Self-balancing skateboard with strain-based controls and suspensions
First Claim
1. A self-balancing electric vehicle, comprising:
- a platform including a first foot placement section and a second foot placement section coupled to the first foot placement section, the first and second foot placement sections each configured to receive a left or right foot of a rider oriented generally perpendicular to a longitudinal axis of the platform;
a first wheel and a second wheel coupled to the platform generally between the first and second foot placement sections, the first and second wheels sharing a common axis of rotation oriented perpendicular to the longitudinal axis of the platform;
a first motor assembly mounted to the platform and configured to rotate the first wheel, and a second motor assembly mounted to the platform and configured to rotate the second wheel, wherein the first and second motor assemblies are configured to propel the electric vehicle;
an orientation sensor coupled to the platform and configured to sense an orientation of the platform;
a first strain gauge coupled to the platform and configured to sense a twisting strain in the platform induced by unbalanced forces exerted upon the first and second foot placement sections;
a second strain gauge coupled to the platform and configured to sense a strain in the platform induced by a weight of the rider; and
one or more motor controllers configured to cause the first and second motor assemblies to propel the electric vehicle based on platform orientation information measured by the orientation sensor and to turn the electric vehicle by driving the first and second wheels differentially in response to twisting strain information measured by the first strain gauge;
wherein the first and second strain gauges are each disposed between the first foot placement section and the second foot placement section.
1 Assignment
0 Petitions
Accused Products
Abstract
A self-balancing electric vehicle may include a platform having first and second foot placement sections rigidly coupled to each other, and a pair of coaxial, motorized wheels independently mounted between the first and second foot placement sections. The first and second wheels may be coupled to the platform via spring suspensions. Rider presence and turning intentions may be determined based on strain induced in the platform by the rider. The strain may be detected by one or more strain gauge systems. One of the strain gauge systems may be configured for use in a steering control circuit, and may include a strain gauge sensor mounted diagonally with respect to a long axis of the platform, such that the strain gauge detects only twist-induced strain.
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Citations
22 Claims
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1. A self-balancing electric vehicle, comprising:
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a platform including a first foot placement section and a second foot placement section coupled to the first foot placement section, the first and second foot placement sections each configured to receive a left or right foot of a rider oriented generally perpendicular to a longitudinal axis of the platform; a first wheel and a second wheel coupled to the platform generally between the first and second foot placement sections, the first and second wheels sharing a common axis of rotation oriented perpendicular to the longitudinal axis of the platform; a first motor assembly mounted to the platform and configured to rotate the first wheel, and a second motor assembly mounted to the platform and configured to rotate the second wheel, wherein the first and second motor assemblies are configured to propel the electric vehicle; an orientation sensor coupled to the platform and configured to sense an orientation of the platform; a first strain gauge coupled to the platform and configured to sense a twisting strain in the platform induced by unbalanced forces exerted upon the first and second foot placement sections; a second strain gauge coupled to the platform and configured to sense a strain in the platform induced by a weight of the rider; and one or more motor controllers configured to cause the first and second motor assemblies to propel the electric vehicle based on platform orientation information measured by the orientation sensor and to turn the electric vehicle by driving the first and second wheels differentially in response to twisting strain information measured by the first strain gauge; wherein the first and second strain gauges are each disposed between the first foot placement section and the second foot placement section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A self-balancing electric vehicle, comprising:
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a platform including a first foot placement section rigidly coupled to a second foot placement section, each of the foot placement sections configured to receive a left or right foot of a rider oriented generally perpendicular to a longitudinal axis of the platform; a pair of coaxial wheels coupled to the platform, each wheel driven by a respective motor assembly to propel the vehicle; an orientation sensor coupled to the platform and configured to sense a tilting orientation of the platform about a tilt axis oriented perpendicular to the longitudinal axis of the platform; a first strain gauge coupled to the platform and configured to sense a twisting strain in the platform induced by unbalanced forces exerted upon the first and second foot placement sections; a rider detection system configured to detect a presence of the rider based on a second strain gauge coupled to the platform and configured to detect a weight of the rider; and one or more motor controllers configured to cause the motor assemblies to propel the electric vehicle based on platform tilt information measured by the orientation sensor and to turn the electric vehicle by driving each of the wheels independently in response to twisting strain information measured by the first strain gauge; wherein the first and second strain gauges are each disposed between the first foot placement section and the second foot placement section. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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Specification