WO2012047127A1 - Одноколесное транспортное средство и устройство стабилизации транспортного средства - Google Patents

Одноколесное транспортное средство и устройство стабилизации транспортного средства Download PDF

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Publication number
WO2012047127A1
WO2012047127A1 PCT/RU2011/000750 RU2011000750W WO2012047127A1 WO 2012047127 A1 WO2012047127 A1 WO 2012047127A1 RU 2011000750 W RU2011000750 W RU 2011000750W WO 2012047127 A1 WO2012047127 A1 WO 2012047127A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
frame
wheeled vehicle
flywheels
driver
Prior art date
Application number
PCT/RU2011/000750
Other languages
English (en)
French (fr)
Russian (ru)
Inventor
Павел Сергеевич СУЛИМОВ
Игорь Владимирович ШУШУРА
Original Assignee
Sulimov Pavel Sergeevich
Shushura Igor Vladimirovich
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 Sulimov Pavel Sergeevich, Shushura Igor Vladimirovich filed Critical Sulimov Pavel Sergeevich
Publication of WO2012047127A1 publication Critical patent/WO2012047127A1/ru

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Classifications

    • 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

Definitions

  • One-wheeled vehicle and vehicle stabilization device One-wheeled vehicle and vehicle stabilization device.
  • the invention relates to vehicles, in particular, to one-wheeled vehicles and can be used both for recreation and movement, and for moving goods.
  • a Segway vehicle is known to be manufactured by the American company Segway LLC, consisting of two wheels located on the same axis as 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.
  • Known vehicle Nissan SH-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 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 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.
  • 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 a lot of preliminary preparation. the driver himself. 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 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.
  • a wheel is mounted on the frame of a one-wheeled vehicle and an electric motor with a transmission is fixed to transmit torque from the engine to the wheel.
  • at least rigidly mounted on the frame one gyro sensor, 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 by changing the parameters of the electric current supplied to the electric motor.
  • 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.
  • 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.
  • the wheel and the electric motor with the transmission are made in the form of a motor wheel.
  • 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.
  • 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.
  • 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 board.
  • the vehicle is equipped with stops-clamps of the driver's lower leg.
  • At least one support roller is mounted on each footrest of the vehicle.
  • a suspension system is installed between the frame and the wheel on the vehicle.
  • the vehicle is equipped with a protective casing made of a polymer material.
  • the protective casing is additionally equipped with reflectors.
  • the protective casing is additionally provided with at least one headlamp.
  • the vehicle is additionally equipped with a sound source.
  • FIG. 1 - shows an embodiment of a vehicle
  • FIG. 2 - shows a schematic diagram of a vehicle
  • FIG. 3 embodiment of a vehicle with an engine and transmission
  • FIG. 4 - stand for the driver’s feet with mounted support rollers
  • FIG. 5 is an example of installing flywheels on a vehicle; in FIG. 6 - shows a schematic diagram of the operation of the vehicle stabilization device.
  • 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 mounted 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 )
  • the transmission 4 can be used, for example, chain or belt transmission.
  • 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 in FIG. 1 is shown schematically.
  • a shock absorber and a spring are used as a suspension system.
  • the gyro sensor 6 is rigidly mounted.
  • the gyro sensor 6 registers the angle tilt 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.
  • Each driver footrest 9 is provided with sensors 10 for the presence of the driver on the vehicle and at least one support roller 1 1, 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.
  • a stabilization device consisting of two flywheels 12 mounted on the frame 1 of the vehicle.
  • 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).
  • 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 lock, at least in the extended and folded state.
  • 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.
  • the casing 18 is equipped with reflectors 19 and a headlight 20.
  • a sound signal source is installed on the vehicle 21.
  • the power supply of all electric power consumers of the vehicle namely, electric motor 3, gyro sensor 6, vehicle control unit 7, flywheel electric motors 12, indicators 15, headlights 20, sound signal source 21, is provided from 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 indicate that the flywheels have reached the 12 rpm speed necessary for the stabilization device to operate.
  • 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 parameters of the current supplied to the electric motor 3.
  • the vehicle is braked by moving the vehicle to a vertical position.
  • 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 support rollers 1 1 on 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 1 1 slide on 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.
  • the vehicle is equipped with a casing 18.
  • the casing is made of polymer material.
  • the vehicle is equipped with reflectors 19 and a headlight 20 mounted on the casing 18.
  • the vehicle is equipped with an audio signal source 21.
  • the proposed technical solution allows to stabilize a unicycle vehicle on a roll and thereby protect the driver from falling on its side, and the proposed unicycle vehicle is safe and easy to drive and can be widely used in open spaces, in particular in urban conditions.
PCT/RU2011/000750 2010-10-06 2011-09-30 Одноколесное транспортное средство и устройство стабилизации транспортного средства WO2012047127A1 (ru)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2010140844 2010-10-06
RU2010140844/11A RU2456195C2 (ru) 2010-10-06 2010-10-06 Одноколесное транспортное средство и устройство стабилизации транспортного средства

Publications (1)

Publication Number Publication Date
WO2012047127A1 true WO2012047127A1 (ru) 2012-04-12

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Country Status (2)

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RU (1) RU2456195C2 (de)
WO (1) WO2012047127A1 (de)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673700A (zh) * 2012-06-01 2012-09-19 温宝忠 一种代步独轮电动车
CN103407528A (zh) * 2013-07-24 2013-11-27 钟淑娣 一种带可收合手把的自平衡电动独轮车
CN103818502A (zh) * 2014-01-13 2014-05-28 嘉兴斯麦龙电子科技有限公司 一种自平衡独轮电动车的便捷装配及防水结构
US20150210337A1 (en) * 2014-01-28 2015-07-30 Toyota Jidosha Kabushiki Kaisha Vehicle
CN106414225A (zh) * 2015-08-20 2017-02-15 罗春晖 一种带辅助功能的电动独轮车
CN106882306A (zh) * 2015-12-15 2017-06-23 陕西承洋电子智能科技有限公司 一种新型单轮电动机车
CN108297964A (zh) * 2018-02-11 2018-07-20 坎德拉(深圳)科技创新有限公司 双足机器人及其行走控制方法
CN108454727A (zh) * 2018-02-11 2018-08-28 坎德拉(深圳)科技创新有限公司 反向同步机构及机器人
CN108466668A (zh) * 2018-02-11 2018-08-31 坎德拉(深圳)科技创新有限公司 自动滚动行走装置及其运动控制方法
CN108515508A (zh) * 2018-02-11 2018-09-11 坎德拉(深圳)科技创新有限公司 双轮机器人

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CN104014123A (zh) 2014-06-13 2014-09-03 杭州骑客智能科技有限公司 纵向双轮车体
RU2601485C2 (ru) * 2014-08-25 2016-11-10 Александр Поликарпович Лялин Одноосное транспортное средство
CN105129004B (zh) * 2015-07-29 2017-10-20 小米科技有限责任公司 平衡车驻留方法和装置
RU2629764C1 (ru) * 2016-05-10 2017-09-01 Станислав Борисович Базуев Устройство принудительного наклона или предотвращения наклона двухколёсного транспортного средства с помощью маховиков
CN106143717B (zh) 2016-06-23 2018-05-04 北京小米移动软件有限公司 安全行车方法及装置
IL261534B (en) 2018-09-02 2020-01-30 Amos Cahan One-wheeled vehicles
RU201941U1 (ru) * 2020-08-04 2021-01-21 Александр Михайлович Новичков Голеностопный упор для моноколеса.

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CH82888A (fr) * 1919-01-24 1920-03-16 Inventions J S A Sa Exploit Monocycle
SU1230909A1 (ru) * 1984-07-23 1986-05-15 Серпуховское высшее военное командно-инженерное училище ракетных войск им.Ленинского комсомола Устройство дл повышени устойчивости транспортного средства
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EP1174334A2 (de) * 2000-06-02 2002-01-23 Klaus Prof. Dr. Hofer Elektrisches Einrad-Fahrzeug
US7467681B2 (en) * 2004-04-28 2008-12-23 Yamaha Hatsudoki Kabushiki Kaisha Vehicle, vehicle control device and variable control method

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SU867758A1 (ru) * 1979-02-26 1981-09-30 Харьковский авиационный институт им.Н.Е.Жуковского Устройство дл повышени поперечной устойчивости наземного транспортного средства
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Publication number Priority date Publication date Assignee Title
CH82888A (fr) * 1919-01-24 1920-03-16 Inventions J S A Sa Exploit Monocycle
SU1230909A1 (ru) * 1984-07-23 1986-05-15 Серпуховское высшее военное командно-инженерное училище ракетных войск им.Ленинского комсомола Устройство дл повышени устойчивости транспортного средства
US5314034A (en) * 1991-11-14 1994-05-24 Chittal Nandan R Powered monocycle
EP1174334A2 (de) * 2000-06-02 2002-01-23 Klaus Prof. Dr. Hofer Elektrisches Einrad-Fahrzeug
US7467681B2 (en) * 2004-04-28 2008-12-23 Yamaha Hatsudoki Kabushiki Kaisha Vehicle, vehicle control device and variable control method

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673700A (zh) * 2012-06-01 2012-09-19 温宝忠 一种代步独轮电动车
CN103407528A (zh) * 2013-07-24 2013-11-27 钟淑娣 一种带可收合手把的自平衡电动独轮车
CN103818502A (zh) * 2014-01-13 2014-05-28 嘉兴斯麦龙电子科技有限公司 一种自平衡独轮电动车的便捷装配及防水结构
US20150210337A1 (en) * 2014-01-28 2015-07-30 Toyota Jidosha Kabushiki Kaisha Vehicle
US9376154B2 (en) * 2014-01-28 2016-06-28 Toyota Jidosha Kabushiki Kaisha Vehicle
CN106414225A (zh) * 2015-08-20 2017-02-15 罗春晖 一种带辅助功能的电动独轮车
WO2017028302A1 (zh) * 2015-08-20 2017-02-23 罗春晖 带辅助功能的电动独轮车以及使用辅助功能的行驶方法
CN106882306A (zh) * 2015-12-15 2017-06-23 陕西承洋电子智能科技有限公司 一种新型单轮电动机车
CN108297964A (zh) * 2018-02-11 2018-07-20 坎德拉(深圳)科技创新有限公司 双足机器人及其行走控制方法
CN108454727A (zh) * 2018-02-11 2018-08-28 坎德拉(深圳)科技创新有限公司 反向同步机构及机器人
CN108466668A (zh) * 2018-02-11 2018-08-31 坎德拉(深圳)科技创新有限公司 自动滚动行走装置及其运动控制方法
CN108515508A (zh) * 2018-02-11 2018-09-11 坎德拉(深圳)科技创新有限公司 双轮机器人

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