehicle "Electric vehicle on one wheel" at the Vehicle Power and Propulsion Conference in 2005. The most difficult part of the single-wheeled bicycle is that it is in all directions. To balance, you need to learn some skills before you can ride, and if you want to make it available to everyone, you can achieve it in two ways. The first is to widen the wheel, which can easily solve the problem of lateral stability and balance; It is to use the control of the inverted pendulum to solve the stability of the forward and backward, that is, to use the center of gravity to control the movement back and forth. It means "this is a fun car, for those who travel in the city, park and want to enjoy different rides at the same time. It’s more attractive to have a technology-friendly toy that appeals to entertainment.

On the other hand, with the development of motor, battery and control technology and the reduction of cost, the development of single-wheel electric vehicle has been considerably simplified in the past two years, and the commercialization case first appeared in the past two years, and the price It is about NT$50,000 (still close to the price of a locomotive). Its purpose is mainly for entertainment and short-distance travel. Therefore, the cool operation mode and appearance are the selling points of these cases, only the structure, operation and use of the products. Still not perfect, there are still many further developments.

For example, the Solowheel electric unicycle is the first mass-produced electric unicycle, which is said to be able to take away, the least space for personal transportation. It removes the cushion and makes it simpler and bolder. It is 2011 4 The Solowheel, launched by Solowheel (http://solowheel.com/), is designed by American Chinese designer Shane Chen. The user stands directly on the folding pedals on both sides of the wheel, as long as the body leans forward. It will move forward, and the rearward tilt will drive the car. The left and right turn is also achieved by tilting. Since the motor design is two-way, if the user's balance is good, it can be reversed. Size 17" long x 5" wide x 19" high, weight 11.35kg, wheel diameter 16", 1000W electric motor, maximum load 113.5kg, charging for 45 minutes can run for two hours, it is recommended that the user is older than 15 years old. With a speed of up to 20km/h, it is the first personal vehicle that claims to be able to take away and does not occupy the space. The price is about NT$52,000.

However, the Solewheel electric unicycle has the following disadvantages: 1. It is difficult to start, even if it is assisted by a gyroscope, it is the most difficult to get started, and it takes a certain speed to balance through the inertia of driving. Like the Segway two-wheeler, it is easy to stand still. When one foot is stepping on one end of the single-wheeled vehicle at the start, in addition to maintaining balance, the body needs to lean forward so that the body can lean forward. The gyroscope can detect the forward tilting motion to drive the wheels, that is, it needs to control the left and right balance and acceleration at the same time, which makes the control difficult. It is easy to crash if it is too fast or too slow. 2. The problem of the starting mode is because the power button is located in the positive The upper handle is the only physical button of the Solewheel, which is the power switch. The power indicator next to it also acts as the status indicator. When the button is turned on, the power indicator lights up green and the gyroscope in the body begins. Actuated, if the machine is lifted off the ground, because the machine is not necessarily in an absolute level, it will cause the tire to mad Because the torque is quite large, if the wheelbarrow is put back to the ground in the case of tire madness at this time, it may cause damage to the machine or other people, which is quite dangerous. For details, please refer to Mobile01. The website's test report, the website's website address is: (http://www.mobile01.com/newsdetail.php?id=11666).

In view of the above disadvantages of the conventional electric single wheel carrier, the present invention provides an electric single wheel carrier and a starting operation method thereof to improve the above disadvantages.

One of the objectives of the present invention is to provide an electric single-wheeled vehicle, which has the advantages of simple structure, small volume, high endurance and low cost.

One of the objectives of the present invention is to provide an initial operation method for an electric single-wheeled vehicle, which has the advantages of easily achieving start-up and low-speed balance.

For the above purposes, an electric single wheel carrier of the present invention includes: a housing having a chamber, the lower side of the chamber being hollowed out; a bracket for holding the housing, and Each of the two sides of the bottom has a first through hole; the two pedals are respectively disposed on the left and right sides of the housing and are located on the supporting piece, and the end of each pedal is exposed a housing; the wheel is disposed in the chamber, and has a tire, a single side wheel frame, a hub motor and an axle, the hub motor is disposed in the single side wheel frame, and the hub motor The center has a second through hole for the axle to be inserted into the second through hole and the first through hole and locked to the bracket; a control unit is disposed on one side of the bracket and coupled to the bracket The hub motor can control the starting, running or stopping of the hub motor; a power switch is disposed on the pedal and coupled to the hub motor and the control unit; and a battery is disposed in the chamber and coupled Connected to the power switch, the power switch can be used to open or close the hub Reaching the power required by the control unit; when starting, the user can step on the pedal with one foot so that one end of the pedal contacts the ground, and the lower end of the wheel is not the same as the end of the pedal The center of the axle, so that the single-wheel vehicle can be kept still, the user puts the other foot on the other pedal to maintain balance, and at the same time, the power switch is turned on, and the user tilts the body slightly forward or backward, so that the user The control unit can sense parameters such as its attitude and angular velocity to drive the hub motor forward or backward.

For the above purposes, a method for starting an electric single-wheeled vehicle of the present invention, wherein the electric single-wheeled vehicle has the structure as described above, comprising the steps of: placing a foot on a pedal first Pressing the electric single-wheel carrier on the end so that it does not move or move; the user places the other foot on the other pedal to maintain balance, and activates a power switch to open a hub motor a control unit and a flywheel; and the user tilts the body slightly forward or backward so that the control unit can sense parameters such as its attitude and angular velocity to drive the hub motor forward or backward.

The detailed description of the drawings and preferred embodiments is set forth in the accompanying drawings.

Referring to FIG. 1 to FIG. 4, FIG. 1 is an exploded perspective view of an electric single-wheel carrier according to a preferred embodiment of the present invention; and FIG. 2(a) is a diagram showing an electric single-wheel carrier according to a preferred embodiment of the present invention. Figure 2(b) is a front cross-sectional view showing the combination of the electric single-wheel carrier of a preferred embodiment of the present invention; Figure 3 is a block diagram showing the control unit of a preferred embodiment of the present invention; A schematic diagram of a control flow of an electric single wheel carrier according to a preferred embodiment of the present invention.

As shown, the electric single wheel carrier of the present invention comprises: a casing 10; a bracket 20; two pedals 30, 31; a wheel 40; a control unit 50; a power switch 60; The combination is made.

Wherein, the housing 10 is made of, for example, but not limited to, integrally formed by plastic to reduce its weight, and has a chamber 13. In addition, the housing 10 can also be assembled from two housings as shown in FIG. 1 , and further has a left housing 11 and a right housing 12 , which in the present embodiment are The left casing 11 and the right casing 12 are combined and described as an example, but are not limited thereto.

The bracket 20 is made of, for example, but not limited to, made of metal, and has a plurality of locking holes 21 for locking the left and right housings 11 and 12, and a support piece is respectively extended on the two sides of the bottom. 22, the support piece 22 has a first through hole 23 above. In addition, the bracket 20 further has a grip 25 for the user to carry the electric single-wheel carrier.

The two pedals 30, 31 are respectively disposed on the left and right sides of the housing 10 and are located on the support piece 22, and at least one end of each of the pedals 30, 31 is exposed to the housing, wherein the pedals 30, 31 The front end or the rear end further has a downwardly bent or a rod-shaped bracket. In the embodiment, the front end is bent downward as an example, but is not limited thereto.

The wheel 40 is disposed in the chamber 13 and has a tire 41, a single wheel frame 42, a hub motor 43 and an axle 44, wherein the single wheel frame 42 is sleeved on the tire 41. The hub motor 43 is disposed in the single side wheel frame 42 and has a second through hole 431 at the center of the hub motor 43 for the wheel shaft 44 to pass through the second through hole 431 and the first The hole 23 is constantly locked to the bracket 20. The hub motor 43 is, for example but not limited to, a brushless DC inner hub motor (Blushless DC Motor).

The control unit 50 is disposed on one side of the bracket 20, such as but not limited to the outside, and is coupled to the hub motor 43 to control the starting, running or stopping of the hub motor 43. As shown in FIG. 3, the control unit 50 further includes: a printed circuit board 51; at least one gyroscope 52; at least one accelerometer sensor 53; an analog to digital converter 54; a microcontroller 55 and a Brush motor controller 56.

The gyroscope 52 is disposed on the printed circuit board 51 for controlling the balance, sensing and maintaining the direction signal of the wheel 40. In the embodiment, a gyroscope 52 is taken as an example, but Limited.

The accelerometer sensor 53 is disposed on the printed circuit board 51 for sensing the acceleration signal of the wheel 40. In the embodiment, an accelerometer sensor 53 is taken as an example, but the This is limited.

The analog-to-digital converter 54 is disposed on the printed circuit board 51 and coupled to the gyroscope 52 and the accelerometer sensor 53 for sensing the gyroscope 52 and the accelerometer sensor 53. The direction signal and the acceleration signal are converted into digital signals.

The microcontroller 55 is disposed on the printed circuit board 51 and coupled to the analog-to-digital converter 54 to emit an attitude control signal according to the direction signal and the acceleration signal. Additionally, the analog to digital converter 54 can also be built into the microcontroller 55.

The brushless motor controller 56 is disposed on the printed circuit board 51 and coupled to the microcontroller 55. The driving signal is sent according to the attitude control signal to drive the hub motor 43.

The power switch 60 is located on the pedal 30 and coupled to the hub motor 43 and the control unit 50 for turning on or off the power of the hub motor 43 and the control unit 50.

The battery 70 is disposed in the chamber 13 and is preferably disposed below the handle 25 and coupled to the power switch 60. The power switch 60 can open or close the hub motor 43 and The power required by the control unit 50. The battery 70 is, for example but not limited to, a lithium rechargeable battery.

In addition, the electric single wheel carrier of the present invention further has a Hall sensor 80 disposed on one side of the hub motor 43 for sensing a change in the magnetic field of the hub motor 43, and then outputting a feedback signal to the absence. The motor controller 56 is brushed to adjust the rotational speed of the hub motor 43.

In addition, the control unit 50 of the present invention further has a high frequency filter 57 and a low frequency filter 58 disposed on the printed circuit board 51 and coupled to the accelerometer sensor 53 and the gyroscope 52, respectively. The high frequency filter 57 has high frequency stability, and the low frequency filter 58 has low frequency stability, and the complementary integration has full frequency domain stability, so that the acceleration gauge sensor 53 can effectively suppress the gyroscope 52. The offset of the angle is integrated, and the gyroscope 52 resists the acceleration interference of the accelerometer sensor 53 at the dynamic measurement angle.

In addition, the wheel 40 of the present invention further has a flywheel 45 disposed on one side of the hub motor 43 and having a third through hole 451 through which the axle 44 is retained by the third through hole 451. In the left or right side of the wheel frame 42, in the embodiment, the right side is taken as an example for description, but not limited thereto. When the flywheel 45 is idling at a high speed, centrifugal force and precision can be generated via the weight. The wheel 40 is balanced so that it is not easily dumped to maintain the balance of the wheel 40 at low speeds. The flywheel 45 can be driven by a separate motor (not shown) or can be indirectly driven by the drum motor 43 via a transmission mechanism (such as a belt or gear, not shown).

As shown in FIG. 4, when the electric single-wheel vehicle of the present invention is in operation, the control flow is as follows: the innermost control loop is an attitude angle stabilization control for attitude angular velocity feedback, and the attitude angular velocity is measured by the gyroscope 52. The feedback control stabilizes the attitude angle. The outer control loop controls the attitude of the vehicle by measuring the attitude angle of the electric single-wheel carrier. If you are leaning forward, you must walk forward as a necessary condition for balance. If you are backward, you must go backwards to obtain the balance of the vehicle. Therefore, you can indirectly control the electric motor by controlling the tilting center of gravity before and after the electric single-wheel vehicle. The wheel carrier moves forward and backward.

After the attitude command is artificially tilting the electric single-wheel vehicle, the microcontroller 55 calculates the current attitude tilt state according to the angular velocity signal and the acceleration signal sensed by the gyroscope 52 and the acceleration gauge sensor 53. Then, the error is used as a posture command to correct the electric single-wheel vehicle of the present invention.

The attitude control block outputs the attitude control signal to the brushless motor controller 56 by the microcontroller 55 to drive the hub motor 43 to perform posture correction of the electric single wheel carrier of the present invention.

The attitude angle stabilization control block outputs the attitude control signal to the brushless signal according to the attitude control signal output by the attitude control block and the feedback signal of the attitude angular velocity measurement calculation block. The motor controller 56 drives the hub motor 43 to facilitate the attitude correction of the electric single wheel carrier of the present invention.

The attitude angular velocity measurement calculation block performs measurement and calculation of the attitude angular velocity by the microcontroller 55 according to the gyroscope 52 signal, and returns the attitude angular velocity to the attitude angle stabilization control block for posture correction after the calculation.

The attitude angle measurement calculation block is based on the gyroscope 52 and the acceleration gauge sensor 53 signal, and the microcontroller 55 performs measurement and calculation of the attitude angle, and returns the attitude angle to the attitude control block after the calculation. Perform posture correction.

With the above structure, when the electric single-wheeled vehicle of the present case is activated, the user can first step on the pedal 30 with one foot, such as but not limited to the left foot, so that one end of the pedal 30 and the wheel 40 The lower end is not at the same center of the axle, and the user places another foot, such as but not limited to the right foot, on the other pedal 31 to maintain balance, and then turns on the power switch 60, and the user leans forward slightly. Or reclining, so that the control unit 50 can sense parameters such as the attitude and the angular velocity of the posture, and correct the posture by the control flow in FIG. 4, and after the correction, the brushless motor controller 56 is used to drive the The hub motor 43 is advanced or retracted for the purpose of movement. Therefore, the electric single-wheeled vehicle of the present invention has the advantages of simple structure, small volume, high endurance and low cost, easy start and low speed balance, compared with the conventional electric single-wheeled vehicle.

In addition, the present invention also provides an initial operation method of an electric single-wheeled vehicle. Please refer to FIG. 5 , which is a flow chart showing the starting operation method of the electric single wheel carrier according to another preferred embodiment of the present invention. As shown in the figure, a method for starting an electric single-wheel carrier according to another preferred embodiment of the present invention, wherein the electric single-wheel carrier has the structure as described above, comprising the steps of: placing a foot first Pressing the electric single-wheel carrier on the end of a pedal 30 so that it does not move or move (step 1); the user places the other foot on the other pedal 31 to maintain balance and start a power switch 60 for turning on a hub motor 43, a control unit 50 and a flywheel 45 (step 2); and the user tilting the body slightly forward or backward so that the control unit 50 can sense its attitude and angular velocity. Parameters to drive the hub motor 43 forward or backward (step 3).

In the step 1, the user places a foot on the end of a pedal 30 to press the electric single-wheel carrier so as not to be fixed or moved; wherein the foot is, for example but not limited to, the left foot. Stepped on the pedal 30, and the end portion is, for example but not limited to, the front end or the rear end of the pedal 30, and the electric single-wheel carrier has the structure as described above, and thus detailed description thereof is not repeated herein.

In the second step, the user puts the other foot on the other pedal 31 to maintain the balance, and activates a power switch 60 to open a hub motor 43, a control unit 50 and a flywheel 45; For the principle of the power switch 60, the hub motor 43 and the control unit 50, please refer to the above description, and the detailed description is not repeated here. When the flywheel 45 is idling at a high speed, centrifugal force and precision can be generated through the weight, so that the wheel 40 is not easily tilted to maintain the balance of the wheel 40 at a low speed, and the flywheel 45 is, for example but not limited to, one. The motor and a control switch (both not shown) are driven directly or the hub motor 43 is driven indirectly.

In the step 3, the user tilts the body slightly forward or backward, so that the control unit 50 can sense parameters such as the attitude and the angular velocity of the posture to drive the hub motor 43 to advance or retreat; wherein the control unit 50 can sense The posture and the angular velocity of the attitude are corrected by the control flow in FIG. 4, and the brushless motor controller 56 is used to drive the hub motor 43 to advance or retreat after the correction to achieve the movement. purpose.

In summary, the electric single wheel carrier of the present invention and the implementation method thereof have the advantages of simple structure, small volume, high endurance and low cost, easy start and low speed balance, and therefore, the case is indeed relatively Knowing the electric single wheel carrier technology is progressive.

The disclosure of the present invention is a preferred embodiment. Any change or modification of the present invention originating from the technical idea of the present invention and being easily inferred by those skilled in the art will not deviate from the scope of patent rights of the present invention.

In summary, this case, regardless of its purpose, means and efficacy, is showing its technical characteristics that are different from the conventional ones, and its first creation is practical, and it is also in compliance with the patent requirements of the invention. I will be granted a patent at an early date.

10. . . case

11. . . Left housing

12. . . Right housing

13. . . Room

20. . . support

twenty one. . . keyhole

twenty two. . . Support piece

twenty three. . . First consistent hole

25. . . Grip

30, 31. . . pedal

40. . . wheel

41. . . Tire

42. . . Single wheel frame

43. . . Hub motor

431. . . Second through hole

44. . . axle

45. . . flywheel

451. . . Third through hole

50. . . control unit

51. . . A printed circuit board

52. . . Gyro

53. . . Acceleration gauge sensor

54. . . Analog to digital converter

55. . . Microcontroller

56. . . Brushless motor controller

57. . . High frequency filter

58. . . Low frequency filter

60. . . switch

70. . . battery

80. . . Hall sensor

step 1. . . The user places one foot on the end of a pedal 12 to press the electric single-wheel carrier so that it does not fall or move.

Step 2. . . The user 放置 places the other foot on the other pedal 13 and activates the power switch 50 to open the hub motor 30 and the control unit 40 while simultaneously rotating a flywheel 45 to maintain balance.

as well as

Step 3. . . The user tilts the body slightly forward or backward, so that the control unit 40 can sense parameters such as its attitude and angular velocity to drive the hub motor 30 forward or backward.

1 is a schematic view showing an exploded view of an electric single-wheel carrier according to a preferred embodiment of the present invention.

2(a) is a schematic view showing the combination of an electric single-wheel carrier according to a preferred embodiment of the present invention.

2(b) is a schematic view showing a front side cross-sectional view of a combination of an electric single-wheel carrier according to a preferred embodiment of the present invention.

3 is a schematic block diagram showing a control unit of a preferred embodiment of the present invention.

4 is a schematic view showing a control flow of an electric single wheel carrier according to a preferred embodiment of the present invention.

FIG. 5 is a schematic view showing the flow of the starting operation method of the electric single wheel carrier according to another preferred embodiment of the present invention.

10. . . case

11. . . Left housing

12. . . Right housing

20. . . support

twenty one. . . keyhole

twenty two. . . Support piece

twenty three. . . First consistent hole

25. . . Grip

30, 31. . . pedal

40. . . wheel

41. . . Tire

42. . . Single wheel frame

43. . . Hub motor

431. . . Second through hole

44. . . axle

45. . . flywheel

451. . . Third through hole

50. . . control unit

60. . . switch

70. . . battery

Claims (10)

An electric single wheel carrier comprising:
a casing having a chamber, the lower side of which is hollowed out;
a bracket for holding the shell, and a support piece on each side of the bottom portion thereof, the support sheet has a first through hole above;
Two pedals are disposed on the left and right sides of the housing and are located on the support piece, and at least one end of each pedal is exposed to the housing;
a wheel, disposed in the chamber, having a tire, a single side wheel frame, a hub motor and an axle, the hub motor being disposed in the single side wheel frame, and having a central portion of the hub motor a second through hole for the axle to be inserted into the second through hole and the first through hole and locked to the bracket;
a control unit is disposed on one side of the bracket and coupled to the hub motor to control the starting, running or stopping of the hub motor;
a power switch is disposed on the pedal and coupled to the hub motor and the control unit; and a battery is disposed in the chamber and coupled to the power switch, wherein the power switch can be turned on or off The hub motor and the power required by the control unit;
When starting, the user can step on the pedal with one foot so that one end of the pedal contacts the ground, and the lower end of the wheel is not at the same axle center as the pedal end, so The wheel remains stationary, the user places the other foot on the other pedal, maintains the balance, and then turns on the power switch, the user tilts the body slightly forward or backward, so that the control unit can sense its posture and posture. Parameters such as angular velocity to drive the hub motor forward or backward. The electric single-wheeled vehicle of claim 1, wherein the front end or the rear end of the pedal further has a downwardly bent or a rod-shaped bracket, the bracket further has a grip, and the housing further There is a left casing and a right casing. The electric single wheel carrier of claim 1, wherein the hub motor is a brushless DC inner hub motor, and the battery is a lithium rechargeable battery. The electric single-wheeled vehicle of claim 3, wherein the control unit further comprises:
a printed circuit board;
At least one gyroscope is disposed on the printed circuit board for sensing and maintaining a direction signal of the wheel;
At least one accelerometer sensor is disposed on the printed circuit board for sensing an acceleration signal of the wheel;
A type of analog to digital converter is disposed on the printed circuit board and coupled to the gyroscope and the accelerometer sensor for sensing the direction signal and acceleration of the gyroscope and the accelerometer sensor The signal is converted into a digital signal;
a microcontroller is disposed on the printed circuit board and coupled to the analog to digital converter, and outputs an attitude control signal according to the direction signal and the acceleration signal; and a brushless motor controller is disposed in the printing The circuit board is coupled to the microcontroller, and a driving signal is sent according to the attitude control signal to drive the hub motor. The electric single-wheeled vehicle of claim 4, further comprising a Hall sensor disposed on one side of the hub motor for sensing a change in a magnetic field of the hub motor, and then outputting a feedback Signal to the brushless motor controller to adjust the speed of the hub motor. The electric single-wheeled vehicle of claim 4, further comprising a high-frequency filter and a low-frequency filter disposed on the printed circuit board and coupled to the accelerometer sensor and The gyro, wherein the high frequency filter has high frequency stability, the low frequency filter has low frequency stability, and the complementary integration has full frequency domain stability, so that the acceleration gauge sensor can effectively suppress the gyroscope The offset when the angle is integrated, and the gyroscope resists the acceleration interference of the accelerometer sensor at the dynamic measurement angle. An electric single-wheeled vehicle according to claim 1, further comprising a flywheel disposed on one side of the hub motor, wherein the flywheel generates centrifugal force and inertia via a counterweight when the air is idling at a high speed, The wheel balance is not easy to tip down to maintain the balance of the wheel at low speeds. A method of starting operation of an electric single-wheeled vehicle, wherein the electric single-wheeled vehicle has the structure as recited in claim 1 of the patent application, comprising the following steps:
The user places one foot on the end of a pedal to press the electric single-wheel carrier so that it does not fall or move;
The user then places the other foot on the other pedal to maintain balance, and activates a power switch to open a hub motor, a control unit and a flywheel; and the user tilts the body slightly forward or backward, so that the user The control unit can sense parameters such as its attitude and angular velocity to drive the hub motor forward or backward. The method for starting the electric single-wheeled vehicle according to claim 8, wherein the hub motor is a brushless motor, the end portion is a front end or a rear end of the pedal, and the flywheel is driven by a motor and A control switch is driven directly or indirectly by a hub motor. The method for starting operation of an electric single-wheeled vehicle according to claim 8, wherein the control unit further comprises:
a printed circuit board;
a gyroscope disposed on the printed circuit board for sensing and maintaining a direction signal of the wheel;
An accelerometer sensor is disposed on the printed circuit board for sensing an acceleration signal of the wheel;
A type of analog to digital converter is disposed on the printed circuit board and coupled to the gyroscope and the accelerometer sensor for sensing the direction signal and acceleration of the gyroscope and the accelerometer sensor The signal is converted into a digital signal;
a microcontroller disposed on the printed circuit board and coupled to the analog to digital converter, based on the direction signal and the acceleration signal; and a brushless motor controller disposed on the printed circuit board and coupled Connected to the microcontroller, a drive signal can be issued to drive the hub motor.