Electric-powered self-balancing unicycle

• US 9,085,334 B2
• Filed: 08/22/2013
• Issued: 07/21/2015
• Est. Priority Date: 08/22/2012
• Status: Expired due to Fees

• Current Assignee: Ryno Motors, Inc.
• Original Assignee: Ryno Motors, Inc.
• Inventors: Hoffmann, Christopher J., Ozrelic, Anthony J.
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Whittington, Jess
• Application Number:
  US13/973,925
• Publication Number:
  US 20140058600A1
• Time in Patent Office: 698 Days
• Field of Search: None
• US Class Current: 1/1
• 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 for driving electrically assisted bicycles B62M6/00
• 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;

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;

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

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;

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;

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

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

2. The vehicle of claim 1, 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.

3. The vehicle of claim 2, 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.

4. The vehicle of claim 2, 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.

5. The vehicle of claim 1, 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.

6. The vehicle of claim 5, wherein the measured pitch corresponds to a pitch input received from the pitch sensor.

7. The vehicle of claim 6, 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.

8. The vehicle of claim 5, 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.

9. The vehicle of claim 1, 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.

10. The vehicle of claim 9, 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.

11. The vehicle of claim 9, wherein the second user input device comprises a hand-operated brake lever mounted to the handlebar.

12. The vehicle of claim 1, wherein the vehicle is configured to convert between an operational mode in which the vehicle travels with only the single wheel assembly contacting a support surface 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.