Pitch-propelled vehicle

• US 10,307,659 B2
• Filed: 11/09/2015
• Issued: 06/04/2019
• Est. Priority Date: 10/21/2013
• Status: Active Grant

• Current Assignee: Equalia, LLC
• Original Assignee: Equalia, LLC
• Inventors: Bigler, Robert A.
• Primary Examiner(s): Restifo, Jeffrey J
• Application Number:
  US14/936,572
• Publication Number:
  US 20160059109A1
• Time in Patent Office: 1,303 Days
• Field of Search: 180180, 180181
• CPC Class Codes: A63C 17/014 Wheel arrangements
• CPC Class Codes: A63C 17/016 with wheels arranged in one track
• CPC Class Codes: A63C 17/08 single-wheel type with single axis
• CPC Class Codes: A63C 17/12 with driving mechanisms
• 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 2200/14 Vehicles with one wheel only
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B62J 45/4152 for sensing longitudinal inclination of the cycle
• CPC Class Codes: B62J 50/22 electronic, e.g. displays
• 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: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A method, system and apparatus for carrying a user including a board for supporting the user, a ground-contacting member coupled with the board, a motorized drive assembly coupled with the ground-contacting member and one or more sensors coupled with the drive assembly. In operation, the drive assembly adjusts the velocity of the ground-contacting member based on one or more distances of the board from a surface below the board as detected by the sensors. As a result, the system is able to maintain a desired velocity when ascending, descending or traversing uneven ground without the need for excessive and sometimes impossible tilting of the board.

Claims

1. A vehicle for carrying a user comprising:

a board for supporting the user;

a ground-contacting member coupled with the board;

a motorized drive assembly including a controller and coupled with the ground-contacting member; and

one or more sensors coupled with the drive assembly to detect one or more characteristics of the board including a pitch of the board relative to a surface below the board, wherein the controller of the drive assembly increases the velocity of the ground-contacting member in a direction based on a value of the pitch of the board in the direction increasing as detected by the sensors.

2. The vehicle of claim 1, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle.

3. The vehicle of claim 2, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board.

4. The vehicle of claim 2, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation.

5. The vehicle of claim 1, wherein the pitch is calculated by determining a difference between one or more distances of the board from the surface below the board and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface.

6. The vehicle of claim 1, further comprising a vehicle locking module operatively coupled with the drive assembly, wherein the vehicle locking module prevents operation of the drive assembly when locked.

7. The vehicle of claim 1, wherein the ground-contacting member comprises one of the group consisting of a wheel, a ball, a tread and arcuate sections of a discontinuous wheel.

8. The vehicle of claim 1, further comprising one or more locking fasteners coupled to the board, wherein the ground-contacting member is able to selectively couple and decouple from the board via the fasteners by locking or unlocking the fasteners.

9. The vehicle of claim 1, further comprising one or more grips coupled to the top of the board such that the grips protruding above the board for a user to lift the board with their feet.

10. The vehicle of claim 1, wherein the sensors are acoustic sensors and the drive assembly comprises a direct drive motor that drives the ground-contacting member.

11. The vehicle of claim 1, wherein the drive assembly delays each adjustment of the velocity of the ground-contacting member for a period, wherein the length of the period for each adjustment is based on a calculated time that the ground-contacting member will contact a point on the surface on which the adjustment was based.

12. The vehicle of claim 1, further comprising one or more rider sensors coupled to the ground-contacting member, wherein the rider sensors sense when a user or payload is on the board based on a force on the board by the ground-contacting member detected by the rider sensors.

13. The vehicle of claim 1, wherein the motorized drive assembly utilizes sinusoidal commutation to control the operation of the ground-contacting member.

14. A method for carrying a user comprising:

assuming a position on a vehicle comprising;

a board for supporting the user;

a single ground-contacting member coupled with the board;

a motorized drive assembly including a controller and coupled with the ground-contacting member; and

one or more sensors coupled with the drive assembly to detect one or more characteristics of the board including a pitch of the board relative to a surface below the board, wherein the controller of the drive assembly increases the velocity of the ground-contacting member in a direction based on a value of the pitch of the board in the direction increasing as detected by the sensors; and

operating the vehicle by causing the board to tilt with respect to the surface.

15. The method of claim 14, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle.

16. The method of claim 15, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board.

17. The method of claim 15, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation.

18. The method of claim 14, wherein the pitch is calculated by determining a difference between one or more distances of the board from the surface below the board and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface.

19. The method of claim 14, wherein the vehicle further comprises a vehicle locking module operatively coupled with the drive assembly, wherein the vehicle locking module prevents operation of the drive assembly when locked.

20. The method of claim 14, wherein the ground-contacting member comprises one of the group consisting of a wheel, a ball, a tread and arcuate sections of a discontinuous wheel.

21. The method of claim 14, further comprising selectively coupling or decoupling the ground-contacting member from the board via one or more locking fasteners coupled to the board by locking or unlocking the fasteners.

22. The method of claim 14, wherein the vehicle further comprises one or more grips coupled to the top of the board such that the grips protruding above the board a user to lift the board with their feet.

23. The method of claim 14, wherein the sensors are acoustic sensors and the drive assembly comprises a direct drive motor that drives the ground-contacting member.

24. The method of claim 14, wherein the drive assembly delays each adjustment of the velocity of the ground-contacting member for a period, wherein the length of the period for each adjustment is based on a calculated time that the ground-contacting member will contact a point on the surface on which the adjustment was based.

25. The method of claim 14, wherein the vehicle further comprises one or more rider sensors coupled to the ground-contacting member, wherein the rider sensors sense when a user or payload is on the board based on a force on the board by the ground-contacting member detected by the rider sensors.