WO2017052579A1

WO2017052579A1 - Bicycle balance assist system

Info

Publication number: WO2017052579A1
Application number: PCT/US2015/052174
Authority: WO
Inventors: Luis Humberto SONI GUTIERREZ; Miguel Masao AGUILAR YAMASAKI; Edgardo F. ORTIZ HERNANDEZ; David CASTRO DURAN
Original assignee: Ford Global Technologies, Llc
Priority date: 2015-09-25
Filing date: 2015-09-25
Publication date: 2017-03-30

Abstract

A bicycle balance assistance system includes a gyroscope and a controller. The gyroscope includes a housing for mounting to a frame of the bicycle, and a rotor rotatable relative to the housing. The controller is programmed to receive user input from a mobile device and to control rotation of the rotor relative to the housing based at least on the user input. The controller may rotate the rotor relative to the housing to create a gyroscopic effect that assists in balancing the frame of the bicycle to provide stabilization in a forward-rearward direction and in a side-to-side direction.

Description

BICYCLE BALANCE ASSIST SYSTEM

BACKGROUND

[0001] A bicycle includes a frame, a front wheel supported on the frame, and a rear wheel supported on the frame. Bicycles can be manually propelled, e.g., by manually pedaling pedals of the bicycle to rotate one of the front wheel and the rear wheel, and/or may be motorized, e.g., propelled with an electric motor connected to a battery of the bicycle.

[0002] Whether manually powered and/or motorized, the bicycle may include front brakes connected to the front wheel and rear brakes connected to the rear wheel. These front and rear brakes may be independently operable to brake the front wheel and the rear wheel independently from each other. The front brakes may slow or stop the rotation of the front wheel, and the rear brakes may slow or stop the rotation of the rear wheel. For example, the front brakes may include brake pads that engage a component fixed to the front wheel, e.g., a rim of the front wheel, a brake disk fixed to the front wheel, etc. Similarly, the rear brakes may include brake pads that engage a component fixed to the rear wheel, e.g., a rim of the rear wheel, a brake disk fixed to the rear wheel, etc. The brakes may include, for example, a lever for activating the brakes by the operator. A Bowden cable, for example, may connect the lever to the brake pads.

[0003] In certain situations, bicycles may be unstable and the operator of the bicycle may be urged to move over handlebars of the bicycle. For example, when the front brakes are quickly and strongly applied, especially in the absence of application of the rear brakes, the frame of the bicycle may be urged to rotate forwardly about the front wheel, thus sending the operator of the bicycle over handlebars of the bicycle. Similarly, if the front wheel of the bicycle impacts a stationary object in the path of the bicycle, the front wheel may be stopped, which may urge the frame to rotate forwardly about the front wheel and may urge the operator of the bicycle over the handlebars. As another example, on rough terrain, the front wheel may fall into a hole in the driving surface, which may similarly urge the frame to rotate forwardly about the front wheel. [0004] As such, there remains an opportunity to design a bicycle to resist forward rotation of the frame about the front wheel when the front wheel is quickly slowed and/or stopped, e.g., by braking, impacting a stationary object, falling into a hole, etc.

BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 is a perspective view of a bicycle including a gyroscope casing housing a gyroscope (shown in hidden lines) fixed relative to a frame of the bicycle.

[0006] Figure 2 is a perspective view of the bicycle with a handlebar and a seat in a retracted position.

[0007] Figure 3 is a perspective view of the bicycle with the frame in a folded position.

[0008] Figure 4 is a side view of the bicycle with the gyroscope shown in hidden lines.

[0009] Figure 5 is a schematic of a bicycle balance assistance system.

[0010] Figure 6 is a flow diagram of a method of operating the bicycle balance assistance program.

DETAILED DESCRIPTION

[0011] With reference to the Figures, wherein like numerals indicate like parts throughout the several views, a bicycle 10 includes a frame 12 elongated along a longitudinal axis L and extending along a vertical axis V transverse to the longitudinal axis L. The vertical axis V may be vertical to the ground and the longitudinal axis L may be horizontal relative to the ground. The bicycle 10 includes a gyroscope 14 including a housing 16 mounted to the frame 12 and a rotor 18 rotatable relative to the housing 16 about a spin axis S. The spin axis S is fixed relative to the frame 12 and extends in parallel with the vertical axis V of the frame 12.

[0012] Since the spin axis S is fixed relative to the frame 12 and extends in parallel with the vertical axis V of the frame 12, the rotor 18 may be rotated relative to the housing 16 of the gyroscope 14 to add stability to the bicycle 10 in a forward-rearward direction and a side-to-side direction. In other words, a gyroscopic effect created by the gyroscope 14 may resist forward rotation of the frame 12 when the bicycle 10 is quickly slowed or stopped, as discussed further below, and may resist falling to the side of the frame 12.

[0013] With reference to Figures 1-4, the bicycle 10 may include a front wheel 20 supported on the frame 12 and a rear wheel 22 supported on the frame 12. The bicycle 10 may include front brakes 24 connected to the front wheel 20 and rear brakes 26 connected to the rear wheel 22. The front and rear brakes 26 may be independently operable to brake the front wheel 20 and the rear wheel 22 independently from each other. The front brakes 24 may slow or stop the rotation of the front wheel 20, and the rear brakes 26 may slow or stop the rotation of the rear wheel 22.

[0014] The front brakes 24 and/or the rear brakes 26 may be mechanical. Alternatively, as set forth further below, the front brakes 24 and/or the rear brakes 26 may be motorized, e.g., in the event that the bicycle 10 is an electric bicycle 10, as set forth further below. When the front brakes 24 and/or the rear brakes 26 are mechanical, the front brakes 24 may include brake pads (not shown) that engage a component fixed to the front wheel 20, e.g., a rim of the front wheel 20, a brake disk fixed to the front wheel 20, etc. Similarly, the rear brakes 26 may include brake pads (not shown) that engage a component fixed to the rear wheel 22, e.g., a rim of the rear wheel 22, a brake disk fixed to the rear wheel 22, etc. The brakes 24, 26 may include, for example, a lever (not numbered) for activating the brakes 24, 26 by the operator. A Bowden cable (not shown), for example, may connect the lever to the brake pads.

[0015] The bicycle 10 may be manually propelled. For example, the bicycle 10 may include pedals 28 rotatably supported on the frame 12, and a transmission connecting the pedals 28 to the rear wheel 22. The transmission, for example, may include a sprocket 30 on the pedals 28 and a sprocket (not shown) the rear wheel 22, and a belt 32 or a chain (not shown) connecting the sprockets.

[0016] In the alternative to, or in addition to manual pedaling, the bicycle 10 may be motorized, as set forth above. For example, the bicycle 10 may include a motor 34 (shown in Figure 4) connected to at least one of the front wheel 20 and the rear wheel 22. The motor 34, for example, may be connected to the rear wheel 22 with the belt 32, as shown in Figures 1 and 2. The motor 34 may be of any suitable type.

[0017] As one example, the motor 34 may be an electric motor of any suitable size and rating. The electric motor, for example, may be supported by the rear wheel 22, as shown in Figure 4. The bicycle 10 may include a battery 36 and the electric motor 58 may be connected to the battery 36. The battery 36 may be supported in the frame 12 of the bicycle 10, as shown in Figure 4. The battery 36 may be of any suitable type and, for example, may be rechargeable.

[0018] With continued reference to Figures 1 and 2, the bicycle 10 may include a handlebar 38 connected to the front wheel 20 for steering the front wheel 20. The bicycle 10 may also include a seat 40 supported on the frame 12 between the front wheel 20 and the rear wheel 22. The handlebar 38 and/or the seat 40 may be adjustable relative to the frame 12, e.g., may move from an extended position, as shown in Figure 1, to a retracted position, as shown in Figure 2.

[0019] The frame 12 may be foldable, as shown in Figure 3.

Specifically, the frame 12 may include a front segment 42, a rear segment 44, and a hinge 46 disposed between the front segment 42 and the rear segment 44. The front segment 42 and the rear segment 44 may be folded about the hinge 46 from an unfolded position, as shown in Figures 1 and 2, to a folded position, as shown in Figure 3. The bicycle 10 may be folded by moving the handlebar 38 and the seat 40 from the extended position, as shown in Figure 1 , to the retracted position, as shown in Figure 2, and then rotating the front segment 42 and the rear segment 44 about the hinge 46 from the unfolded position, as shown in Figure 2, to the folded position, as shown in Figure 3.

[0020] As set forth above, the gyroscope 14 may be operated to add stability to the bicycle 10 in a forward-rearward direction and in a side-to-side direction. Since the spin axis S is fixed relative to the frame 12 and extends in parallel with the vertical axis V of the frame 12, the gyroscope 14 resists forward rotation of the frame 12 about the front wheel 20 of the bicycle 10 when the front wheel 20 is quickly slowed or stopped. As such, the gyroscope 14 may add stability to the bicycle 10 when front brakes 24 are quickly and strongly applied, especially in the absence of application of the rear brakes 26, e.g., to resist rotation of the operator of the bicycle 10 over the handlebar 38 of the bicycle 10. Similarly, the gyroscope 14 may add stability to the bicycle 10 if the front wheel 20 of the bicycle 10 impacts a stationary object in the path of the bicycle 10, the front wheel 20 may be stopped, which may urge the frame 12 to rotate forwardly about the front wheel 20 and may urge the operator of the bicycle 10 over the handlebar 38. As another example, on rough terrain, the front wheel 20 may fall into a recess, which may similarly urge the frame 12 to rotate forwardly about the front wheel 20. In addition, the gyroscope 14 adds stability in a side-to-side direction, e.g., to resist falling to the side during low speed operation, etc.

[0021] As set forth above, the gyroscope 14 includes the housing 16 mounted to the frame 12. The housing 16 may be mounted directly or indirectly to the frame 12. For example, as shown in Figures 1 and 4, the gyroscope 14 may include a post 48 fixed to the housing 16 and extending along the spin axis S. The post 48 is fixed relative to the frame 12 of the bicycle 10. Specifically, the bicycle 10 may include a casing 50 that houses the gyroscope 14. The post 48 is fixed to the casing 50, and the casing 50 is fixed to the frame 12 of the bicycle 10.

[0022] The post 48 includes a top end 52 and a bottom end 54.

The top end 52 and the bottom end 54 are spaced from each other along the spin axis S and fixed to the casing 50. The rotor 18 is engaged with, and rotatable about the spin axis S relative to, the post 48 between the top end 52 and the bottom end 54. The gyroscope 14, for example, may include bearings (not shown) between the rotor 18 and the post 48 and/or may include bearings (not shown) between the rotor 18 and the frame 12.

[0023] The rotor 18 may include a sleeve 56 extending along the spin axis S and receiving the post 48. The post 48 may be a single piece extending from the top end 52 to the bottom end 54, or may be separate pieces extending from the sleeve 56 to the top end 52 and from the sleeve 56 to the bottom end 54.

[0024] In operation, the rotor 18 may be spun relative to the post 48 about the spin axis S. This spinning of the rotor 18 about the spin axis S generates a force on the post 48 that resists movement of the ends of the post 48 in directions transverse to the spin axis S, i.e., resists a tipping force applied to the spin axis S. Since the spin axis S is fixed to the frame 12 and extends in parallel with the vertical axis V of the frame 12, the spinning of the rotor 18 resists rotation of the frame 12 about the gyroscope 14 in directions transverse to the spin axis S. Thus, when the rotor 18 is spun about the spin axis S, the gyroscope 14 provides a stabilizing effect in a forward-rearward direction to assist in preventing the frame 12 from undesirably rotating forwardly about the front wheel 20, e.g., when front brakes 24 are quickly and strongly applied, the front wheel 20 impacts a stationary object in the path of the bicycle 10, the front wheel 20 may fall into a recess in rough terrain, etc. When the rotor 18 is spun about the spin axis S, the gyroscope 14 also provides a stabilizing effect in a side-to-side direction to assist in preventing the frame 12 from undesirably falling to the side.

[0025] The gyroscope 14 may be mounted to the frame 12 at a center of gravity of the rest of the bicycle 10, e.g., the frame 12, front wheel 20, rear wheel 22, handlebar 38, seat 40, etc. In other words, the casing 50 may be mounted to the frame 12 in a position to center the gyroscope 14 at the center of gravity of the bicycle 10. The center of gravity of the bicycle 10 may be calculated with the frame 12 in the unfolded position, and with the handlebar 38 and the seat 40 at the extended position, as shown in Figure 1. The position of the gyroscope 14 at the center of gravity of the bicycle 10 maximizes the stabilizing effect of the gyroscope 14.

[0026] The gyroscope 14 may include a motor 58 (shown schematically in Figure 5) connected to the rotor 18. Specifically, the motor 58 is configured to spin the rotor 18 relative to the frame 12 about the spin axis S. The motor 58 may be disposed in the gyroscope casing 50.

[0027] The bicycle 10 includes a bicycle balance assistance system 60. The system 60 includes the gyroscope 14 and a controller 62 in communication with the gyroscope 14. The controller 62 is programmed to control the gyroscope 14 to control the stability assistance provided to the bicycle 10.

[0028] The controller 62 is programmed to receive user input from a mobile device 64 and to control rotation of the rotor 18 relative to the housing 16 based at least on the user input. The mobile device 64 may be any suitable mobile device 64. For example, the mobile device 64 may be a mobile phone, smart phone, tablet, laptop computer, etc.

[0029] Specifically, the controller 62 is in communication with the motor 58 to control the speed of the motor 58, and thus to control the rotational speed of the rotor 18 to control the stability assistance provided to the bicycle 10. The controller 62 is switchable, based on input from the mobile device 64, between different modes to effect the rotational speed of the rotor 18. For example, the controller 62 may be switchable between an off mode and an assist mode based at least on the user input from the mobile device 64.

[0030] In the off mode, the motor 58 is stationary relative to the housing 16, i.e., the controller 62 does not provide an instruction to the motor 58 to rotate. In other words, in the off mode, the gyroscope 14 provides no stability assistance to the bicycle 10. In the assist mode, the motor 58 rotates the rotor 18 relative to the housing 16.

[0031] The controller 62 may be switchable between any suitable number of different assist modes. For example, the controller 62 may be switchable to a stability assist mode based at least on the user input from the mobile device 64, in which the controller 62 instructs the motor 58 to rotate the rotor 18 about the spin axis S at a relatively high rotational speed to provide maximum stability assistance, e.g., for use by an inexperienced operator, on rugged terrain, etc. As another example the controller 62 may be switchable to an intermediate mode, in which the controller 62 instructs the motor 58 to rotate the rotor 18 about the spin axis S at a lower speed than the stability assist mode. The intermediate mode may, for example, be used by an operator who does not desire maximum stability assistance, but instead, desires a lower level of assistance. [0032] The controller 62 may be, for example, supported on the frame 12 of the bicycle 10. The controller 62 may be a computing device including any suitable components. For example, the computing device may include a processor 66, memory 68, etc. The mobile device 64 may be in communication with the computing device, as set forth further below. The memory 68 of the computing device may store instructions executable by the processor 66. The instructions may include instructions to operate the controller 62, and thus the gyroscope 14, in a selected mode based at least on the user input from the mobile device 64.

[0033] Computing devices such as those discussed herein generally each include instructions executable by one or more computing devices such as those identified above, and for carrying out blocks or steps of processes described above. For example, process blocks discussed above may be embodied as computer-executable instructions.

[0034] Computer-executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer-readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer-readable media. A file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc.

[0035] A computer-readable medium includes any medium that participates in providing data (e.g., instructions), which may be read by a computer. Such a medium may take many forms, including, but not limited to, non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes a main memory. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

[0036] The user input may be entered to the mobile device 64 and communicated to the controller 62 in any suitable fashion. The user input may be entered into the mobile device 64, for example, through a graphical-user interface such as a touch-screen. The mobile device 64 may be programed with an application for selecting the mode. An operator may provide user input to selectively change the mode of the controller 62, and thus the mode of the gyroscope 14. For example, at any time, an operator may change the controller 62 between the off mode, stability assist mode, intermediate mode, and any other type of mode.

[0037] The bicycle 10 may include a wireless interface 70 in communication with the controller 62 and programmed to receive the user input. In other words, the wireless interface 70 may be programmed to communicate with the mobile device 64 to receive the user input from the mobile device 64. The wireless interface 70, for example, may be Bluetooth, or any other suitable wireless protocol.

[0038] The mobile device 64 may be releasably docked to the bicycle 10, for example, with a docking station (not shown). The mobile device 64 may communicate with the computing device through wired communication and/or wireless communication.

[0039] A block diagram showing steps of a method of operating the bicycle 10 balance assistance system 60 is shown in Figure 6. The method includes inputting user input into the mobile device 64, as shown in block 110. This step of inputting may include manual input by the operator through a graphical user interface of the mobile device 64. The operator may input the user input at any time before or during the operation of the bicycle 10. Specifically, the operator may select the mode of operation of the controller 62, and thus the gyroscope 14, e.g., the off mode, the stability assist mode, the intermediate mode, etc., as described above.

[0040] With reference to block 112, the method includes receiving user input from a mobile device 64. Specifically, the controller 62 receives the user input from the mobile device 64. Specifically, the controller 62 may receive the user input from the mobile device 64 through the wireless interface 70, as described above.

[0041] With reference to block 114, the method includes providing an instruction to the motor 58 to rotate the rotor 18 of the gyroscope 14 relative to the housing 16 of the gyroscope 14 based at least on the user input. Specifically, the controller 62 provides the instruction to the motor 58 to rotate the rotor 18. The controller 62 may communicate with the motor 58 through wired communication or wireless communication.

[0042] With reference to block 116, the method includes rotating the motor 58 at a speed based on the mode selected on the mobile device 64. For example, the operator may make a stability assist mode selection, i.e., selecting the stability assist mode on the mobile device 64. In response to the stability assist mode selection, the motor 58 rotates relative to the housing 16 at a relatively high rotational speed. The operator may also make an off mode selection, and the motor 58 may remain stationary relative to the housing 16 in response to the off mode selection. As another example, the user input may include an intermediate mode selection, and the motor 58 rotates relative to the housing 16 at a lower speed than the stability assist mode selection in response to the intermediate mode selection.

[0043] The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.

Claims

CLAIMS What is claimed is:

1. A bicycle balance assistance system comprising:

a gyroscope including a housing and a rotor; and

a controller programmed to receive user input from a mobile device and to control rotation of the rotor relative to the housing based at least on the user input.

2. The bicycle balance assistance system as set forth in claim 1 further comprising a motor connected to the rotor and in communication with the controller.

3. The bicycle balance assistance system as set forth in claim 2 wherein the controller is switchable between a stability assist mode and an off mode based at least on the user input, wherein the motor rotates the rotor relative to the housing in the stability assist mode and wherein the motor is stationary relative to the housing in the off mode.

4. The bicycle balance assistance system as set forth in claim 3 wherein the controller provides an instruction to the motor in at least one of the stability assist mode and the off mode to control the rotation of the rotor relative to the housing.

5. The bicycle balance assistance system as set forth in claim 2 wherein, based at least on the user input, the controller is switchable between a stability assist mode, an off mode, and an intermediate mode, wherein the motor rotates the rotor relative to the housing in the stability assist mode, the motor is stationary relative to the housing in the off mode, and rotates the rotor relative to the housing at a lower speed than the stability assist mode in the

6. The bicycle balance assistance system as set forth in claim 1 wherein the controller is switchable between a stability assist mode and an off mode based at least on the user input.

7. The bicycle balance assistance system as set forth in claim 1 wherein the rotor is rotatable relative to the housing about a spin axis, wherein the spin axis is parallel to a vertical axis of a bicycle frame.

8. A method comprising:

receiving user input from a mobile device;

providing an instruction to a motor to rotate a rotor of a gyroscope relative to a housing of the gyroscope based at least on the user input.

9. The method as set forth in claim 8 wherein the user input includes a stability assist mode selection and an off mode selection, and wherein the motor rotates relative to the housing in response to the stability assist mode selection and is stationary relative to the housing in the off mode.

10. The method as set forth in claim 9 wherein the user input includes an intermediate mode selection, and wherein the motor rotates relative to the housing at a lower speed than the stability assist mode selection in response to the intermediate mode selection.

11. A bicycle comprising :

a frame elongated along a longitudinal axis and extending along a vertical axis transverse to the longitudinal axis; and

a gyroscope including a housing mounted to the frame and a rotor rotatable relative to the housing about a spin axis, wherein the spin axis is fixed relative to the frame and extends in parallel with the vertical axis of the frame.

12. The bicycle as set forth in claim 11 wherein the gyroscope is mounted to the frame at a center of gravity of the bicycle.

13. The bicycle as set forth in claim 11 further comprising a motor connected to the rotor.

14. The bicycle as set forth in claim 11 further comprising a controller programmed to receive user input from a mobile device and to control rotation of the rotor relative to the frame based at least on the user input.

15. The bicycle as set forth in claim 14 further comprising a motor connected to the rotor.

16. The bicycle as set forth in claim 14 further comprising a wireless interface in communication with the controller and programmed to receive the user input.

17. The bicycle as set forth in claim 11 further comprising a wheel supported on the frame and a motor connected to the wheel.