Suspension system for one-wheeled vehicle
First Claim
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1. A method for absorbing shocks encountered by a self-balancing electric vehicle, the method comprising:
- rotating a wheel of a one-wheeled vehicle around an axle using a motor assembly, the vehicle including a board tiltable about a tilt axis oriented perpendicular to a direction of travel, wherein the vehicle is configured to receive left and right feet of a rider oriented generally parallel to the tilt axis;
measuring tilt orientation information of the board using at least one sensor;
based on the tilt orientation information, using a motor controller to cause the motor assembly to propel the vehicle; and
compressing and expanding a shock absorber in response to the board moving relative to the axle as a result of wheel movement during operation;
wherein the shock absorber comprises a first linkage assembly connecting a first end of the shock absorber to the board, and a second linkage assembly connecting a second end of the shock absorber to the wheel; and
wherein at least one member of one of the linkage assemblies is rotatable on an axis extending perpendicular to the direction of travel of the board.
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Abstract
A self-propelled, one-wheeled vehicle may include a suspension system configured to provide arcuate, generally vertical motion of a board relative to an axle of a central wheel assembly when the vehicle encounters obstacles and bumps on a riding surface. Illustrative suspension systems may include a shock absorber and a swingarm that couple the wheel assembly to the board.
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Citations
20 Claims
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1. A method for absorbing shocks encountered by a self-balancing electric vehicle, the method comprising:
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rotating a wheel of a one-wheeled vehicle around an axle using a motor assembly, the vehicle including a board tiltable about a tilt axis oriented perpendicular to a direction of travel, wherein the vehicle is configured to receive left and right feet of a rider oriented generally parallel to the tilt axis; measuring tilt orientation information of the board using at least one sensor; based on the tilt orientation information, using a motor controller to cause the motor assembly to propel the vehicle; and compressing and expanding a shock absorber in response to the board moving relative to the axle as a result of wheel movement during operation; wherein the shock absorber comprises a first linkage assembly connecting a first end of the shock absorber to the board, and a second linkage assembly connecting a second end of the shock absorber to the wheel; and wherein at least one member of one of the linkage assemblies is rotatable on an axis extending perpendicular to the direction of travel of the board. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for absorbing shocks encountered by a self-balancing electric vehicle, the method comprising:
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rotating a wheel of an electric vehicle around an axis of rotation using a motor assembly, the vehicle including a tiltable board, wherein the board defines a riding plane and is configured to receive left and right feet of a rider oriented generally parallel to the axis of rotation; measuring tilt orientation information of the board using at least one sensor; based on the tilt orientation information, using a motor controller to cause the motor assembly to propel the vehicle; and in response to bumps encountered by the wheel, allowing the riding plane of the board to move in an arcuate, generally vertical direction relative to the axis of rotation of the wheel, using a linkage assembly linking the wheel to the board; wherein the linkage assembly includes; first and second extension arms, each rotatably attached to a respective lateral side of the wheel; a connecting member rigidly interconnecting the extension arms; a shock absorber having a first end coupled to the connecting member; and a first coupling member joining a second end of the shock absorber to the board. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method for absorbing shocks encountered by a self-balancing electric vehicle, the method comprising:
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rotating a wheel of a one-wheeled vehicle around an axle using a motor assembly, the vehicle including a board tiltable about a tilt axis oriented perpendicular to a direction of travel, wherein the board includes first and second deck portions each configured to receive a left or a right foot of a rider; measuring tilt orientation information of the board using at least one sensor; based on the tilt orientation information, using a motor controller to cause the motor assembly to propel the vehicle; and using a suspension system to absorb shocks when the board moves relative to the axle during operation; wherein the suspension system includes a shock absorber operatively coupled to a swingarm having a proximal end pivotably coupled to the board and a distal end coupled to the axle, such that the board is displaceable relative to the axle along an arcuate, generally vertical path; and wherein the shock absorber is coupled to the swingarm and the board on a first side of the wheel, the suspension system further including a torque arm coupled to the axle and the board on a second side of the wheel. - View Dependent Claims (18, 19, 20)
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Specification