WO2011016054A2 - Gyropode stabilisé dynamiquement - Google Patents

Gyropode stabilisé dynamiquement Download PDF

Info

Publication number
WO2011016054A2
WO2011016054A2 PCT/IN2010/000514 IN2010000514W WO2011016054A2 WO 2011016054 A2 WO2011016054 A2 WO 2011016054A2 IN 2010000514 W IN2010000514 W IN 2010000514W WO 2011016054 A2 WO2011016054 A2 WO 2011016054A2
Authority
WO
WIPO (PCT)
Prior art keywords
personal transporter
frame
attached
vehicle
driving wheels
Prior art date
Application number
PCT/IN2010/000514
Other languages
English (en)
Other versions
WO2011016054A3 (fr
Inventor
Subhav Sinha
Original Assignee
Subhav Sinha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Subhav Sinha filed Critical Subhav Sinha
Publication of WO2011016054A2 publication Critical patent/WO2011016054A2/fr
Publication of WO2011016054A3 publication Critical patent/WO2011016054A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

Definitions

  • Embodiments of the disclosure generally relate to the field of transporter, and more particularly to a personal transporter.
  • hybrid vehicles can be used for long distance transportation, constraint on size and weight of battery limits the use of electric vehicles only for urban transportation. Also with congestion and stress on parking area, use of smaller electric vehicles like electric scooter with their efficient utilization through exchange stations can serve the needs of urban electric transportation. These vehicles which are emission free are battery driven systems. Sizing of batteries, selection of motors and use of appropriate electrical drives are performed depending upon the type and need of vehicle. Many electrical driven systems like hybrid bus, electric and hybrid cars like Toyota Prius, electric scooters, Segway ® , etc are already running on the roads. Electrical scooters are ones that are used mostly in congested areas for small distance travel.
  • a personal transporter is a battery operated electric vehicle designed mainly for urban transportation incorporating electric maneuvering using twin motors.
  • these personal transporters are instable in operation during maneuvering, and in cases of frequent cycles of braking and acceleration.
  • the instability is caused due to movement of inactive center of gravity and out of frame when brakes are applied or when the personal transporter is accelerated. This instability of the personal transporter may lead to accidents and may pose risk to the person riding on the personal transporter.
  • a vehicle includes a chassis frame, and first and second driving wheels attached to the chassis frame at diagonally opposite ends of the chassis frame such that the axles of the first and second driving wheels are offset by a predetermined perpendicular distance (x), wherein at least one of the first and second driving wheels impart movement to the vehicle.
  • the vehicle includes first and second castor wheels attached to the chassis frame at other diagonally opposite ends of the chassis frame, wherein the first and second driving wheels and the first and second castor wheels together provide stability to the vehicle through balancing weight of displaced center of gravity of an operator of the vehicle over the axles of the first and second driving wheels during maneuvering.
  • the vehicle includes a first and second electric motors mounted at the first and second driving wheels respectively for rotating at least one of the said first and second driving wheels to impart movement to the vehicle, and a power source attached to the chassis frame for driving at least one of the first and second electric motors. Moreover, the vehicle includes a steering means for delivering variable amount of power to the first and second electric motors.
  • a personal transporter includes a frame, and first and second driving wheels attached to the frame at diagonally opposite ends such that the axles of the first and second driving wheels are offset by a predetermined perpendicular distance (x).
  • the personal transporter also includes first and second electric motors mounted at the first and second driving wheels respectively for rotating at least one of the first and second driving wheels to impart movement to the personal transporter, arid a steering means for delivering variable amount of power to the first and second electric motors to steer the personal transporter based on a differential speed mechanism.
  • the personal transporter also includes first and second castor wheels attached to the chassis frame at other diagonally opposite ends of the frame, wherein the first and second driving wheels and the first and second castor wheels together provide stability to the personal transporter through balancing weight of the active center of gravity of an operator of the personal transporter over the axles of the first and second driving wheels during maneuvering. Further, the personal transporter includes a power source attached to the frame for driving at least one of the first and second electric motors.
  • Figure 1 illustrates a schematic diagram of a dynamically stabilized personal transporter, according to one embodiment.
  • Figure 2 illustrates a top view of the personal transporter showing arrangement of wheels, according to one embodiment.
  • Figure 3 illustrates a circuit diagram of a switch off type steering circuit, according to one embodiment.
  • Figure 4 illustrates a circuit diagram of an adder based steering circuit, according to another embodiment.
  • Figure 5 illustrates a circuit diagram of a subtractor based steering circuit, according to one embodiment.
  • chassis frame and “frame” are interchangeably used through out the document.
  • dynamically stabilized personal transporter and “personal transporter”, and “vehicle” are used interchangeably through out the document.
  • Figure 1 illustrates a schematic diagram of a dynamically stabilized personal transporter 100, according to one embodiment.
  • the personal transporter 100 includes a chassis frame 102 to which a first driving wheel 104, a second driving wheel 106, a first castor wheel 108, and a second castor wheel 1 10 are attached.
  • the a first driving wheel 104, second driving wheel 106, a first castor wheel 108 and a second castor wheel 1 10 are attached to the frame 102 using shock absorbers 124 for absorbing shocks from uneven road surface to provide better and smooth journey.
  • the first driving wheel 104 and the second driving wheel 106 are attached to the frame 102 at diagonally opposite ends. Also, the axles of the first driving wheel 104 and the second driving wheel 106 are offset by a predetermined distance. Similarly, the first castor wheel 108 and the second castor wheel 1 10 are attached to the frame 102 at other diagonally opposite ends as shown in Figure 1. The first castor wheel 108 and the second castor wheel 1 10 are mounted such that both the wheels 108 and 1 10 do not touch the ground unless brakes are applied or acceleration is provided. The arrangement of driving and castor wheels explained herein is shown in greater detail in Figure 2. A first electric motor 1 12 and a second electric motor 1 14 are mounted at the first driving wheel 104 and the second driving wheel 106, respectively.
  • the first electric motor 1 12 and the second electric motor 1 14 is provided for rotating the first driving wheel 104 and the second driving wheel 106 to impart movement to the personal transporter 100.
  • Exemplary electric motors may include a brushless direct current (DC) motor, a DC motor, an alternate current (AC) motor, a permanent magnet synchronous motor and the like.
  • DC direct current
  • AC alternate current
  • the personal transporter 100 can have oil based motor hub mounted on each of the first and second driving wheels 104 and 106 through gears or belt/chains, etc instead of using the electric motors 1 12 and 1 14.
  • the personal transporter 100 also includes a power source 1 16 attached to the chassis frame 102 for driving the first electric motor 1 12 and/or second electric motor 1 14.
  • the power source 1 16 may be a lead acid battery, lithium ion battery, nickel metal hydride battery and the like.
  • the personal transporter 100 includes a solar panel 1 18 attached to the frame 102 for charging the power source 1 16 using the solar energy during day time. The solar panel 1 18 can be folded while moving in low ceiling areas.
  • the personal transporter 100 also consists of ultra-capacitor banks 128 interfaced with the power source 1 16 to retrieve regenerative power generated during braking and provide huge burst of charge while moving forward from still start position.
  • the personal transporter 100 further includes a handle 120 and a foldable seating platform 122 attached to the frame for providing support to an operator during maneuvering.
  • the personal transporter 100 also includes steering switch 126 for steering the vehicle in desired directions.
  • the steering switch 126 may include a switch off type steering circuit, an adder based steering circuit or a subtractor based steering circuit, as will be illustrated in Figures 3, 4 and 5.
  • the steering switch 126 enables the operator to steer the personal transporter in right, left, straight and reverse directions by controlling amount and direction of the power supplied to the first electric motor 1 12 and the second electric motor 1 14.
  • the steering switch 126 enables the operator of the personal transporter 100 to steer the personal transporter 100 in right direction or left direction based on a differential speed of the first driving wheel 104 and the second driving wheel 106.
  • the differential speed of the first driving wheel 104 and the second driving wheel 106 creates a net angular momentum and thereby turning the personal transporter 100 about an axis of gyration.
  • the operator has Inertia I.
  • the first driving wheel 104 takes a Ml and is moving with a speed V l
  • the second driving wheel 106 carries a load M2 and moves with a speed V2.
  • the personal transporter 100 then turns with an angular speed (w).
  • w angular speed
  • the personal transporter 100 moves forward from a still start position or accelerate, an active center of gravity is displaced backwards and falls out of the frame 102 owing to the inertia at rest.
  • the second driving wheel 106 and the second castor wheel 1 10 balances weight of the active center of gravity thereby providing stability to the operator.
  • an active center of gravity is displaced forward and falls out of the frame 102 owing to the inertia at rest.
  • the first driving wheel 104 and the first castor wheel 108 balances weight of the active center of gravity thereby providing stability to the operator.
  • operation of the steering switch 126 provides power to the first electric motor 1 12 associated with the first driving wheel 104 while cutting off power supplied to the second electric motor 1 14 associated with the second driving wheel 106.
  • This causes differential speed in the first driving wheel 104 and the second driving wheel 106, thereby creating a net angular momentum and turning the personal transporter 100 about the axis of gyration in the right direction.
  • the active center of gravity is balanced within the frame 102 due to the arrangement of wheels 104-1 10 while turning in the right direction.
  • operation of the steering switch 126 provides power to the second electric motor 1 14 associated with the second driving wheel 106 while cutting off power supplied to the first electric motor 1 12 associated with the first driving wheel 104.
  • This causes differential speed in the second driving wheel 106 and the first driving wheel 104, thereby creating a net angular momentum and turning the personal transporter 100 about the axis of gyration in the left direction.
  • the active center of gravity is balanced within the frame 102 due to the arrangement of wheels 104-1 10 while turning in left direction.
  • the arrangement of driving wheels and castor wheels provide stability to the personal transporter 100 through balancing weight of the active center of gravity of the operator of the personal transporter 100 over the axles of the first driving wheel 104 and the second driving wheel 106 during maneuvering.
  • the personal transporter 100 can additionally include a carriage or trolley hook mounted on the frame 102 for carrying a luggage or additional passenger.
  • Figure 3 illustrates a circuit diagram of a switch off type steering circuit 300, according to one embodiment.
  • the switch off type steering circuit 300 includes two switches 302 and 304 connected to the first electric motor 1 12 and second electric motor 1 14 respectively. Each of the switches 302 and 304 are configured to receive speed signal from a throttle 306.
  • both the switches 302 and 304 are kept ON " .
  • speed signals of equal magnitude are sent to the first electric motor 1 12 and the second electric motor 1 14.
  • the first electric motor 1 12 and the second electric motor 1 14 drive the first driving wheel 104 and the second driving wheel 106 at the same speed.
  • the switch 304 is kept in OFF position and the switch 302 is kept in ON position.
  • speed signal is sent to the first electric motor 1 12 while keeping the second electric motor 1 14 in OFF position.
  • a differential speed is created owing to clockwise angular momentum and the personal transporter 100 turns in the right direction.
  • the switch 302 is kept in OFF position and the switch 304 is in ON position.
  • speed signal is sent to the second electric motor 1 14 while keeping the first electric motor 1 12 in OFF position.
  • a differential speed is created owing to anticlockwise angular momentum and the personal transporter 100 turns in the left direction.
  • Figure 4 illustrates a circuit diagram of an adder based steering circuit 400, according to another embodiment.
  • the adder based steering circuit 400, according to another embodiment.
  • throttles 402, 404 and 406 connected to operational amplifiers 408 and 410 using adder circuits.
  • the throttle 402 is used for moving the personal transporter 100 in forward direction and the throttles 404 and 406 are used turning the personal transporter 100 in right and left direction respectively.
  • the throttle 402 provides equal voltage to both the electric motors 1 12 and 1 14, and hence both the first and second driving wheels are driven at the same speed.
  • the throttle 404 is triggered, the voltage is added to the voltage delivered by the throttle 402.
  • the first electric motor 1 12 receives higher voltage as compared to the second electric motor 1 14. Accordingly, the first electric motor 1 12 rotates faster than the second electric motor 1 14.
  • a differential speed is generated owing to clockwise angular momentum, thereby turning the personal transporter in right direction.
  • FIG. 5 illustrates a circuit diagram of a subtractor based steering circuit 500, according to one embodiment.
  • the subtractor based steering circuit 500 is similar to the adder based steering circuit 400 of Figure 4, except for polarity. For example, when the throttle 506 is triggered, the voltage is subtracted from the voltage delivered by the throttle 502.
  • the first electric motor 1 12 receives higher voltage as compared to the second electric motor 1 14. Accordingly, the first electric motor 1 12 rotates faster than the second electric motor 1 14. As a consequence, a differential speed is generated owing to clockwise angular momentum, thereby turning the personal transporter in right direction.
  • the throttle 504 is triggered, a certain amount of voltage is subtracted from the voltage delivered by the throttle 502.
  • the second electric motor 1 14 receives higher voltage as compared to the first electric motor 1 12. Accordingly, the second electric motor 1 14 rotates faster than the first electric motor 1 12.
  • a differential speed is generated owing to anti-clockwise angular momentum, thereby turning the personal transporter in left direction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

L'invention concerne un gyropode stabilisé dynamiquement. Dans un mode de réalisation, un gyropode comprend un cadre de châssis, et des première et deuxième roues motrices rattachées aux extrémités diagonalement opposées du cadre de châssis, de sorte que les axes des première et deuxième roues motrices sont décalés d'une distance perpendiculaire prédéterminée, au moins une des première et deuxième roues motrices imprimant un mouvement au gyropode. Celui-ci comprend des première et deuxième roues pivotantes rattachées aux autres extrémités diagonalement opposées du cadre de châssis, les première et deuxième roues motrices et les première et deuxième roues pivotantes conférant ensemble une certaine stabilité au gyropode par équilibrage du poids du centre de gravité déplacé d'un utilisateur du gyropode sur les axes des première et deuxième roues motrices pendant la manoeuvre.
PCT/IN2010/000514 2009-08-03 2010-08-03 Gyropode stabilisé dynamiquement WO2011016054A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN1601DE2009 2009-08-03
IN1601/DEL/2009 2009-08-03

Publications (2)

Publication Number Publication Date
WO2011016054A2 true WO2011016054A2 (fr) 2011-02-10
WO2011016054A3 WO2011016054A3 (fr) 2011-03-31

Family

ID=43544739

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IN2010/000514 WO2011016054A2 (fr) 2009-08-03 2010-08-03 Gyropode stabilisé dynamiquement

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WO (1) WO2011016054A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018161947A1 (fr) * 2017-03-09 2018-09-13 深圳市亮点智控科技有限公司 Dispositif d'auto-équilibrage, véhicule électrique, véhicule de posture, valise interagissant avec l'utilisateur et planche à roulettes à deux roues

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6000486A (en) * 1997-04-18 1999-12-14 Medicart, L.L.C. Apparatus for providing self-propelled motion to medication carts
EP1702600A1 (fr) * 2005-03-17 2006-09-20 Ferno (UK) Limited Brancard
US20070186827A1 (en) * 2005-10-06 2007-08-16 Loftus Stephen C Pallet
JP2008030650A (ja) * 2006-07-31 2008-02-14 Meidensha Corp 無人搬送台車
US20080047245A1 (en) * 2006-08-24 2008-02-28 Macgregor Don Tractor with two engine settings

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6000486A (en) * 1997-04-18 1999-12-14 Medicart, L.L.C. Apparatus for providing self-propelled motion to medication carts
EP1702600A1 (fr) * 2005-03-17 2006-09-20 Ferno (UK) Limited Brancard
US20070186827A1 (en) * 2005-10-06 2007-08-16 Loftus Stephen C Pallet
JP2008030650A (ja) * 2006-07-31 2008-02-14 Meidensha Corp 無人搬送台車
US20080047245A1 (en) * 2006-08-24 2008-02-28 Macgregor Don Tractor with two engine settings

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018161947A1 (fr) * 2017-03-09 2018-09-13 深圳市亮点智控科技有限公司 Dispositif d'auto-équilibrage, véhicule électrique, véhicule de posture, valise interagissant avec l'utilisateur et planche à roulettes à deux roues

Also Published As

Publication number Publication date
WO2011016054A3 (fr) 2011-03-31

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