ELECTRIC-POWERED SELF-BALANCING UNICYCLE

• US 20140058600A1
• Filed: 08/22/2013
• Published: 02/27/2014
• Est. Priority Date: 08/22/2012
• Status: Active Grant

• Current Assignee: Ryno Motors, Inc.
• Original Assignee: Ryno Motors, Inc.
• Inventors: HOFFMANN, Christopher J., OZRELIC, Anthony J.
• Granted Patent: US 9,085,334 B2
• Time in Patent Office: Days
• US Class Current: 701/22
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2009 for braking
• CPC Class Codes: B60L 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2220/42 with use of more than one motor
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/36 Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2250/24 by lever actuation
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 2270/142 acoustic
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: B60L 3/0046 relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 3/0069 relating to the isolation, e.g. ground fault or leak current
• CPC Class Codes: B60L 3/0092 with use of redundant elements for safety purposes
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 58/18 : of two or more battery modules
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: B60L 7/12 : for vehicles propelled by dc motors
• CPC Class Codes: B62K 1/00 : Unicycles
• CPC Class Codes: B62K 11/007 : Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 19/30 : Frame parts shaped to receive other cycle parts or accessories axle suspensions B62K25/00
• CPC Class Codes: B62K 21/12 : Handlebars; Handlebar stems
• CPC Class Codes: B62K 2204/00 : Adaptations for driving cycles by electric motor
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

An electric powered self-balancing unicycle may include a single wheel assembly having a drive system substantially contained within the wheel, a frame and handlebars including a four-bar linkage mechanism pivotably connected to the wheel assembly by a fork.

Claims

1. A one-wheeled vehicle comprising:

a wheel assembly including a single wheel having an axis of rotation and a rim having an inner circumference;

an electric drive system coupled to the wheel assembly and substantially contained within the inner circumference of the rim;

a frame generally oriented perpendicular to the axis of rotation of the wheel, the frame having a free end portion and a pivoting end portion;

a handlebar operatively connected to the free end portion of the frame; and

a support assembly having a first end pivotably connected to the pivoting end portion of the frame and a second end affixed to the wheel assembly;

wherein the frame is configured to pivot side to side relative to the wheel assembly, as limited by a mechanical stop.

2. The vehicle of claim 1, wherein the pivotable connection between the connector assembly and the frame comprises a head tube disposed behind a vertical line running through the axis of rotation.

3. The vehicle of claim 2, wherein the head tube angle is about 15 to about 35 degrees relative to vertical.

4. The vehicle of claim 3, wherein the head tube angle is about 20 degrees.

5. The vehicle of claim 2, wherein the vertical line intersects a support surface at a first point, a line through a long axis of the head tube intersects the support surface at a second point, and the head tube is offset from the vertical line such that the second point is behind the first point relative to a forward direction of vehicle travel.

6. The vehicle of claim 1, further comprising a seat assembly for carrying the weight of a rider, the seat assembly being operatively connected to the frame between the free end and the pivoting end.

7. The vehicle of claim 6, the seat assembly further comprising an adjustable spring configured to absorb shocks and to adjust a height of the seat assembly relative to the frame.

8. The vehicle of claim 1, further comprising a first bell crank operatively connected to the free end portion of the frame, a second bell crank operatively connected to the pivoting end portion of the frame, and a drag link connecting the first bell crank to the second bell crank, wherein the first bell crank, second bell crank, frame, and drag link together form a parallelogram four-bar linkage mechanism.

9. The vehicle of claim 8, wherein the second bell crank is fixed, and the handlebar is operatively connected to the first bell crank, such that the four-bar linkage mechanism is configured to maintain a substantially constant orientation of the handlebar relative to the wheel assembly as the frame is pivoted side to side.

10. The vehicle of claim 8, the four bar linkage mechanism further comprising a biasing member configured to bias the frame toward a neutral side-to-side orientation.

11. The vehicle of claim 10, wherein the biasing member comprises a spring, the spring being mounted coaxial to the drag link.

12. A one-wheeled vehicle comprising:

a wheel assembly including a single wheel having an axis of rotation and a rim having an inner circumference;

a drive system coupled to the wheel assembly and including an electric motor;

a controller for controlling a variable speed and direction of the electric motor, the controller in electronic communication with an attitude sensing system;

wherein the drive system, controller, and attitude sensing system are all substantially contained within the inner circumference of the rim; and

further wherein the controller is configured to automatically adjust the speed and direction of the motor, without a manual throttle control, to reduce a difference between a pitch measured by the attitude sensing system and a zero pitch setpoint.

13. The vehicle of claim 12, further including a first user input device in electronic communication with the controller, the first user input device being operable by a user to provide a selectable attitude offset amount to the controller, wherein the controller is configured to adjust the zero pitch setpoint by the offset amount before comparing the adjusted setpoint to the measured pitch.

14. The vehicle of claim 13, wherein the first user input device comprises a two-pushbutton switch mounted to the handlebar, wherein a first of the two pushbuttons provides a positive amount of attitude offset and a second of the two pushbuttons provides a negative amount of attitude offset.

15. The vehicle of claim 13, wherein the selected attitude adjustment amount is retained in a nonvolatile memory for maintaining the adjusted zero pitch setpoint after cycling power to the controller.

16. The vehicle of claim 12, wherein the attitude sensing system comprises a pitch sensor configured to determine an up and down rotation of the vehicle about an axis parallel to the axis of rotation of the wheel, and a roll sensor configured to determine a side to side rotation of the vehicle about an axis parallel to a direction of vehicle travel.

17. The vehicle of claim 16, wherein the measured pitch corresponds to a pitch input received from the pitch sensor.

18. The vehicle of claim 17, wherein the controller is configured to compensate for a pitch error in the received pitch input based on a roll input received from the roll sensor.

19. The vehicle of claim 16, wherein the controller is configured to shut off power to the vehicle in response to a received roll input indicating that the vehicle has fallen over.

20. The vehicle of claim 12, further including a second user input device in electronic communication with the controller, the second user input device being operable by a user to provide a selectably variable braking input to the controller.

21. The vehicle of claim 20, wherein the controller is configured to slow the vehicle in response to receiving a braking input from the second user input device, using only a regenerative braking system.

22. The vehicle of claim 20, wherein the second user input device comprises a hand-operated brake lever mounted to the handlebar.

23. A one-wheeled vehicle comprising:

a single wheel assembly including a single wheel having an axis of rotation and a rim having an inner circumference, and a tire attached to the rim;

an electric drive system coupled to the wheel assembly and substantially contained within the inner circumference of the rim;

a frame including a body having an extension member generally extending perpendicular to the axis of rotation of the wheel, and a fork operatively connected to the body, the fork having two legs straddling the wheel assembly;

wherein a distal end of each of the legs of the fork is attached to the wheel assembly only at a respective connection spaced from the axis of rotation of the wheel.

24. The vehicle of claim 23, wherein the vehicle is configured to travel in an operational mode in which the vehicle travels with only the single wheel assembly contacting a support surface.

25. The vehicle of claim 24, wherein the vehicle is further configured to convert between the operational mode and a parked mode in which the frame is rotated about the axis of the wheel such that the extension member contacts the support surface and resists lateral toppling of the vehicle.

26. The vehicle of claim 23, wherein the wheel rotates about an axle, and each of the distal ends of the fork are attached to the wheel assembly above the axle relative to the support surface when the vehicle is in the operational mode.

27. The vehicle of claim 26, the electric drive system further comprising a battery, wherein the battery is accessible through the side of the wheel assembly without interference from the fork.

28. The vehicle of claim 26, the wheel assembly further including a first hub cover disposed over a first lateral side of the wheel and a second hub cover disposed over a second lateral side of the wheel opposite the first side, the first hub cover being affixed to the axle and the second hub cover being affixed to the drive system.

29. The vehicle of claim 28, wherein the distal ends of the fork legs are respectively attached to the first and second hub covers.

30. The vehicle of claim 23, wherein the extension member comprises a hoop structure.

31. The vehicle of claim 30, wherein the hoop structure comprises two legs extending generally perpendicular to the axis of rotation and a crossbar oriented parallel to the axis of rotation rigidly linking distal ends of the two legs.