Self-stabilizing skateboard

• US 9,597,580 B2
• Filed: 06/16/2016
• Issued: 03/21/2017
• 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:
  US15/184,866
• Publication Number:
  US 20160291599A1
• Time in Patent Office: 278 Days
• 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. A system for controlling a self-balancing electric vehicle, comprising:

a self-balancing electric vehicle, including;

a board including first and second deck portions each configured to receive a left or right foot of a rider with a heel-toe direction of each foot oriented generally perpendicular to a direction of travel of the board;

a wheel assembly disposed between the first and second deck portions and including exactly one ground-contacting element extending above and below the board;

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 wireless signal receiver; and

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

a wireless electronic device, including;

a storage device configured to store a software application including a plurality of executable instructions;

a digital signal processor configured to execute the instructions of the software application;

a graphical user interface configured to receive user-provided information and to allow access to the user-provided information by the digital signal processor; and

a wireless signal transmitter configured to transmit signals to the wireless signal receiver of the electric vehicle based on instructions executed by the digital signal processor, including instructions based on the user-provided information.

2. The system of claim 1, wherein the user-provided information includes a top speed limit selected by the user, and wherein the motor controller is configured to limit the speed of the vehicle based on the top speed limit selected by the user.

3. The system of claim 1, wherein the user-provided information includes a top acceleration limit selected by the user, and wherein the motor controller is configured to limit the acceleration of the vehicle based on the top acceleration limit selected by the user.

4. The system of claim 1, wherein the user-provided information includes a control loop gain of the electric vehicle selected by the user, and wherein the motor controller is configured to adjust a rate at which a speed of the board is changed in response to a change in a lean angle of the board, based on the gain selected by the user.

5. The system of claim 1, wherein the user-provided information includes a turn compensation parameter selected by a user, and wherein the motor controller is configured to adjust a response of the motor to a change in at least one of roll angle and yaw angle, based on the turn compensation parameter selected by the user.

6. The system of claim 5, wherein the motor controller is configured to cause the motor to change its speed in response to a change in roll angle, based on the turn compensation parameter selected by the user.

7. The system of claim 6, wherein the motor controller is configured to cause the motor to change its rate of change of speed in response to a change in roll angle, based on the turn compensation parameter selected by the user.

8. The system of claim 1, wherein the vehicle further includes a light disposed at each end of the board, wherein the user-provided information includes a lighting mode selected by the user, and wherein the lights of the board are configured to emit light based on the lighting mode selected by the user.

9. A system for controlling a self-balancing electric vehicle, comprising:

a self-balancing electric vehicle, including;

a board including first and second deck portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board;

a wheel assembly including exactly one rotatable 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 wireless signal transmitter configured to transmit information relating to the electric vehicle; 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; and

a wireless electronic device, including;

a storage device configured to store a software application including a plurality of executable instructions;

a digital signal processor configured to execute the instructions of the software application;

a wireless signal receiver configured to receive information from the wireless signal transmitter of the vehicle; and

a graphical user interface configured to display the information relating to the electric vehicle received by the wireless signal receiver, based on the instructions executed by the digital signal processor.

10. The system of claim 9, wherein the information relating to the electric vehicle includes a battery status of the vehicle.

11. The system of claim 9, wherein the information relating to the electric vehicle includes a distance traveled by the vehicle.

12. The system of claim 9, wherein the information relating to the electric vehicle includes an operational status of at least one aspect of the vehicle.

13. The system of claim 9, wherein the information relating to the electric vehicle includes proximity of the vehicle to the wireless electronic device.

14. The system of claim 9, wherein the information relating to the electric vehicle includes a power status of the vehicle.

15. A system for controlling a self-balancing electric vehicle, comprising:

a self-balancing electric vehicle, including;

a board including first and second deck portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board;

a wheel assembly including exactly one ground-contacting element disposed between the first and second deck portions and extending equidistantly above and below the board;

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 first wireless signal receiver;

a first wireless signal transmitter; and

a motor controller configured to receive orientation information measured by the sensor and information received by the wireless signal receiver, and to cause the motor assembly to propel the electric vehicle based on at least the orientation information; and

a wireless electronic device, including;

a storage device configured to store a software application including a plurality of executable instructions;

a digital signal processor configured to execute the instructions of the software application;

a second wireless signal transmitter configured to transmit signals to the first wireless signal receiver based on instructions executed by the digital signal processor;

a second wireless signal receiver configured to receive signals from the first wireless signal transmitter; and

a graphical user interface configured to display information relating to the electric vehicle based on information received by the second wireless signal receiver, to receive information relating to the electric vehicle from a user and to allow access to the information received from the user by the digital signal processor;

wherein the instructions executed by the digital signal processor include instructions to transmit signals from the second wireless signal transmitter to the first wireless signal receiver based on the information received from the user, and instructions that cause the graphical user interface to display information received by the second wireless signal receiver from the first wireless signal transmitter.

16. The system of claim 15, wherein the information relating to the electric vehicle is selected from the set consisting of a battery status of the vehicle, a distance traveled by the vehicle, an operational status of an aspect of the vehicle, a proximity of the vehicle to the wireless electronic device, and a power status of the vehicle.

17. The system of claim 15, wherein the information transmitted by the second wireless signal transmitter to the first wireless signal receiver includes a top speed limit selected by the user, and wherein the motor controller is configured to limit the speed of the vehicle based on the top speed limit selected by the user.

18. The system of claim 15, wherein the information transmitted by the second wireless signal transmitter to the first wireless signal receiver includes a turn compensation parameter selected by a user, and wherein the motor controller is configured to adjust a response of the motor to a change in at least one of roll angle and yaw angle, based on the turn compensation parameter selected by the user.

19. The system of claim 18, wherein the motor controller is configured to cause the motor to change its speed in response to a change in roll angle, based on the turn compensation parameter selected by the user.