Self-stabilizing skateboard

• US 9,101,817 B2
• Filed: 04/30/2014
• Issued: 08/11/2015
• Est. Priority Date: 05/06/2013
• Status: Active Grant

• Current Assignee: Future Motion, Inc.
• Original Assignee: Future Motion, Inc.
• Inventors: Doerksen, Kyle Jonathan
• Primary Examiner(s): PHAN, HAU VAN
• Application Number:
  US14/266,641
• Publication Number:
  US 20140326525A1
• Time in Patent Office: 468 Days
• Field of Search: 180/181, 180/180, 180/7.1, 180/282, 180/21, 280/87.042
• US Class Current: 1/1
• CPC Class Codes: A63C 17/014 Wheel arrangements
• CPC Class Codes: A63C 17/016 with wheels arranged in one track
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: A63C 17/223 Wheel hubs
• CPC Class Codes: A63C 17/226 Wheel mounting, i.e. arrangement connecting wheel and axle mount
• 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: A63C 2203/14 Lighting means
• CPC Class Codes: A63C 2203/24 Processing or storing data, e.g. with electronic chip
• CPC Class Codes: A63C 2203/52 Direct actuation of steering of roller skate or skateboards, e.g. by a foot plate
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 2200/14 Vehicles with one wheel only
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/70 Interactions with external data bases, e.g. traffic centres
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 53/00 Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
• CPC Class Codes: B62K 11/007 : Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G01C 19/42 : for indicating rate of turn; for integrating rate of turn
• CPC Class Codes: G01C 9/06 : Electric or photoelectric indication or reading means
• CPC Class Codes: G01P 15/18 : in two or more dimensions
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0891 : specially adapted for land vehicles
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

An electric vehicle may comprise a board including first and second deck portions each configured to receive a left or right foot of a ride, a wheel assembly disposed between the deck portions and including a ground-contacting element, a motor assembly mounted to the board and configured to rotate the ground-contacting element around an axle to propel the electric vehicle, at least one sensor configured to measure orientation information of the board, and a motor controller configured to receive orientation information measured by the sensor and to cause the motor assembly to propel the electric vehicle based on the orientation information. The electric vehicle may include exactly one ground-contacting element, and the motor may be a hub motor.

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 disposed between and extending above the first and second deck portions;

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

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

a motor controller configured to receive orientation information measured by the sensor and to cause the motor assembly to propel the electric vehicle based on the orientation information;

a first light assembly disposed at a first end portion of the board; and

a second light assembly disposed at a second end portion of the board;

wherein the first light assembly is configured to output light of a first color when the board is being propelled generally in a first direction and automatically to change color and output light of a second color when the board is being propelled generally in a second direction; and

wherein the second light assembly is configured to output light of the second color when the board is being propelled generally in the first direction and automatically to change color and output light of the first color when the board is being propelled generally in the second direction.

2. The vehicle of claim 1, wherein the motor assembly includes a hub motor.

3. The vehicle of claim 2, wherein the hub motor is internally geared.

4. The vehicle of claim 2, wherein the hub motor is direct-drive.

5. The vehicle of claim 1, wherein the first color is white and the second color is red.

6. The vehicle of claim 1, wherein the at least one sensor includes a gyro and an accelerometer collectively configured to estimate a lean angle of the board.

7. An electric skateboard, comprising:

a foot deck having first and second deck portions each configured to support a rider'"'"'s foot;

exactly one ground-contacting wheel disposed between and extending above the first and second deck portions and configured to rotate about an axle to propel the skateboard;

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

an electric motor configured to cause rotation of the wheel based on the orientation of the foot deck; and

a first light assembly disposed at a distal end of the first deck portion; and

a second light assembly disposed at a distal end of the second deck portion;

wherein the first light assembly is configured automatically to output light of a first color when the board is being propelled generally in a first direction and automatically to output light of a second color when the board is being propelled generally in a second direction; and

wherein the second light assembly is configured automatically to output light of the second color when the board is being propelled generally in the first direction and automatically to output light of the first color when the board is being propelled generally in the second direction.

8. The skateboard of claim 7, wherein the motor is a hub motor.

9. The skateboard of claim 7, wherein the at least one sensor includes a gyro configured to measure pivotation of the foot deck about a pitch axis.

10. The skateboard of claim 9, wherein the at least one sensor further includes an accelerometer, and wherein the gyro and the accelerometer are collectively configured to measure orientation of the foot deck about pitch, roll and yaw axes.

11. The skateboard of claim 7, further including a rider detection device configured to determine if a rider'"'"'s feet are disposed on the foot deck, and to send a signal causing the motor to enter an active state when the rider'"'"'s feet are determined to be disposed on the foot deck.

12. A self-balancing electric vehicle, comprising:

a frame defining a plane;

a first deck portion mounted to the frame and configured to support a first foot of a rider;

a second deck portion mounted to the frame and configured to support a second foot of a rider;

a wheel mounted to the frame between the deck portions, extending above and below the plane and configured to rotate about an axis lying in the plane;

at least one sensor mounted to the frame and configured to sense orientation information of the frame;

a motor controller configured to receive the orientation information from the sensor and to generate a motor control signal in response to the orientation information;

a motor configured to receive the motor control signal from the motor controller and to rotate the wheel in response, thus propelling the skateboard;

a first skid pad and a first illuminator disposed at a distal end of the first deck portion; and

a second skid pad and a second illuminator disposed at a distal end of the second deck portion;

wherein each skid pad includes an aperture configured to allow light from the corresponding illuminator to shine through while preventing the illuminator from contacting the ground; and

wherein the first illuminator is configured automatically to output light of a first color when the frame is being propelled generally in a first direction and automatically to output light of a second color when the frame is being propelled generally in a second direction, and the second illuminator is configured automatically to output light of the second color when the frame is being propelled generally in the first direction and automatically to output light of the first color when the frame is being propelled generally in the second direction.

13. The electric vehicle of claim 12, wherein the motor is an electric direct-drive hub motor.

14. The electric vehicle of claim 12, wherein the at least one sensor includes a gyro and a 3-axis accelerometer collectively configured to sense orientation information sufficient to estimate a lean angle of the frame including pivotation about pitch, roll and yaw axes.

15. The electric vehicle of claim 12, further comprising a fender attached to at least one of the deck portions and configured to prevent water traversed by the wheel from splashing onto a rider.

16. The electric vehicle of claim 15, wherein the fender is attached to both of the first and second deck portions and substantially entirely separates the wheel from the rider.