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

A personal, green-energy, transportation device with single wheel and self-balancing function, comprising:

• a body, comprising:
• a main shaft portion, having a main shaft first end and a main shaft second end, wherein a handle is attached to the main shaft first end, and a first sprocket wheel being disposed between the main shaft first end and the main shaft second end;
• at least one extension shaft portion, having an extension shaft first end and an extension shaft second end, wherein the extension shaft first 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 extension shaft second end through an 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 another 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 transmitting a mechanical power to the second sprocket wheel and consequently making the wheel to rotate;
• 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, and comprises:
• an inertia-sensing unit, having an inclinometer and a gyroscope, wherein the inclinometer is adopted 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;
• and
• 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.