GB2569806A

GB2569806A - Support framework for a self-balancing transportation device

Info

Publication number: GB2569806A
Application number: GB1721825.6A
Authority: GB
Inventors: Artemev Timur; Pidgorny Igor
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-22
Filing date: 2017-12-22
Publication date: 2019-07-03
Also published as: GB201721825D0

Abstract

A support framework 25 for a self-balancing transportation device 100, such as a self-balancing electric unicycle is connectable to the self‑balancing transportation device 100, and provides an additional ground contacting element (11, figure 8) together with a handle (12, figure 8) for supporting the user. The handle 12 and ground contacting element 11 are together rotatable about the self-balancing transportation device, so as to be moveable in at least a vertical direction with respect to the device. In an embodiment, the frame and self-balancing transportation device, when connected together, form a scooter-like configuration.

Description

SUPPORT FRAMEWORK FOR A SELF-BALANCING TRANSPORTATION DEVICE

FIELD OF THE INVENTION

This invention relates to the field of self-balancing transportation devices, and in particular to accessories for self-balancing transportation devices.

BACKGROUND OF THE INVENTION

Powered transportation devices for transporting loads, such as packages or individuals, are well known in the prior art. There has been a growing interest in transportation devices that aim to maintain a fore-aft balance of a transported load.

Typically, fore-aft balance of the transported load is maintained by arranging the transportation device such that its wheels rotate about a single axis, and providing a balance control system to maintain a fore-aft balance of the transportation device. For example, there is a known concept of a powered selfbalancing device comprising a single wheel for positioning between a user’s legs.

Typically, such devices comprise electronic and/or mechanical systems that are adapted to control the rotation of one or more wheels so as to control the fore-and-aft balance of the transportation device and thereby the load. In such devices, such as those described by US Patent Number US 6,302,230, a sensor and an electronic arrangement are provided. Information detected by the sensor and electronic arrangement is passed to a motor, which drives the wheel(s) in the appropriate direction and at a suitable speed so as to maintain or preserve fore-andaft balance.

One of the issues preventing wider adoption of self-balancing transportation devices is the initial difficulty in learning how to operate the transportation devices. The difficulty of learning can be attributed to, amongst other causes, user nervousness and unfamiliarity with the transportation device and lack of similar, transferable skills for operating the transportation device.

There is therefore a desire to improve an ease of learning the correct operation of a self-balancing transportation device.

SUMMARY OF THE INVENTION

The invention is defined by the claims.

According to examples in accordance with an aspect of the invention, there is provided a support framework for a self-balancing transportation device. The support framework comprises: at least one ground contacting element; and at least one handle adapted to support one or more hands of a user of the self-balancing transportation device; a connecting element adapted to detachably connect the support framework to the self-balancing transportation device; and a movement element adapted to allow the at least one handle and at least one ground contacting member, when the support framework is connected to the self-balancing transportation device, to together move with respect to the self-balancing transportation device.

There is proposed an support framework or accessory for a selfbalancing transportation device that provides a user with a hand support, i.e. a handle, and an additional ground contacting element (such as a wheel). The support framework can be selectably engaged and disengaged with the transportation device via a connecting element (e.g. which attaches to the pedals, axle or casing of the self-balancing transportation device), such that the support framework can be removed from the transportation device.

The support framework is adapted so as to permit at least the handle or hand support and ground contacting element to be movable with respect to the transportation device. Thus, a user of the transportation device may together move the handle and ground contacting element so as to position them about the transportation device. Thus, movement of the handle with respect to the transportation device induces movement of the at least one ground contacting member.

This advantageously provides a user with significant control over the level of assistance provided by the support framework. By way of example, the user may lift the ground contacting member from a ground surface, such that they are no longer supported by the support framework. This helps encourage the user to operate the transportation device using conventional means, whilst providing support and peace of mind should they feel nervous about operating the transportation device (e.g. support is regained by lowering the ground contacting member).

Moreover, the proposed invention ensures that the operation of the transportation device remains unaffected by the support framework when going up/down hills and/or over bumps or rough terrain. This is because the ground contacting members of the support framework and the transportation device are able to move relative to one another, such that upwards and downwards movement has a reduced impact of a similar movement of the other. This provides a user experience that is more similar to riding a conventional self-balancing transportation device, whilst providing them with a significant amount of support.

The support framework and the self-balancing transportation device can together form a new two or more wheeled transportation device. The new transportation device may be analogous to a scooter (but having load-balancing functionality), thereby providing a user with a feeling of familiarity with a system, which increases their likelihood to attempt use of and learn the operation of the new transportation device.

Optionally, the movement element comprises a rotating mechanism adapted to allow rotational movement of the at least one handle and at least one ground contacting element.

The handle(s) and the ground contacting element(s) may together rotate about a single axis. Thus, the vertical of the ground contacting element may be raised or lowered with respect to the self-balancing transportation device. This permits the ground contacting element(s)to be raised (by rotating the handle) to allow a user to simulate operation of a transportation device not comprising the support framework, analogous to a wheelie or wheelstand, without affecting the operation of the self-balancing transportation device (e.g. without affecting its balance).

Performing a wheelie helps teach a user the correct operation of the self-balancing transportation device, i.e. how to operate the device without the use of the support framework, whilst providing a reassuring support if required (e.g. by simply un-rotating or lowering the ground contacting element(s)).

Optionally, the movement element comprises a sliding mechanism adapted to allow translational movement of the at least one handle and at least one ground contacting element with respect to the self-balancing transportation device

The position of the handle(s) and the ground contacting member(s) may move with respect to the self-balancing device without necessarily rotating about an axis. The sliding mechanism may act in the manner of a suspension system so as to provide increased comfort to a user holding the handle.

Preferably, the movement element further comprises a rotating mechanism adapted to allow rotational movement of the at least one handle and at least one ground contacting element, and the sliding mechanism permits an arcuate movement of the at least one handle with respect to the self-balancing transportation device.

By providing an arcuate movement to handle(s) and ground contacting element(s), in additional to a rotational movement, a distance of the handle from a user (when the ground contacting element moves) remains substantially constant. This improves a comfort to a user, as they need not bend their arms in order to lift a wheel of the ground (e.g. when performing a wheelie) or account for rough terrain, bumps or hills.

Preferably, a center of mass of the support framework is located, when connected with the self-balancing transportation device, more proximate to the selfbalancing transportation device than the at least one ground contacting element.

Providing the center of mass more proximate to the self-balancing transportation device provides a rider or user with an experience that is more similar to conventional operation of the self-balancing transportation device.

It also increases an ease of performing a wheelie or wheelstand using the handle of the support framework, as the center of mass is further back with respect to the overall transportation device. In particular, an amount of force that a user has to put in to perform a wheelie is significantly reduced.

This helps ensure that a user, operating the transportation device is able to more easily simulate the operation of a conventional self-balancing transportation device (i.e. one not comprising the support framework). An ease of learning the operation of the self-balancing transportation device is increased.

Preferably, a center of mass of the support framework is located, when connected with the self-balancing transportation device, above the self-balancing transportation device

Providing the center of mass above the self-balancing transportation device provides a riding experience that is even more similar to a conventional operation of the self-balancing transportation device, and further improves an ease of performing a wheelie or wheelstand.

Preferably, the connecting element is adapted to be connectable with the self-balancing transportation device via a rear side of the self-balancing transportation device.

Connecting via a rear side improves a stability of the support framework, and decreases a likelihood that the support framework will come into contact with a ground surface (e.g. when the transportation device is moving up a hill). Connecting via the rear side of the self-balancing transportation device also helps move the center of mass of the support framework to a rear of the transportation device, thereby increasing an ease at which a wheelie or wheelstand is performed.

The connecting element may extend from above a front side of the self-balancing transportation device to above the rear side of the self-balancing transportation device so as to be connectable with the self-balancing transportation device via the rear side.

Passing the connecting element over the transportation device reduces an impact of the support framework on the operation of the transportation device. It also allows the support framework to connect to a rear of the transportation device without coming into contact with a user’s legs (e.g. the support framework may pass between a user’s legs), increasing an agility of the overall transportation device.

The connecting element may comprise a bar that, when the connecting element is connected to the self-balancing transportation device, spans above an entirety of the self-balancing transportation device.

The bar provides a strong supporting structure to the connecting element and helps maintain the center of mass of the support framework so that it is located over the self-balancing transportation device.

Optionally, the at least one ground contacting member, the at least one handle and the connecting element are detachably connectable to one another so as to provide a support framework having a modular construction.

The modular construction allows for disassembly and reassembly of the support framework, increasing a transportability of the support framework. This may result in, for example, reduced postage costs, ease of user transportation (e.g. when travelling in a car or train) and ease of replacing components. A modular construction further allows for insertion of upgraded, new or different components, thereby providing a more customizable support framework.

A steering mechanism adapted to allow the user of the transportation device to steer a direction of the at least one ground contacting members

A steering mechanism permits a user to direct the at least one ground contacting members so as to provide an increase level of control over the travel direction of the transportation device. The steering mechanism may operate in an analgous manner to a bicycle steering mechanism, thereby allowing a user to transfer known skills (i.e. riding a bike) to a novel form of transportation device. This may make a user more readily familiar with the transportation device and less nervous about using the self-balancing transportation device.

Of course, the steering mechanism also provides for steering of the transportation device, improved stability and for correction of user mistakes (e.g. unintentional sideways leaning, which would lead to an unintended turn).

Preferably, the steering mechanism is further adapted, in response to a steering of the at least one ground contacting members, steer the self-balancing transportation device in an opposite direction.

Thus, the support framework may cause a counter-steering effect in the self-balancing transportation device, significantly reducing the turning circle of the overall transportation device and thereby improving an agility thereof.

According to examples in accordance with another aspect of the invention, there is provided a transportation device comprising: the support framework as described herein; and a self-balancing transportation device adapted to be connectable to the connecting element of the support framework, so as to allow the support framework to be detatchably connected to the self-balancing transportation device.

In at least one embodiment, the self-balancing transportation device comprises a wheel adapted to rotate about an axle; and the connecting element of the support framework is adapted to be connectable to the axle of the self-balancing transportation device.

The axle of a self-balancing transportation device is typically fairly sturdy, such that connecting the support framework to the axle improves a stability of the resultant transportation device and reduces undesired movement in the support framework (e.g. due to banding or flexing at the connection to the self-balancing transportation device).

Examples in accordance with yet another aspect of the inventive concept provide a transportation device comprising: the support framework previously described; and a self-balancing transportation device adapted to detachably connect to the connecting element of the support framework. The selfbalancing transportation device comprises: at least one wheel; a motor adapted to drive the at least one wheel; at least one foot platform for supporting a user of the transportation device thereon; and a balance control system adapted to maintain a fore-aft balance of the self-balancing transportation device.

BRIEF DESCRIPTION OF THE DRAWINGS

Examples of the invention will now be described in detail with reference to the accompanying drawings, in which:

Figure 1 illustrates a transportation device for use with a support framework according to an embodiment;

Figure 2 illustrates internal components of the transportation device;

Figure 3 is an elevation view illustrating a side of a support framework according to an embodiment;

Figures 4 to 7 illustrate a portion of a connecting element for a support framework according to various embodiments;

Figure 8 illustrates an operation of a movement element for a support framework according to an embodiment;

Figures 9A and 9B illustrate a support framework having a braking arrangement according to various embodiments;

Figure 10 illustrates a support framework according to another embodiment;

Figures 11 and 12 illustrate a support framework having a steering arrangement according to an embodiment; and

Figures 13 and 14 illustrates connecting elements for a support framework according to other embodiments.

DETAILED DESCRIPTION OF THE EMBODIMENTS

According to a concept of the invention, there is proposed a support framework for a self-balancing transportation device, such as a self-balancing electric unicycle. The support framework is connectable to the self-balancing transportation device, and provides an additional ground contacting element together with a handle for supporting the user. The handle and ground contacting element are together rotatable about the self-balancing transportation device, so as to be moveable in at least a vertical direction with respect to the device.

Embodiments are at least partly based on the realization that a new, inexperienced or nervous user would benefit from additional support when operating a self-balancing transportation device. The invention provides a support framework which provides such support, whilst maintaining the sensation and control mechanism of a conventional self-balancing transportation device.

Illustrative embodiments may, for example, be employed to help train a user to operate a self-balancing transportation device. The support framework and transportation device may also together form a new overall transportation device.

Figures 1 and 2 illustrates a self-balancing transportation device 100 for use with a support framework hereafter described. Figure 1 provides an external view of the self-balancing transportation device 100.

The self-balancing transportation device 100 comprises a casing 110 which covers a significant portion (e.g. more than half) of a wheel 120. The wheel 120 is formed of a drive arrangement 125 which mounts a tire 126. Rotation of the tire, and thereby the speed of the self-balancing transportation device 100, is controlled by the drive arrangement 125.

The self-balancing transportation device also comprises pedals 130 (of which only one is visible in Figure 1), a battery arrangement 140 and a handle 150.

The pedals 130 may be folded between a stowed and an active configuration. When in the active configuration, the pedals are substantially perpendicular to the case and are suitable for supporting a user thereon. To move between the stowed and active configurations, the pedals 130 may rotate about a pedal mount 131.

Figure 2 illustrates internal components of the self-balancing transportation device 100, and the drive arrangement 125 in particular. The drive arrangement 125 is formed of a central stator 210 and an outer rotor 220. The outer rotor is coupled to the tire (not shown in Figure 2), which acts as a ground contacting member.

The central stator 210 comprises a winding arrangement 211 mounted on a central support 212, which couples to an axle 213.

The outer rotor 220 comprises a permanent magnet ring 221 and a rim 222, which may mount a tyre, being a ground contacting element. The rim 222 is formed of two separate rim portions 222A, 222B, which come together to define a single rim upon which a tyre may be mounted. The magnet ring 221 may be formed, for example, of two separate magnet rings, each mounted in a respective rim portion.

The outer rotor 220 is coupled to the axle 213 via bearings 231, so that the outer rotor is able to rotate about the axle 213, and thereby about the central stator 210. Each rim portion 122A, 122B comprises a hole 223A, 223B through which the axle 213 is threaded. The bearings couple the axle 213 to an inner edge of each hole.

An electrical current through the winding arrangement 211 controls a rotation of the magnet ring 121 about the winding arrangement, according to wellknown principles. As the magnet ring 121 is coupled to the rim, a speed of rotation of a tyre can be controlled. Control of the self-balancing transportation device’s speed and/or acceleration may thereby be controlled by controlling the current through the winding(s).

The drive arrangement 210, 220 thereby acts as an outrunner motor, where an outer rotor is driven by a central stator so as to rotate a tyre about the central stator. It has been recognised that such a described outrunner motor provides a greater amount of torque than a conventional (i.e. inrunner) motor.

A balance control system (not shown) is adapted to control the drive arrangement 210, 220 so as to maintain an orientation of the central stator 210 in a substantially upright position. Thus, the current through the winding arrangement is controlled with the aim of preventing a rotation of the central stator (e.g. with respect to a ground surface). The balance control system may comprise an accelerometer or gyrometer adapted to detect an attempted change in orientation of the central stator, and a control system adapted to control a current through the winding arrangement (and thereby speed of the transportation device) to counteract this change.

The pedals 130 for supporting a user are typically mounted to the axle 213, e.g. via the pedal mount 131. This ensures that a balance of the user is maintained in an upright position, as a leaning of the user will cause the pedals, and thereby the central stator, to attempt to rotate, resulting in an acceleration of the device 100. In this way, the user is provided a way of controlling the acceleration and deceleration of the self-balancing transportation device by varying the pressure applied to various areas of the pedals.

The axle typically needs to be formed of material and shaped to be suitable for supporting the weight of a user thereon.

The casing 110 for the transportation device 100 may also be mounted on the axle 213 and/or the central support 212.

Figure 3 illustrates a support framework 10, for a self-balancing transportation device 100, according to an embodiment of the invention. The support framework comprises a wheel 11 (i.e. a ground contacting element), a handle 12, a connecting element 13 and a movement element 14.

The wheel 11, being a ground contacting element, is adapted to couple the support framework to a ground surface. Other ground contacting elements are considered, such as a ski, roller or track.

The handle 12 is adapted to be held by the user (not shown) of the transportation device 100. In this way, the handle 12 supports the user on the transportation device.

The connecting element 13 is adapted to releasably connect with the transportation device. The connecting element 13 therefore attaches and detaches the support framework 10 to and from the self-balancing transportation device 100. The self-balancing transportation device 100 can therefore operate independently of the support framework 10.

The connecting element 13 thereby connects all the features of the support framework 10 to the self-balancing transportation device 100 at a connecting location 13A. In examples, the connecting element may connect via a pedal 130 of the self-balancing transportation device 100. This is an area which requires a high amount of strength (e.g. to support a user thereon), and is therefore suitable for receiving a connecting element.

The movement element 14 allows the wheel 11 and handle 12 to move with respect to the self-balancing transportation device 100. In particular the movement element 14 comprises a bearing adapted to allow the wheel 11 and handle 12 to have a rotational movement about an axis, e.g. in a direction 14A. The axis is defined by the location of the bearing 14. This allows the handle 12 and wheel 11 to be angled with respect to a forward and rearward direction of the self-balancing transportation device 100. In this way the wheel can be lifted, to either: act in the manner of a suspension system to account for hills, bumps or other rough terrain; or be lifted from the ground contacting surface in order to perform a wheelie or wheelstand.

The movement element 14 ensures that a movement of the handle and/or the wheel does not affect an operation of the self-balancing transportation device. Put another way, the balance of the self-balancing transportation device remains substantially unaffected by movement of the handle and/or wheel. This ensures that a user is provided with a driving or control sensation which is similar to operating a standard self-balancing transportation device 100, whilst also being provided with additional support via means of the handle. A user thereby more readily learns the correct operation of the self-balancing transportation device whilst retaining a reassuring support in case of emergency or instability.

Here, the connecting element 13 connects to the self-balancing transportation device 100 via a rear end thereof. That is, the connecting element 13 passes from a rearmost end of the self-balancing transportation device 19 to connect thereto. The front end of the self-balancing transportation device 100 is an end most approximate to the wheel 11 of the support framework 10. The rear end of the selfbalancing transportation device 100 opposes the front end.

The connecting element 13 comprises a bar 15 which passes over or above the self-balancing transportation device 100. Thus the connecting element 13 passes from above a front end of the self-balancing transportation device 100 to a rear end thereof. This allows the connecting element to connect to the self-balancing transportation device via its rear end.

Connecting to the self-balancing transportation device 100 via its rear end results in the center of mass of the support framework 10 being located toward a rear of the self-balancing transportation device, and in particular above or in vertical alignment with the self-balancing transportation device 100. Locating the center of mass in this position results in a reduced force required to move the wheel 11, of the sport framework 10, upwards or downwards. This results in less effort by the user, e.g. to perform a wheel, or a reduced strain on the movement element to move the handle and wheel, as the moment of inertia acting upon it will be reduced.

Other methods of ensuring the center of mass is above or in vertical alignment with the self-balancing transportation device 100 would be appreciated by the skilled person, for example choosing suitably weighted materials.

To perform a turning maneuver, the user may lean or tilt the transportation device sideways. The gyroscopic effect of the lean or tilt will cause the device to begin performing a turn (e.g. undergo a banked turn). This well-known phenomenon may also called precession. In this way, the user is given a degree of control over the direction of travel by shifting his weight on the pedals 130so as to cause the device to lean and thereby change direction. In other words, the user may steer the unicycle device by changing an amount of leaning (by shifting a body weight of the user).

To provide additional turning capability, the support frame 10 also comprises a steering mechanism 16 which allows the handle 12 to define a direction of the wheel 11. In particular, the steering mechanism 16 allows the wheel and handle to be rotated without affecting the direction of the self-balancing transportation device 100.

The steering mechanism 16 comprises a head tube 16A or steering head through which a fork 16B or steering column, which couples the handle 12 and wheel 11 together, is threaded. The fork 16B may hold the wheel 11 from either side of an axle. Turning the handle 12 causes the fork 16B to rotate within the head tube and thereby rotate the wheel 11. The connecting element 13 couples to the head tube 16A. To allow for rotation of the fork 16B, the head tube 16A may comprise bearings.

The various elements of the support framework 10 may be attachable and detachable from one another, to advantageously provide a modular support framework.

Figure 4 illustrates a portion of the connecting element 13 at the connecting location 13A.

The connecting element 13 comprises an upper engagement element 21 and a lower engagement element 22. The upper and lower engagement elements 21, 22 clamp a pedal 130 of the self-balancing transportation device 100, so as to engage the support framework thereto. The upper and lower engagement elements 21, 22 may be clamped together using nuts 24 and bolts 25, or other engaging means such as clips, to thereby secure the connecting element 13 to the pedal 130. In particular, a respective nut and bolt pair 24, 25 may be provided to clamp the upper and lower engagement elements 21, 22 either side of the pedal 130

Provision of a connecting element in this manner provides a universal connection the support framework to the self-balancing transportation device 100, as pedals or supports 130 are typical features of such devices.

Other methods of coupling the support framework 10 to the selfbalancing transportation device 100 will be readily apparent to the person skilled in the art.

Preferably, the connecting element 13 comprises a fork which passes either side of the self-balancing transportation device. Each side of the four comprises its own upper and lower engagement elements, so that each side of the fork may independently couple to a respective pedal 130 of the self-balancing transportation device 100. This improves a rigidity of the connection with the selfbalancing transportation device 100.

Thus, the connecting element may comprise a fork to connect to either side of the self-balancing transportation device. This improves a balance of the overall system, and the support will not be secured to only one side of the transportation device 100.

Figure 5 illustrates a modified version of the connection element 13 at the connecting location 13A.

The connection element 13 comprises the fork 25 which can pass either side of the elf-balancing transportation device 100.

The upper 21 and lower 22 engagement elements are connected at one end, with only a single nut and bolt being used to clamp the two together at a free end 22A of the lower engagement element. Thus the connecting element 13 may pass continuously over (upper engagement element) and then under (lower engagement element) a pedal 130, with a free end of the lower engagement element being clamped to the upper engagement element to secure the connection element.

The modified version requires fewer components and is simpler to assemble. Preferably, at least the lower engagement element is formed of a (partially) flexible material, such as spring steel.

Figures 6 and 7 illustrates a portion of a connecting element 13 according to another embodiment.

The connecting element 13 comprises a clip 30 for connecting to a pedal mount 131 of a self-balancing transportation device. The pedal mount 131 supports a pedal 130 thereon, and may be coupled to an axle (not shown) of the self-balancing transportation device.

The clip 30 comprises a first arcuate portion 31 and a second, narrower arcuate portion 32 coupled together end to end. The first portion 31 is also adapted to receive a free end 32A of the second portion. The first portion 31 may be at least partially hollow so as to receive the free end of the second portion. Ridges in the first portion may grip the second portion so as to secure the free end of the second portion to the first portion.

The first portion 31 may be adapted to grip the second portion at different lengths or positions along the second portion 32, so as to allow different sizes of circles to be defined by the clip 30. Thus, the clip may be operable in a number of different locking positions, which allows for the variations of different pedals or mounts.

The clip 30 thereby provides a generally circular clip which can expand and contract in size, so as to grip different sizes of bars, rods or other elongate members. A pedal mount 131 is an example of one such elongate member which the clip 30 may grasp. The proposed clip 30 therefore provides a more universal connecting element 13, for connecting to a wider variety of different self-balancing transportation devices.

Figure 7 shows the connecting element 30, comprising a clip 30, gripping the pedal mount 131.

Figure 8 illustrates a support framework 10 having a movement element 44 according to an embodiment of the invention.

The movement element 44 comprises a sliding mechanism 45 and a rotating element 46.

The sliding mechanism allows for translational movement of the handle 12 and wheel 11 with respect to the self-balancing transportation device. The sliding mechanism 55 is in an arcuate shape so that the handle 12 and wheel 11 may move about an arc.

When combined with a rotating element 46, as conceptually illustrated in Figure 8, the sliding mechanism 45 allows the wheel 11 to be raised and lowered with respect to the self-balancing transportation device whilst a movement of the handle 12 remains in a same vertical axis 49.

This movement is illustrated in Figure 8, which identified two different scenarios for the overall device. In a first scenario 40A, the base of the wheel 11 is higher than that of the self-balancing transportation device 100, e.g. the user is performing a wheelie or the device is going uphill. In a second scenario 40B, the base of the wheel 11 is lower than that of the self-balancing transportation device 100, e.g. the user is going downhill.

When transitioning from the first scenario to the second scenario, the movement of the handle is in a vertical axis 49. The wheel 11 and handle 12 both rotate about the rotating element 46, as the rotating element slides backwards in the sliding mechanism. Thus, as the handle rotates forwards (so that it would normally move forwards), the sliding mechanism shifts the rotating element backwards so as to keep the handle in a same axis.

This provides a more natural feeling for a user when raising and lowering the wheel/handle, and is analogous to operating a plunger.

Of course, a similar effect can be achieved by providing a vertical sliding mechanism (without provision of the rotating element). The vertical sliding mechanism permits the wheel and handle to move upwards and downwards in a vertical axis.

Different shapes of the sliding mechanism 56 allow for different movement paths of the handle 12 as the wheel moves up and down. By way of example, the sliding mechanism 56 may be shaped so that a distance form a user’s shoulders remains substantially the same, so that a user need not bend his/her arms to account for movement of the wheel up and down. This may provide a less strenuous method of controlling the orientation of the wheel 11 with respect to the self-balancing transportation device.

Other elements may replace the sliding mechanism for controlling a translation movement of the handle/wheel, such as a piston, dampener or suspension arrangement.

Figure 9A illustrates a support framework 50, for a self-balancing transportation device 100, according to another embodiment of the invention. As before, the sport framework comprises a wheel 51, a handle 52, a connecting element 53 and a movement element 54. The support framework 50 further comprises a braking arrangement 55.

The braking arrangement 55 is adapted to brake the self-balancing transportation device 100, and may therefore comprise a self-balancing transportation device braking system.

The braking arrangement 55 comprises a telescopic actuator 56 which expands and contracts in response to an activation of a hand brake 57A. The hand brake 57 may activate the telescopic actuator using a hydraulic system 57B, as illustrated, or optionally an electrical connection (wired or wireless).

The telescopic actuator extends and contracts in response to the hand brake, between an extended position (illustrated) and a contracted position. When in the extended position a free end of the telescopic actuator engages with a ground surface so as to slow the transportation device down. The free end of the telescopic actuator may, for example, comprise a skid-pad to engage with a ground surface, and increase a friction. Any alternative friction inducing device may be used.

The telescopic actuator is location behind the rear of the self-balancing transportation device, so that the self-balancing transportation device is located between the telescopic actuator and the wheel 51. This increases an effectiveness of the braking, and reducing a likelihood of the self-balancing transportation device catching on the braking system.

Other actuator systems may replace the telescopic actuator 56. Such actuator systems are adapted to move between an engaged position (where a free end contacts a ground surface) and a disengaged position (where a free end breaks contact with the ground surface). In one example, the actuator system comprises a member rotatably connected to the connecting element 53, where the member rotates between the engaged position and the disengaged position. Preferably, the actuator system is adapted to response to a user input, for example, received at a hand brake 57A.

Figure 9B illustrates another embodiment in which the braking arrangement is adapted to control an orientation of the pedals of the self-balancing transportation device.

The braking arrangement 55 comprises one or more stands 58 or supports that expand and contract in the vicinity of the pedals. The movement of the stands (when in contact with a ground surface) controls a rotation or orientation of the pedals, of the Controlling the orientation of the pedals allows the braking arrangement to control a speed of the self-balancing transportation device.

In particular, the braking arrangement may comprise one or more supports which extends from a front of the self-balancing transportation device to contact a ground surface. This limits an angle to which the transportation device may be oriented. The one or more supports may further extend so as to change an orientation of the transportation device, and thereby slow the device down by tilting the load backwards.

Thus, in one example, a hand brake 57A could make hydraulic stands protrude from the front of the pedals and contact the ground, thereby tilting the pedals backwards and slowing the self-balancing transportation device down.

The stand 58 may comprise a wheel 59 located at its free end. This minimises a wear on the braking system (e.g. due to friction). Alternatively, to increase an amount of braking, the stand may comprise a friction inducing member such as a skid pad. The movement of the stand may be similar to that of the telescopic actuator or actuator system previously described. Thus, the stand 58 may comprise a telescopic actuator, for example.

The movement of the stands could be controlled by a user input, such as via a hand brake 57A and hydraulic system 57B. This provides a user with a method of controlling their speed (e.g. if they are nervous to perform or inexperienced in the conventional method of slowing down: leaning backwards on the self-balancing transportation device).

Adjusting an orientation of the self-balancing transportation device to perform braking avoids potential harm to a motor, as an accelerating motor does not try to work against a more resistive force (e.g. if the self-balancing transportation device continues to accelerate). It also prevents wheel lockup, which could lead to skidding and uncontrolled movement of the self-balancing transportation device. In particular, the braking simulates the natural movement of a user when attempting to slow down. Adjusting an orientation also helps teach a user of the correct movement to slow down when operating a self-balancing transportation device (e.g. shift weight backwards so as to change an orientation of the transportation device).

In other embodiments, the braking arrangement comprises a sensing element adapted to receive an indication of a desire to brake and a wireless communication unit adapted to wirelessly communicate with the self-balancing transportation device based on the indication of the desire to brake so as to limit a maximum allowable speed of the self-balancing transportation device.

Thus, activating a brake may cause the support framework to instruct the self-balancing transportation device to limit a maximum speed or otherwise reduce a speed of the transportation device. The sensing element may comprise, for example, a brake lever to be controlled by a user input. The wireless communication unit may, for example, comprise a BlueTooth communication unit adapted to communicate with a corresponding BlueTooth unit of the self-balancing transportation device, so as to communicate with the self-balancing transportation device.

In yet other examples, the braking system comprises a friction brake adapted to engage with the ground contacting element (e.g. a tyre) of the selfbalancing transportation device, so as to reduce a speed of the self-balancing transportation device. The friction brake may utilise any known braking methodology, such as a calliper brake. In particular, the friction brake may couple the ground contacting element to a central portion of the self-balancing transportation device and/or the connecting element.

In other embodiments, the braking arrangement comprises a front braking system adapted to brake the wheel or other ground contacting element of the support framework. The front braking system may comprise a friction brake, drum brake or a disc brake. A front braking system may be useful, for example, in the case of an emergency or in case of excessive downhill travel.

Of course, the braking arrangement may comprise both a front braking system and a self-balancing transportation device braking system. This improves a braking capability of the transportation device.

Figure 10 illustrates another embodiment of the support framework 60.

The handle 62 is provided between the wheel 61 and the selfbalancing transportation device 100. This reduces a difficulty for a user lifting and lowering the wheel, as the handle will be more proximate to their personage.

The connecting element 63 of the support framework is adapted to extend beyond a rear 100R of the self-balancing transportation device 100, when connected thereto. This helps position the center of mass more toward the rear of the support framework (i.e. to be closer or above the self-balancing transportation device). As previously explained, this improves an ease of performing a wheelie or wheelstand for a user controlling the self-balancing transportation device. Positioning the center of mass in this way also results in the overall transportation device more accurately simulating a conventional self-balancing transportation device, which helps improve user learning of the self-balancing transportation device.

Moreover, the support framework 60 is designed ergonomically, to reduce air resistance.

A dip 69 in the connecting element is used to further position the center of mass of the framework more proximately to the self-balancing transportation device than the wheel 61 of the support framework. The dip 69 may also be used to support luggage and the like thereon.

The support framework 60 is adapted to connect to an axle 65 of the transportation device. This provides a strong and stable connection to the transportation device.

Figures 11 and 12 illustrate another embodiment of the support framework 73. The support framework comprises a wheel 71, a handle 72 and a connecting element 73.

The support framework again comprises a steering arrangement 76, formed of a head tube 76A and a fork 76B, as previously described.

The steering arrangement 76 further comprises a secondary rotating mechanism 76C. The secondary rotating mechanism 76 provides an articulated support framework. In this way, a first portion 73A of the connecting element 73 can rotate about a second portion 73B of the connecting element 73. The secondary rotating mechanism may be adapted so as to cause a rotation about a substantially vertical axis.

The secondary rotating mechanism 76C allows for a tighter turning circle of the overall transportation device.

In further embodiments, the steering mechanism 76 is further adapted, in response to a steering of the wheel 71, steer the self-balancing transportation device in an opposite direction.

There may be provided a actuation member (not shown) adapted to, in response to a turning of the fork 76B in the head tube 76A, cause the second portion 73B to rotate about the first potion 73A (around the secondary rotating mechanism 76C) such that the self-balancing transportation device is steered in an opposite direction to the wheel 71. Thus, as the wheel is turned in a clockwise direction, so that transportation device 100 may be turned in an anti-clockwise direction.

The actuation member may be formed in the secondary rotating mechanism (e.g. an electric motor or the like). Provision of the actuation member provides a form of counter-steering and significantly improves a turning circle and agility of the overall transportation device.

Figures 13 and 14 illustrates alternative embodiments for the connection member.

In Figure 13, the connection member 80 is adapted to directly couple to an axle 81 of the transportation device 100. This provides an extremely secure connection, as the axle is typically extremely sturdy. The connection may be performed using any known means, such as a clip, magnetic connection, screw and thread connection and other fastening means.

In Figure 14, the connection member 90 comprises a case 91, which is adapted to enclose a portion of the self-balancing transportation device 100, in particular a casing (not visible) of the self-balancing transportation device. The casing is adapted to snugly grip a side or edge of the casing of the self-balancing transportation device so as to secure the connection element thereto. The connection member 90 may comprising a connecting bar 92 coupled to the case 91, for securing the remainder of the support frame to the transportation device 100. The casing may, for example, be formed of silicone or another flexible material.

The case 91 may comprise apertures through which a handle 93 or pedals 94 of the self-balancing transportation device may be threaded.

Thus, the connecting element may be adapted to connect to a case of the self-balancing unicycle device. For example, the connecting element may comprise a grip for gripping around an edge of the case. The grip may comprise a rubberized or silicone shape (i.e. a case) adapted to conform to a shape of the case of the self-balancing unicycle device, with raised edges for gripping the edge of the case. The grip may be analogous to a cellular phone case, text

Additional components may be added to any previously described support framework, including lights, horns, bells, brake lights (which may indicate when a braking occurs using a braking arrangement), storage capability (such as trunks, satchels and so on), sensors (e.g. temperature, speed, inclination and so on) and other components.

Preferably, an additional component comprises a strip lighting system which spans up a front of the support framework (e.g. up the fork 16B of Figure 1). This provides an increased amount of light for a user of the self-balancing transportation device, improving their visibility. In another embodiment, the additional component comprises a headlamp attached to a top of the support framework, e.g. at or just below the handle 12 of Figure 1).

The self-balancing transportation device and/or support framework may be adapted to communicate with a mobile device to be held by a user, such as a cellular phone. The device and/or framework may pass information (e.g. speed, angle of inclination) to the mobile device. The mobile device may control parameters of the framework/device, such as a maximum speed.

Preferably, the support framework is adapted to connect to any singlewheeled self-balancing transportation device (electric unicycle). In particular, the support framework may be sized so as to couple with any electric unicycle having a wheel in the region of 12 to 16 inches (0.30m to 0.41m). This improves a universality of the support framework, whilst maintaining a suitable compact size for transportation and improved agility for a user.

Unless indicated otherwise, the term ‘connected’ refers to any direct or indirect connection between two elements. As used herein, th1e term vertical generally refers to a direction perpendicular to a ground surface or gravity, and the term horizontal generally refers to a direction perpendicular to the vertical direction.

Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word comprising does not exclude other elements or steps, and the indefinite article a or an does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A support framework for a self-balancing transportation device, the support framework comprising:

at least one ground contacting element; and at least one handle adapted to support one or more hands of a user of the self-balancing transportation device;

a connecting element adapted to detachably connect the support framework to the self-balancing transportation device; and a movement element adapted to allow the at least one handle and at least one ground contacting element, when the support framework is connected to the self-balancing transportation device, to together move with respect to the selfbalancing transportation device.

2. The support framework of claim 1, wherein the movement element comprises a rotating mechanism adapted to allow rotational movement of the at least one handle and at least one ground contacting element.

3. The support framework of any of claims 1 or 2, wherein the movement element comprises a sliding mechanism adapted to allow translational movement of the at least one handle and at least one ground contacting element with respect to the self-balancing transportation device.

4. The support framework of claim 3, wherein:

the movement element further comprises a rotating mechanism adapted to allow rotational movement of the at least one handle and at least one ground contacting element, and the sliding mechanism permits an arcuate movement of the at least one handle with respect to the self-balancing transportation device.

5. The support framework of any preceding claim, wherein a center of mass of the support framework is located, when connected with the self-balancing transportation device, more proximate to the self-balancing transportation device than the at least one ground contacting element.

6. The support framework of any preceding claim, wherein a center of mass of the support framework is located, when connected with the self-balancing transportation device, above the self-balancing transportation device.

7. The support framework of any preceding claim, wherein the connecting element is adapted to, when connected to the self-balancing transportation device, extend beyond a rear of the self-balancing transportation device.

8. The support framework of any preceding claim, wherein the connecting element is adapted to be connectable with the self-balancing transportation device via a rear side of the self-balancing transportation device.

9. The support framework of claim 8, wherein the connecting element extends from above a front side of the self-balancing transportation device to above the rear side of the self-balancing transportation device so as to be connectable with the self-balancing transportation device via the rear side.

10. The support framework of claim 8 or 9, wherein the connecting element comprises a bar that, when the connecting element is connected to the selfbalancing transportation device, spans above an entirety of the self-balancing transportation device.

11. The support framework of any preceding claim, wherein the at least one ground contacting member, the at least one handle and the connecting element are detachably connectable to one another so as to provide a support framework having a modular construction.

12. The support framework of any preceding claim, further comprising a steering mechanism adapted to allow the user of the transportation device to steer a direction of the at least one ground contacting members

13. The support framework of claim 12, wherein the steering mechanism is further adapted, in response to a steering of the at least one ground contacting members, steer the self-balancing transportation device in an opposite direction.

14. A transportation device comprising:

the support framework of any preceding claim; and a self-balancing transportation device adapted to be detatchably connectable to the support framework.

15. The transportation device of claim 14, wherein:

the self-balancing transportation device comprises a wheel adapted to rotate about an axle; and the connecting element of the support framework is adapted to be connectable to the axle of the self-balancing transportation device.

16. The transportation device of any of claims 14 or 15, wherein the selfbalancing transportation devices comprise a single wheel.

17. A transportation device comprising:

the support framework of any one of claims 1 to 13; and a self-balancing transportation device adapted to detachably connect to the connecting element of the support framework, the self-balancing transportation device comprising:

at least one wheel;

a motor adapted to drive the at least one wheel;

at least one foot platform for supporting a user of the transportation device thereon; and a balance control system adapted to maintain a fore-aft balance of the self-balancing transportation device.