Pitch-propelled vehicle

• US 9,643,077 B2
• Filed: 01/27/2016
• Issued: 05/09/2017
• 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:
  US15/008,238
• Publication Number:
  US 20160136508A1
• Time in Patent Office: 468 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: B62K 15/00 Collapsible or foldable cycles
• CPC Class Codes: B62K 15/008 foldable about 2 or more axes
• 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 ground-contacting member coupled with the board, a motorized drive assembly coupled with the ground-contacting member 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. As a result, the system is able to maintain a desired velocity when ascending, descending or traversing uneven ground without the need for excessive and sometimes impossible tilting of the board.

Claims

1. A vehicle for carrying a user comprising:

a board having a plurality of detached sections coupled together by one or more hinges such that the sections are able to pivot about the hinges;

a single ground-contacting member coupled with the board; and

a motorized drive assembly coupled with the ground-contacting member, wherein the drive assembly adjusts the velocity of the ground-contacting member, wherein the ground-contacting member rotates about an axle and the axle acts as a pin of the hinges such that the sections pivot about the axle.

2. The vehicle of claim 1, wherein the ground-contacting member rotates about a hollow axle having an exposed channel that extends though the hollow axle.

3. The vehicle of claim 1, wherein the board has one or more additional hinges that with the one or more hinges rotatably couple together three of the sections of the board.

4. The vehicle of claim 1, wherein the board comprises one or more handles that are each defined by one of the group consisting of a hole that extends through the board or a channel that extends only partially into the bottom of the board.

6. The vehicle of claim 1, further comprising one or more sensors coupled with the drive assembly, wherein 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.

7. The vehicle of claim 6, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle.

8. The vehicle of claim 7, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board.

9. The vehicle of claim 7, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation.

10. The vehicle of claim 6, wherein the drive assembly adjusts the velocity of the ground-contacting member based on the one or more distances by using the distances to calculate a pitch of the board with respect to the surface and applying a force to the ground-contacting member in order to achieve a predefined velocity of the ground-contacting member that corresponds to the pitch.

11. The vehicle of claim 10, wherein the pitch is calculated by determining a difference between the one or more distances and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface.

5. A vehicle for carrying a user comprising:

a board having a plurality of detached sections coupled together by one or more hinges such that the sections are able to pivot about the hinges;

a single ground-contacting member coupled with the board; and

a motorized drive assembly coupled with the ground-contacting member, wherein the drive assembly adjusts the velocity of the ground-contacting member, wherein two or more of the sections of the board house at least one electronic component of the drive assembly and the board further comprises one or more interfaces that electrically couple together two or more of the electronic components from different ones of the two or more of the sections when the board is in an unfolded position.

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

providing a vehicle comprising;

a board having a plurality of detached sections coupled together by one or more hinges such that the sections are able to pivot about the hinges;

a single ground-contacting member coupled with the board; and

a motorized drive assembly coupled with the ground-contacting member, wherein the drive assembly adjusts the velocity of the ground-contacting member;

moving the board between an unfolded position into a folded position by pivoting the sections about the hinges, wherein ends of two of the sections that are on opposite sides of the board in the unfolded position are closer together in the folded position, wherein the ground-contacting member rotates about an axle and the axle acts as a pin of the hinges such that the sections pivot about the axle.

13. The method of claim 12, wherein the ground-contacting member rotates about a hollow axle having an exposed channel that extends though the hollow axle.

14. The method of claim 12, wherein the board has one or more additional hinges that with the one or more hinges rotatably couple together three of the sections of the board.

15. The method of claim 12, wherein the board comprises one or more handles that are each defined by one of the group consisting of a hole that extends through the board or a channel that extends only partially into the bottom of the board.

16. The method of claim 12, wherein the vehicle further comprises one or more sensors coupled with the drive assembly, wherein 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.

17. The method of claim 16, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle.

18. The method of claim 17, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board.

19. The method of claim 17, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation.

20. The method of claim 16, wherein the drive assembly adjusts the velocity of the ground-contacting member based on the one or more distances by using the distances to calculate a pitch of the board with respect to the surface and applying a force to the ground-contacting member in order to achieve a predefined velocity of the ground-contacting member that corresponds to the pitch.

21. The method of claim 20, wherein the pitch is calculated by determining a difference between the one or more distances and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface.

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

providing a vehicle comprising;

a board having a plurality of detached sections coupled together by one or more hinges such that the sections are able to pivot about the hinges;

a single ground-contacting member coupled with the board; and

a motorized drive assembly coupled with the ground-contacting member, wherein the drive assembly adjusts the velocity of the ground-contacting member;

moving the board between an unfolded position into a folded position by pivoting the sections about the hinges, wherein ends of two of the sections that are on opposite sides of the board in the unfolded position are closer together in the folded position, wherein two or more of the sections of the board house at least one electronic component of the drive assembly and the board further comprises one or more interfaces that electrically couple together two or more of the electronic components from different ones of the two or more of the sections when the board is in an unfolded position.

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

a board having a plurality of detached sections coupled together by one or more hinges such that the sections are able to pivot about the hinges, wherein the board comprises one or more handles that are each defined by one of the group consisting of a hole that extends through the board and further wherein two or more of the sections of the board house at least one electronic component of the drive assembly and the board further comprises one or more interfaces that electrically couple together two or more of the electronic components from different ones of the two or more of the sections when the board is in an unfolded position;

a single ground-contacting member coupled with the board; and

a motorized drive assembly coupled with the ground-contacting member, wherein the drive assembly adjusts the velocity of the ground-contacting member, wherein the ground-contacting member rotates about a hollow axle having an exposed channel that extends though the hollow axle.