Pitch-propelled vehicle

• US 10,369,453 B2
• Filed: 08/15/2017
• Issued: 08/06/2019
• 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:
  US15/677,641
• Publication Number:
  US 20170361205A1
• Time in Patent Office: 721 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: A63C 17/265 with handles or hand supports
• CPC Class Codes: A63C 2203/10 enabling folding, collapsing
• CPC Class Codes: A63C 2203/12 Electrically powered or heated
• CPC Class Codes: A63C 2203/18 Measuring a physical parameter, e.g. speed, distance
• CPC Class Codes: B60L 2200/14 Vehicles with one wheel only
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• 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 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

A method, system and apparatus for carrying a user including a board for supporting the user, a plurality of ground-contacting members coupled with the board, a motorized drive assembly coupled with the ground-contacting members 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.

Claims

1. A vehicle for carrying a user comprising:

a board having an elongated dimension and a shorter dimension perpendicular to the elongated dimension;

a first ground-contacting member coupled with the board and configured to rotate about a first axis that is parallel to the shorter dimension;

a second ground-contacting member coupled with the board and configured to rotate about a second axis parallel to the shorter dimension, wherein the first and second ground-contacting members are adjacent to each other such that when at rest the first ground-contacting member and the second ground-contacting member have a resting alignment with respect to each other;

one or more deflection sensors coupled with the drive elements, wherein the deflection sensors determine a misalignment value of the first and second ground-contacting members by measuring a distance that the alignment of the first ground-contacting member and the second ground-contacting member deviates from the resting alignment; and

one or more motorized drive elements coupled with the first and the second ground-contacting members, wherein the drive elements;

determine a base rotational speed based on a pitch of the board about the first axis;

determine a tilt of the board about the elongated dimension based on the misalignment value; and

if the tilt exceeds a threshold value, cause the first ground-contacting member to rotate at a first velocity and the second ground-contacting member to rotate at a second velocity, wherein a difference between the first velocity and the second velocity is based on the tilt.

2. The vehicle of claim 1, wherein one or both of the group consisting of the first velocity and the second velocity are different than the base rotational speed in an amount that is based on the tilt.

3. The vehicle of claim 1, wherein, if the base rotational speed is equal to zero and the tilt exceeds the threshold value, the first velocity has a different direction than the second velocity such that the first ground-contacting member rotates in a different direction than the second ground-contacting member.

4. The vehicle of claim 1, further comprising one or more tilt sensors coupled with the drive elements, wherein the drive elements determine the tilt with respect to a surface below the board based on one or more distances of the board from the surface as detected by the tilt sensors.

5. The vehicle of claim 4, wherein at least one of the tilt sensors is positioned on a first end of the shorter dimension of the board and at least another one of the tilt sensors is positioned on a second end of the shorter dimension of the board that is opposite from the first end.

6. The vehicle of claim 5, wherein the tilt is calculated by determining a difference between the one or more distances and an average of two or more of the distances.

7. The vehicle of claim 1, further comprising one or more gyroscopic sensors coupled with the drive elements, wherein the drive elements determine the tilt with respect to gravity using the gyroscopic sensors.

8. The vehicle of claim 1, wherein the distance is measured in a direction perpendicular to the shorter dimension and the elongated dimension of the board.

9. The vehicle of claim 1, wherein the first ground-contacting member and the second ground-contacting member each have a separate axle such that the axle of the first ground-contacting member and the axle of the second ground-contacting member are able to move with respect to each other.

10. The vehicle of claim 1, further comprising one or more pitch sensors coupled with the drive elements, wherein the drive elements determine the pitch based on one or more distances of the board from a surface below the board as detected by the pitch sensors.

11. The vehicle of claim 1, wherein the board as balanced by the first and second ground-contacting members is unstable with respect to tipping about the first axis when the motorized drive elements are not in operation, and the motorized drive elements are configured to automatically balance the board with respect to tipping about the first axis when the motorized drive elements are in operation.

12. A method of operating a vehicle having an elongated board, the method comprising:

providing a vehicle comprising;

a board having an elongated dimension and a shorter dimension perpendicular to the elongated dimension;

a first ground-contacting member coupled with the board and configured to rotate about a first axis that is parallel to the shorter dimension;

a second ground-contacting member coupled with the board and configured to rotate about a second axis parallel to the shorter dimension, wherein the first and second ground-contacting members are adjacent to each other such that when at rest the first ground-contacting member and the second ground-contacting member have a resting alignment with respect to each other;

one or more deflection sensors coupled with the drive elements, wherein the deflection sensors determine a misalignment value of the first and second ground-contacting members by measuring a distance that the alignment of the first ground-contacting member and the second ground-contacting member deviates from the resting alignment; and

one or more motorized drive elements coupled with the first and the second ground-contacting members; and

with the drive elements;

determining a base rotational speed based on a pitch of the board about the first axis;

determining a tilt of the board about the elongated dimension based on the misalignment value; and

if the tilt exceeds a threshold value, causing the first ground-contacting member to rotate at a first velocity and the second ground-contacting member to rotate at a second velocity, wherein a difference between the first velocity and the second velocity is based on the tilt.

13. The method of claim 12, wherein one or both of the group consisting of the first velocity and the second velocity are different than the base rotational speed in an amount that is based on the tilt.

14. The method of claim 12, wherein, if the base rotational speed is equal to zero and the tilt exceeds the threshold value, the first velocity has a different direction than the second velocity such that the first ground-contacting member rotates in a different direction than the second ground-contacting member.

15. The vehicle of claim 12, wherein the vehicle further comprises one or more tilt sensors coupled with the drive elements, the method further comprising, with the drive elements, determining the tilt with respect to a surface below the board based on one or more distances of the board from the surface as detected by the tilt sensors.

16. The method of claim 15, wherein at least one of the tilt sensors is positioned on a first end of the shorter dimension of the board and at least another one of the tilt sensors is positioned on a second end of the shorter dimension of the board that is opposite from the first end.

17. The method of claim 16, wherein the tilt is calculated by determining a difference between the one or more distances and an average of two or more of the distances.

18. The method of claim 12, wherein the vehicle further comprises one or more gyroscopic sensors coupled with the drive elements, the method further comprising, with the drive elements, determining the tilt with respect to gravity using the gyroscopic sensors.

19. The method of claim 12, wherein the distance is measured in a direction perpendicular to the shorter dimension and the elongated dimension of the board.

20. The method of claim 12, wherein the first ground-contacting member and the second ground-contacting member each have a separate axle such that the axle of the first ground-contacting member and the axle of the second ground-contacting member are able to move with respect to each other.

21. The method of claim 12, wherein the vehicle further comprises one or more pitch sensors coupled with the drive elements, the method further comprising, with the drive elements, determining the pitch based on one or more distances of the board from a surface below the board as detected by the pitch sensors.

22. The method of claim 12, wherein the board as balanced by the first and second ground-contacting members is unstable with respect to tipping about the first axis when the motorized drive elements are not in operation, and the motorized drive elements are configured to automatically balance the board with respect to tipping about the first axis when the motorized drive elements are in operation.

23. A motorized skateboard-like vehicle for carrying a user, the vehicle comprising:

a board having an elongated dimension and a shorter dimension perpendicular to the elongated dimension;

a first ground-contacting member coupled with the board and configured to rotate about a first axis that is parallel to the shorter dimension;

a second ground-contacting member coupled with the board and configured to rotate about a second axis parallel to the shorter dimension, wherein the first and second ground-contacting members are adjacent to each other such that when at rest the first ground-contacting member and the second ground-contacting member have a resting alignment with respect to each other;

one or more deflection sensors coupled with the drive elements, wherein the deflection sensors determine a misalignment value of the first and second ground-contacting members by measuring a distance that the alignment of the first ground-contacting member and the second ground-contacting member deviates from the resting alignment, and further wherein the board forms a perimeter around the first and second ground-contacting members;

a plurality of distance sensors positioned on a bottom surface of the board and configured to measure a distance between the bottom of the board and a surface below the board; and

one or more motorized drive elements coupled with the first and the second ground-contacting members, wherein the drive elements;

determine a base rotational speed based on a pitch of the board about the first axis;

determine a tilt of the board about the elongated dimension based on the misalignment value; and

if the tilt exceeds a threshold value, cause the first ground-contacting member to rotate at a first velocity and the second ground-contacting member to rotate at a second velocity, wherein a difference between the first velocity and the second velocity is based on the tilt.