Personal, green-energy, transportation device with single wheel and self-balancing function

• US 8,417,404 B2
• Filed: 10/20/2010
• Issued: 04/09/2013
• Est. Priority Date: 03/24/2010
• Status: Expired due to Fees

• Current Assignee: National Tsing Hua University
• Original Assignee: National Tsing Hua University
• Inventors: Yen, Ting-Jen, Wu, Feng-Guang, Shaw, De-In, Chen, Yu-Ting
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US12/908,154
• Publication Number:
  US 20110238247A1
• Time in Patent Office: 902 Days
• Field of Search: 701/22, 701/36, 701/124, 180/21, 180/205.1, 1802061-2068, 280/47.3, 280/47.32
• US Class Current: 701/22
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60Y 2200/12 Motorcycles, Trikes; Quads; Scooters
• CPC Class Codes: B62H 1/12 using additional wheels
• 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 2204/00 Adaptations for driving cycles by electric motor
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

The present invention relates to a personal, green-energy, transportation device with single wheel and self-balancing function, and especially to a self-balancing single-wheel transportation device. The driver can drive the transportation device by manpower, and the transportation device would simultaneously execute a self-balancing function during driving. The transportation device comprises: a body, a wheel, a pedal portion, a roller chain, an in-wheel motor, and a sensing-control module, wherein the sensing-control module is used for detecting the balance condition of the body when the transportation device is driven, and then the sensing-control module controls the in-wheel motor to output a balancing torque for maintaining the self balance of the body.

Claims

1. A self-balancing single-wheel transportation device, comprising:

a body, comprising;

a main shaft portion, having a first main shaft end and a second main shaft end, wherein a handle is attached to the first main shaft end, and a first sprocket wheel being disposed between the first main shaft end and the second main shaft end;

at least one extension shaft portion, having a first extension shaft end and a second extension shaft end, wherein the first extension shaft end is connected to the main shaft portion; and

a supporting portion, having at least one supporting bar and a supporting base, wherein one end of the supporting bar is connected to the supporting base for supporting the supporting base;

a wheel, being connected to the second extension shaft end through a center axle thereof and having a second sprocket wheel, wherein the wheel can be driven by a driving force via the second sprocket wheel;

a pedal portion, having two pedals and two axles, wherein one end of the axle is connected to the pedal, and the other end of the axle is connected to the first sprocket wheel;

a roller chain, connecting the first sprocket wheel and the second sprocket wheel, wherein when applying the driving force to the pedal portion to rotate the first sprocket wheel, the roller chain transmits a mechanical power to the second sprocket wheel;

an in-wheel motor, being disposed on the wheel and outputting a balancing torque to maintain the self balance of the body; and

a sensing-control module, being disposed on the supporting base, wherein the sensing-control module is able to sense the balancing condition of the body and control the in-wheel motor to keep the self balance of the body, the sensing control module further comprising;

an inertia-sensing unit, having an inclinometer and a gyroscope, wherein the inclinometer is adapted for detecting the tilt of the body and outputs a tilt signal, the gyroscope being used for detecting the angular velocity of the body and outputting an angular velocity signal;

a control unit, being electrically connected to the inertia-sensing unit for receiving the tilt signal and the angular velocity signal, and outputting a control signal after processing the tilt signal and the angular velocity signal;

a motor-driving unit, being electrically connected to the control unit for receiving the control signal, and according to the control signal, controlling the in-wheel motor to output the balance torque for maintaining the self balance of the body; and

a power supply unit electrically connected to the inertia-sensing unit, the control unit, the motor-driving unit, and the in-wheel motor for supplying electricity;

wherein a driver can drive the self-balancing single-wheel transportation device in three modes;

the first mode is a pure electric mode in which the driver moves the center of gravity thereof forward or backward and a self-balancing function automatically drives the self-balancing single-wheel transportation device forward or backward accordingly;

the second mode is a hybrid mode in which the driver can pedal the pedal portion so that manpower can assist the in-wheel motor to move the self-balancing single-wheel transportation device forward, and the amount of assistance depends on the posture of the driver; and

the third mode is an exercise mode in which when the self-balancing single-wheel transportation device is held statically and the wheel is lifted off the ground, and a pedaling power from the driver is transformed to an electrical power by the motor-driving unit and the control unit, and the electrical power is then stored in the power supply unit.

2. The self-balancing single-wheel transportation device of claim 1, further comprising:

two auxiliary mechanisms, with each of the auxiliary mechanisms having an auxiliary wheel, an auxiliary axle and a shock-absorbing member, wherein one end of the auxiliary axle is connected to the extension shaft second end, the other end of the auxiliary axle being connected to the auxiliary wheel, and the shock-absorbing member being disposed on the auxiliary axle; and

a seat cushion, being disposed on the supporting base and adapted for seating.

3. The self-balancing single-wheel transportation device of claim 1, wherein the body further comprises a support member, being attached to the main shaft second end and being able to hold the transportation device statically when the power is off.

4. The self-balancing single-wheel transportation device of claim 2, wherein a driver is able to turn the transportation device through the auxiliary wheel, the auxiliary axle and the shock-absorbing member if the driver laterally changes the center of gravity thereof.