Vehicle rider detection using strain gauges

• US 10,308,306 B2
• Filed: 03/05/2018
• Issued: 06/04/2019
• Est. Priority Date: 06/02/2016
• Status: Active Grant

• Current Assignee: Future Motion, Inc.
• Original Assignee: Future Motion, Inc.
• Inventors: Doerksen, Kyle Jonathan, Wood, Daniel
• Primary Examiner(s): Vanaman, Frank B
• Application Number:
  US15/911,906
• Publication Number:
  US 20180194425A1
• Time in Patent Office: 456 Days
• 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: A63C 17/26 with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
• CPC Class Codes: A63C 2203/12 Electrically powered or heated
• 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 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2200/24 Personal mobility vehicles
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/42 related to electric machines
• CPC Class Codes: B60L 2250/22 by presence detection
• CPC Class Codes: B62J 45/41 characterised by the type of sensor
• CPC Class Codes: B62J 45/42 characterised by mounting
• 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

An electric vehicle may include a board having two deck portions each configured to receive a foot of a rider, and a wheel assembly disposed between the deck portions. A motor assembly may drive the wheel assembly in response to board orientation and rider presence information. A rider detection mechanism may include one or more strain gauges, and may be configured to detect rider presence and rider weight information. A responsiveness of the motor may be automatically adjusted based on the rider weight information.

Claims

1. An electric vehicle comprising:

a board including first and second deck portions each configured to receive a left or right foot of a rider;

a wheel assembly including a ground-contacting element;

a motor assembly mounted to the board and configured to rotate the ground-contacting element around an axle;

at least one orientation sensor configured to measure orientation information of the board;

a first strain gauge and a second strain gauge spaced apart across a longitudinal centerline of the board and configured to produce rider presence information and to sense strain along a length dimension of the board and along a width dimension of the board;

wherein the first strain gauge and the second strain gauge are configured to determine twisting or bending of the board with respect to the longitudinal centerline of the board and with respect to a fulcral axis of the board; and

a motor controller in communication with the motor assembly, the motor controller configured to receive the orientation information and the rider presence information, and to cause the motor assembly to propel the electric vehicle based on the board orientation information and the rider presence information.

2. The electric vehicle of claim 1, wherein an aggressiveness of the motor controller response to the board orientation information is selectable by the user.

3. The electric vehicle of claim 2, wherein the selected aggressiveness of the motor controller is associated with a Proportional-Integral-Derivative (PID) loop.

4. The electric vehicle of claim 2, wherein the selected aggressiveness of the motor controller is associated with a current-resistance (IR) compensation circuit.

5. The electric vehicle of claim 1, wherein the ground contacting element extends laterally across at least a majority of a width of the board.

6. The electric vehicle of claim 1, wherein the first and second deck portions are formed as a single piece.

7. The electric vehicle of claim 1, wherein the first and second strain gauges are each disposed on the second deck portion.

8. The electric vehicle of claim 1, wherein the first and second strain gauges each comprise a respective full-bridge strain gauge circuit.

9. A self-balancing electric vehicle comprising:

a board having a first deck portion and a second deck portion, collectively defining a plane and having a longitudinal axis, the first deck portion configured to support a first foot of a rider oriented generally perpendicular to the longitudinal axis, the second deck portion configured to support a second foot of the rider oriented generally perpendicular to the longitudinal axis;

at least one wheel mounted to the board and configured to rotate about an axle coupled to the board;

an orientation sensor coupled to the board and configured to sense orientation information of the board;

a first strain gauge load cell and a second strain gauge load cell spaced apart across the longitudinal axis of the board, such that the first and second strain gauge load cells sense a strain applied to the board and are configured to produce rider presence information based on the sensed strain;

a motor controller configured to receive the orientation information and the rider presence information, and to generate a motor control signal in response; and

a motor configured to receive the motor control signal from the motor controller and to rotate the at least one wheel in response, thereby propelling the electric vehicle;

wherein the first strain gauge load cell and the second strain gauge load cell are configured to sense strain along a length dimension of the board and along a width dimension of the board;

wherein the first strain gauge load cell and the second strain gauge load cell are configured to determine twisting or bending of the board with respect to the longitudinal axis of the board and with respect to a fulcral axis of the board;

wherein the motor controller is configured to analyze the sensed strain at the first strain gauge load cell and the second strain gauge load cell and determine rider foot placement; and

wherein the motor controller is configured to respond to a change in foot placement by triggering a predetermined set of events.

10. The electric vehicle of claim 9, wherein the first strain gauge load cell comprises a full-bridge strain gauge circuit.

11. The electric vehicle of claim 9, wherein the first strain gauge load cell and the second strain gauge load cell are disposed on the second deck portion.

12. The electric vehicle of claim 9, wherein the first deck portion is coupled to the second deck portion by a rigid frame.

13. The electric vehicle of claim 12, wherein the rigid frame, the first deck portion, and the second deck portion are formed as a single piece.

14. The electric vehicle of claim 9, wherein the at least one wheel extends laterally across at least a majority of a width of the board.

15. The electric vehicle of claim 9, wherein the vehicle includes exactly one wheel.

16. The electric vehicle of claim 9, wherein the predetermined set of events includes motor shut down.

17. An electric vehicle comprising:

a foot deck having first and second deck portions each configured to support a rider'"'"'s foot oriented generally perpendicular to a longitudinal axis of the foot deck;

a ground-contacting wheel configured to rotate about an axle to propel the electric skateboard;

at least one orientation sensor configured to measure an orientation of the foot deck;

a first strain gauge load cell and a second strain gauge load cell spaced apart across the longitudinal axis of the foot deck, such that the first and second strain gauge load cells sense a strain applied to the foot deck and are configured to produce rider presence information based on the sensed strain; and

an electric motor configured to cause rotation of the ground contacting wheel based on the orientation of the foot deck and the rider presence information;

wherein the first strain gauge load cell and the second strain gauge load cell are configured to sense strain along a length dimension of the foot deck and along a width dimension of the foot deck; and

wherein the first strain gauge load cell and the second strain gauge load cell are configured to determine twisting or bending of the foot deck with respect to the longitudinal axis of the foot deck and with respect to a fulcral axis of the foot deck.

18. The electric vehicle of claim 17, wherein the first strain gauge load cell comprises a full-bridge strain gauge circuit.

19. The electric vehicle of claim 17, wherein the first strain gauge load cell and the second strain gauge load cell each consist of exactly one strain gauge, and the strain gauges are spaced apart symmetrically across a width of the foot deck, on either side of the longitudinal axis.

20. The electric skateboard of claim 17, wherein a responsiveness characteristic of the electric motor corresponds to a change in a voltage applied to the electric motor for a given change in the orientation of the foot deck.