JPH04130596U - monocycle with power plant - Google Patents

Abstract

(57) [Summary] [Purpose] The present invention relates to a monocycle with a power unit that has only one wheel and a power unit that rotationally drives this wheel. The purpose is to [Structure] A monocycle in which only one wheel 1 is pivotally connected to a frame 2 includes power units 11 and 12 that rotationally drive the wheel 1, and a control means 16 that controls the operation of the power units 11 and 12. and an inclination sensor 17 that detects the inclination state of the frame 2, and when the detected value of the inclination state of the frame 2 increases toward the forward inclination side, the control means 16 rotates the wheel 1 in the forward direction. The operation of the power units 11 and 12 is controlled so as to promote this, and when the detected value of the inclination state of the frame 2 increases toward the backward inclination side, the power unit 11 controls the rotational drive of the wheels 1 in the forward direction. ，
12.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a monocycle in which only one wheel is pivotally connected to a frame. In particular, it concerns monocycles equipped with a power unit that rotates the wheels. do.

0002

[Conventional technology]

In recent years, monocycles (unicycles), which have only one wheel pivotally attached to a frame, have become popular. It is especially popular among children, and riding such monocycles is not recommended for children. Monocycles are beneficial for developing children's sense of balance and motor nerves. It is also used as a means of education.

0003

[Problem that the idea aims to solve]

By the way, the monocycle mentioned above is lightweight and does not take up much space, so it is suitable for certain types of transportation. It is also possible to use it as a means. In this way, monocycles can be used as a type of transportation. To be used as a stage, it requires a power plant rather than a conventional human-powered monocycle. It is more widely available and convenient.

0004 On the other hand, to ride a monocycle, you need to balance the left and right sides like a regular bicycle. Driving is difficult because you not only have to maintain your balance, but you also have to balance the front and rear. stomach. Therefore, in order to equip a monocycle with a power unit, especially the front and rear It is necessary to drive the wheels while ensuring balance, and how to control the power plant. The challenge is how to run the monocycle.

[0005] This idea was devised in view of the above-mentioned issues, and while ensuring the balance between the front and back, The purpose is to provide a monocycle with a power unit that can drive wheels. shall be.

[0006]

[Means to solve the problem]

For this reason, the monocycle with a power unit of the present invention has only one wheel on the frame. A monocycle in which the wheels are pivotally connected, a power device that rotationally drives the wheels, and a A control means for controlling the operation of the power device is provided, and the inclined shape of the frame is The control means includes a tilt sensor that detects the tilt state of the frame. When the value increases toward the forward tilt side, the power equipment is adjusted so as to promote rotational drive of the wheel toward the forward side. When the detected value of the tilting state of the frame increases toward the rearward tilting side, the wheel configured to control the operation of the power device so as to suppress the forward rotational drive of the power device. It is characterized by being

[0007]

[Effect]

In the above-mentioned monocycle with a power unit of the present invention, the frame is When the tilt state of the wheel is detected and this detected value increases toward the forward tilt side, the control means causes the wheel to tilt forward. The operation of the power unit is controlled to promote rotational drive toward the forward side, and conversely, the detected value When the tilt side increases, the control means increases the power so as to suppress the rotational drive of the wheel toward the forward side. Control the operation of the device. Therefore, for example, when starting or accelerating, the driver must By tilting the frame forward, the driver is forced to move backwards during such acceleration. It is possible to run in a stable posture while maintaining the inertial force used and the balance in the front and rear directions. Ma In addition, in order to decelerate or stop, the driver must return the forward tilt of the frame to the neutral side. This would reduce the inertial force that acts forward on the driver during deceleration, as well as the longitudinal shock. You can run in a stable posture while maintaining your balance.

[0008]

【Example】

Hereinafter, a monocycle with a power unit as an embodiment of the present invention will be explained with reference to the drawings. To explain this, Fig. 1 is a schematic side view showing the configuration, and Fig. 2 is a side view further showing the configuration. Figure 3 is a diagram schematically showing the control function related to the control of the power plant. 4 is a schematic side view showing its operation.

[0009] As shown in Figure 1, only one wheel 1 is pivotally connected to the frame 2, The arm 2 is formed into an almost triangular shape and is arranged in an inverted triangular shape, with the apex at the bottom A wheel 1 is pivotally attached to the dot part, and a handle 9 is provided at the front part of the upper side of the frame 2. A frame with a seat 8 provided at the middle and slightly rear part, and to which the wheels 1 are pivotally attached. A footrest (step) 10 is provided at the lower apex portion of 2. However, hand Le9 is not for steering, but for the driver to hold onto and maintain his/her posture. be.

0010 In addition, sprockets 4, 5, and 6 are pivotally attached to each vertex of the frame 2. Of these, the sprocket 4 is mounted on the rotating shaft of the wheel 1 so that it rotates together with the wheel 1. Sea urchins are provided. And these sprockets 4, 5, and 6 are equipped with chains. (or belt) 3 is wound around. In addition, this chain 3 has a certain tension. A tensioner 7 is provided to prevent loosening.

[0011] A power device is connected to the sprockets 5 and 6 via reduction gear mechanisms 13 and 14, respectively. Torque-controlled electric motors 11 and 12 are provided as electric motors 11 and 12, respectively. 12 output torque is transmitted from sprockets 5 and 6 to sprocket 4 via chain 3. The signal is transmitted to drive the wheels 1.

0012 The torque-controlled electric motors 11 and 12 can be controlled by controlling the supplied current. These motors 11, 1 are motors that can adjust the output torque to a target size. 2 and controls the operation of the motors 11 and 12. A controller 16 as a control means is provided.

[0013] Furthermore, a tilt sensor 17 is installed on the frame 2, and a tilt sensor 17 is installed in the front of the frame 2. It is designed to detect backward tilt. In this example, the tilt sensor 17 is The tilt sensor 17 is mounted on the frame so that it is less susceptible to disturbances applied to the frame 2. It is provided near the center of the upper side of the frame 2.

[0014] The controller 16 adjusts the rotation direction and power supply state of the motors 11 and 12. The output torque state of the motors 11 and 12 can be controlled at the same time. The output torque control of the motors 11 and 12 is performed based on the flange detected by the above-mentioned inclination sensor 17. This is done based on the tilted state of the drum 2. In other words, controller 17 , the frame 2 always returns to the upright side depending on the tilted state of the frame 2. Control.

[0015] For example, when the frame 2 tilts forward, the output torque of the motors 11 and 12 is increased. Control is performed to promote rotational drive of the wheels in the forward direction. At this time, frame The frame 2 is tilted backward so that the inertia force counteracts the force that tilts the frame 2 forward. The frame 2 attempts to return to the upright position by acting on the side.

[0016] Conversely, when frame 2 tilts backward, the output torques of motors 11 and 12 will be in opposite directions. It works like an engine brake and suppresses the rotational drive of the wheels in the forward direction. control. At this time, there is an inertial force against the force that tilts the frame 2 backward. In order to counter this, it acts on the forward leaning side of the frame 2 and returns the frame 2 to the upright side. try to make it happen

[0017] In particular, in this embodiment, the inclination state of the frame 2 detected by the inclination sensor 17 The tilt angle θ and the tilt angular velocity θ′ (=dθ/dt, where t is the time derivative) ), and based on these inclination angle θ and inclination angular velocity θ', 12 output torque is controlled.

[0018] In other words, the larger the forward tilt angle θ and forward tilt angular velocity θ' of frame 2, the more the motor By increasing the output torque of the motors 11 and 12 in the forward direction, the backward tilt angle θ of the frame 2 and the The larger the tilting speed θ', the greater the output torque of the motors 11 and 12 toward the reverse side. Listen.

[0019] Specifically, as shown in FIG. 2, for example, the inclination angle θ and the inclination angular velocity of the frame 2 are Regarding the degree θ′, the forward leaning side is positive (hereinafter expressed as P) compared to the reference state. ), set the backward tilt side to Negative (hereinafter referred to as N), and set the The magnitude of the inclination angle θ and the magnitude of the inclination angular velocity θ′ of beam 2 (both directions are considered For example, Big (hereinafter referred to as B) and Medium (hereinafter referred to as B) The model is divided into three stages: The direction of the output torque of the motors 11 and 12 is also positive (hereinafter referred to as P). ), set the side that decreases in the forward direction to negative (hereinafter expressed as N), and calculate the is also divided into the three stages of B, M, and ZO mentioned above, and the upright control fuzzy as shown in Fig. 3 is applied. The torque that should be output by the motors 11 and 12 is determined by fuzzy control based on the map. Set.

[0020] In other words, the inclination angle θ of frame 2 can be determined from the membership function (not shown). If the anteversion is large (PB), if the anteversion is medium (PM), if the anteversion is small or neutral or backward. Small inclination (ZO), medium inclination (NM), and large inclination (NB) It is divided into five fuzzy sets, and the inclination angular velocity θ' of frame 2 is also determined by a method (not shown). From the relationship function, if the acceleration toward the forward leaning side is large (PB), the acceleration toward the forward leaning side is medium. (PM), the acceleration toward the forward leaning side is small, or there is no forward/backward tilting movement, or there is no movement toward the backward leaning side. When the acceleration is small (ZO), the acceleration toward the backward side is medium (NM), and when the acceleration toward the backward side is It is divided into five fuzzy sets with the highest velocity (NB).

[0021] Then, according to the map shown in Fig. 3, the inclination angle θ and the inclination angle of frame 2 are determined. The larger the value of velocity θ' is toward the forward tilt side (that is, the closer to PB), the more the motor The output torque of the motors 11 and 12 also becomes a large value (PB) toward the forward direction, and the output torque of the frame 2 increases. The larger the values of the inclination angle θ and the inclination angular velocity θ' are toward the backward inclination side (in other words, the NB or The closer it is to NB), the larger the output torque of motors 11 and 12 is toward the reverse side (NB) becomes. Also, the values of the inclination angle θ and inclination angular velocity θ' of frame 2 are For intermediate values (PM, ZO, NM), the output torque of motors 11 and 12 also corresponds to this. and becomes an intermediate value (PM, ZO, NM).

[0022] Note that the reference state of the above-mentioned inclination angle θ is, for example, the direction of the center line CL of the frame 2. The direction is aligned with the reference line NL direction, or the upper side of frame 2 is horizontal. However, it is not necessarily limited to this, and in this example, the top side of frame 2 is A state where the inclination angle θ is 0 is defined as a state where the vehicle is slightly tilted forward from the horizontal.

[0023] Although not shown, there is a switch between the battery 15 and the motors 11 and 12. Current can be supplied to motors 11 and 12 only when this switch is connected. The control by the controller 16 described above can also be performed only when the switch is connected. It looks like this.

[0024] A monocycle with a power unit as an embodiment of the present invention is constructed as described above. As shown in Figure 4(a), the driver can sit on the seat S and use the handlebar. Turn on the switch (not shown) while holding the dollar H, and as shown in FIG. 4(b), The frame 2 is tilted forward while the center of gravity is placed in front of the frame 2. This allows the The output torque of the motors 11 and 12 is generated in the forward direction, and the vehicle moves forward.

[0025] In other words, when frame 2 is tilted forward, the value of the inclination angle θ of frame 2 changes to PB or becomes PM, and the value of the inclination angular velocity θ' (in this case, PB or PM or ZO), the magnitude of the output torque of the motors 11 and 12 is It is set to PB or PM and is controlled by the controller 16.

[0026] As a result, forward torque is applied to the vehicle by the output torque of the motors 11 and 12. , the vehicle accelerates at an acceleration according to the set torque PB or PM. Setting torque is PB This is because the inclination angle θ and the inclination angular velocity θ' of the frame 2 are both large toward the forward tilt side. Or, when one of the inclination angle θ and the inclination angular velocity θ′ is large toward the forward inclination side and the other is medium, tilt frame 2 forward to a certain large angle and at a certain large speed. In such a case, the set torque increases to PB, that is, to the forward leaning side.

[0027] Then, as shown in FIG. If the above magnitude is maintained, the inclination angular velocity θ' becomes ZO at this time, so it is shown in Fig. 3. As shown, the set torque is PM, that is, medium on the forward side, and the acceleration of the vehicle is small. It becomes.

[0028] Furthermore, the inclination angle θ of the frame 2 is set in a range from small on the forward side to small on the backward side. When adjusted to ZO) and held, the inclination angular velocity θ' becomes ZO, and the figure As shown in Figure 3, the set torque is ZO, that is, 0, and the vehicle is at a constant speed or constant speed. It will be close.

[0029] However, in this way, the speed at which the inclination angle θ of frame 2 returns from the forward tilted side to the upright side is fast, the inclination angular velocity θ' becomes NM or NB, and the inclination increases as shown in Fig. 3. If the inclination angle θ is larger on the forward side than PB or PM, the set torque is on the forward side compared to PM or ZO. Or it becomes 0, but if the inclination angle θ is small as ZO, the set torque becomes NM and in the backward direction. Ru. Therefore, in this case, the vehicle is decelerated.

[0030] In order to decelerate the vehicle, the inclination angular velocity θ' must reach a medium or higher speed in the rearward direction. This can also be done by operating the inclination angle θ as shown in Fig. 4(d). This can be done even if the vehicle is tilted backwards to a medium or higher degree, and continues until the vehicle is stopped, for example. In order to decelerate with Depending on (NM or NB), the set torque is in the backward direction of NM or NB.

[0031] These characteristics are used to start, accelerate, run at low speed, decelerate, and stop the vehicle. However, this monocycle with a power unit can also start and accelerate in the reverse direction. , can run at low speeds, decelerate, and stop.

[0032] In particular, torque control is performed so that frame 2 is always adjusted to the upright side. The stability of the vehicle in the front and rear direction is automatically ensured, making it possible to become skilled at driving a monocycle. You will be able to do it without needing to do it.

[0033] The steering of this monocycle is similar to that of a normal two-wheeled vehicle, by tilting the vehicle body in the direction of the turn. Do it as you like.

[0034] Furthermore, in the above control, the magnitude of the output torque of the motors 11 and 12 is controlled. However, depending on the inclination angle θ and the inclination angular velocity θ' of the frame 2, the motors 11 and 12 It is also conceivable to control the increase/decrease of the output torque. In this case, for example, the output torque Divide the increase/decrease of P If it is B, the output torque will be greatly increased toward the forward side, and if it is PM, the output torque will be increased toward the forward side. If it is NM, the output torque will be increased to the reverse side (in other words, the output torque will be increased by a moderate amount). If it is NB, the output torque will be greatly increased toward the reverse side (in other words, it will be greatly reduced). speed).

[0035] Furthermore, the fuzzy set may be divided into smaller pieces, e.g. Divided into four stages: large (B), medium (M), small (S), and 0 (ZO). By adding the direction to these, we have seven frames: PB, PM, PS, ZO, MS, MN, and MB. Control is performed by dividing into fuzzy sets and providing a map that is more segmented than that shown in FIG.

[0036] In addition, the output torque control of the motors 11 and 12 can be performed using frame rate control without using fuzzy sets. The amount of torque to be set according to the tilt angle θ and tilt angular velocity θ′ of the arm 2 can be determined from a mathematical formula or map. It is also conceivable to determine this and perform control based on this.

[0037] Also, as a power device, only one of the motors 11 and 12 is provided. Alternatively, other motors such as an internal combustion engine may be used instead of the electric motor.

[0038]

[Effect of the idea]

As detailed above, according to the monocycle with a power unit of the present invention, the frame In a monocycle with only one wheel pivotally connected to the a power unit for controlling the operation of the power unit; and a control means for controlling the operation of the power unit. The control means includes an inclination sensor that detects the inclination state of the frame, and the control means When the detected value of the inclination state of The operation of the power unit is controlled so that the detected value of the tilting state of the frame is on the backward tilting side. When the increase occurs, the operation of the power unit is controlled to suppress the rotational drive of the wheel in the forward direction. The simple configuration allows the front and rear balance of the frame to be controlled. Now you can drive the wheels while maintaining the stability, making it easier to drive the monocycle. By using a power plant, monocycles can be used in a wide range of areas, such as limited It can be used as a type of transportation within designated premises, or as a new sports It is also possible to use it as a tool.

[Brief explanation of drawings]

FIG. 1 is a schematic side view showing the configuration of a monocycle with a power unit as an embodiment of the present invention.

FIG. 2 is a diagram further schematically showing a side view of a monocycle with a power unit as an embodiment of the present invention.

FIG. 3 is a diagram showing a control function related to control of the power unit of a monocycle with a power unit as an embodiment of the present invention.

FIG. 4 is a schematic side view showing the operation of a monocycle with a power unit as an embodiment of the present invention.

[Explanation of symbols]

1 wheel 2 frames 3 Chain (or belt) 4,5,6 sprocket 7 Tensioner 8 sheets 9 Handle 10 Steps 11,12 Torque-controlled electric motor as a power device 13,14 Reduction gear mechanism 15 Battery 16 Controller as control means 17 Tilt sensor

Continuation of front page (72) Creator Takashi Teshima Mitsubishi Motors, 5-33-8 Shiba, Minato-ku, Tokyo Inside Kogyo Co., Ltd. (72) Creator Kazuhiko Aono Mitsubishi Motors, 5-33-8 Shiba, Minato-ku, Tokyo Inside Kogyo Co., Ltd. (72) Creator Tomohisa Tamura Mitsubishi Motors, 5-33-8 Shiba, Minato-ku, Tokyo Inside Kogyo Co., Ltd. (72) Creator Takeshi Watanabe Mitsubishi Motors, 5-33-8 Shiba, Minato-ku, Tokyo Inside Kogyo Co., Ltd. (72) Creator Kazuya Hayafune Mitsubishi Motors, 5-33-8 Shiba, Minato-ku, Tokyo Inside Kogyo Co., Ltd. (72) Creator Yoshiaki Sano Mitsubishi Motors, 5-33-8 Shiba, Minato-ku, Tokyo Inside Kogyo Co., Ltd.

Claims (1)

[Scope of utility model registration request] Claims: 1. A monocycle having only one wheel pivotally connected to a frame, comprising: a power unit for rotationally driving the wheel; and a control means for controlling the operation of the power unit; A tilt sensor for detecting a state is provided, and the control means controls the operation of the power device so as to promote rotational drive of the wheels in the forward direction when a detected value of the state of inclination of the frame increases in the forward direction. , characterized in that the power unit is configured to control the operation of the power device so as to suppress rotational drive of the wheels in the forward direction when the detected value of the inclination state of the frame increases in the backward direction. Monocycle with equipment.