WO2023278453A1 - Planche à roulette auto-stabilisatrice - Google Patents

Planche à roulette auto-stabilisatrice Download PDF

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Publication number
WO2023278453A1
WO2023278453A1 PCT/US2022/035325 US2022035325W WO2023278453A1 WO 2023278453 A1 WO2023278453 A1 WO 2023278453A1 US 2022035325 W US2022035325 W US 2022035325W WO 2023278453 A1 WO2023278453 A1 WO 2023278453A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
footpad
board
rider
membrane switch
Prior art date
Application number
PCT/US2022/035325
Other languages
English (en)
Inventor
Kyle Jonathan Doerksen
Beau Robertson
Phil Rullman
Ximena PRUGUE
Daniel Blachinsky
Original Assignee
Future Motion, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US17/506,551 external-priority patent/US11273364B1/en
Priority claimed from US17/695,586 external-priority patent/US11590409B2/en
Application filed by Future Motion, Inc. filed Critical Future Motion, Inc.
Publication of WO2023278453A1 publication Critical patent/WO2023278453A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
    • A63C17/08—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/12—Electrically powered or heated
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/18—Measuring a physical parameter, e.g. speed, distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/24—Processing or storing data, e.g. with electronic chip
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/42—Details of chassis of ice or roller skates, of decks of skateboards

Definitions

  • This disclosure relates to self-stabilizing electric vehicles. More specifically, the disclosed embodiments relate to self-stabilizing tiltable skateboards having improved mechanical and electronic control systems.
  • the present disclosure provides systems, apparatuses, and methods relating to self-stabilizing skateboards.
  • systems, apparatuses, and methods relating to self-stabilizing skateboards.
  • a self-balancing electric vehicle includes: a wheel assembly including a wheel having an axis of rotation; a board including a central opening to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axis of rotation of the wheel; a rider detection sensor comprising a membrane switch having one or more pressure transducers, wherein the membrane switch is disposed on a first footpad of the first deck portion; an electric hub motor configured to drive the wheel; and a controller configured to receive orientation information indicating an orientation of the board and to cause the hub motor to propel the board based on the orientation information and on rider detection information from the rider detection sensor; wherein the first footpad has a concave-up profile in a direction parallel to the axis of rotation of the wheel, and the membrane switch conforms to the concave-up profile of the first footpad.
  • a self-balancing electric vehicle includes: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the 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 a wheel rotatable about an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions; a rider detection sensor comprising a membrane switch, wherein the membrane switch is disposed on a first footpad of the first deck portion; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; and an electronic controller configured to receive orientation information indicating an orientation of the board and to cause the motor assembly to propel the vehicle based on the orientation information and on rider detection information from the rider detection sensor; wherein the first footpad has a concave-up profile in a heel-toe direction, and the membrane switch
  • a self-balancing electric vehicle includes: a wheel assembly including a wheel driven by a hub motor about an axle; a board including an aperture to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axle; a rider detection sensor comprising a membrane switch, wherein the membrane switch is disposed on a first footpad of the first deck portion; and a controller configured to cause the hub motor to propel the board based on board orientation information and on rider detection information from the rider detection sensor; wherein the first footpad has a concave-up profile in a direction parallel to the axle, and the membrane switch conforms to the concave-up profile of the first footpad.
  • Fig. 1 is an isometric view of an illustrative one-wheeled skateboard in accordance with aspects of the present disclosure.
  • Fig. 2 is another isometric view of the skateboard of Fig. 1 , taken from a different vantage point.
  • Fig. 3 is a first end elevation view of the skateboard of Fig. 1.
  • Fig. 4 is a second end elevation view of the skateboard of Fig. 1.
  • Fig. 5 is a first side elevation view of the skateboard of Fig. 1.
  • Fig. 6 is a second side elevation view of the skateboard of Fig. 1.
  • Fig. 7 is a top plan view of the skateboard of Fig. 1.
  • Fig. 9 is a partially exploded, isometric view of a first deck portion of the skateboard of Fig. 1.
  • Fig. 10 is an exploded view of a footpad of the first deck portion of Fig. 9.
  • Fig. 11 is an isometric sectional view of the first deck portion of Fig. 9.
  • Fig. 12 is another isometric sectional view of the first deck portion of Fig. 9.
  • Fig. 15 is another partially exploded, isometric view depicting the bumper of Fig. 14.
  • Fig. 16 is an elevated view of the first deck portion of the first deck portion of Fig. 9, without the bumper of Fig. 14.
  • Fig. 17 is a partially exploded, bottom plan view depicting the bumper of Fig. 14.
  • Fig. 18 is a bottom plan view of the first deck portion of Fig. 9.
  • Fig. 19 is a partially exploded, isometric view depicting a bumper for use with a second deck portion of the skateboard of Fig. 1.
  • Fig. 20 is a partially exploded, isometric view depicting another bumper for use with the first or second deck portion of the skateboard of Fig. 1.
  • Fig. 21 is a side elevation view of a charging port of the skateboard of Fig. 1.
  • Fig. 22 is a schematic block diagram of a control system suitable for use with the skateboard of Fig. 1.
  • a self-stabilizing skateboard in accordance with the present teachings, and/or its various components may contain at least one of the structures, components, functionalities, and/or variations described, illustrated, and/or incorporated herein.
  • process steps, structures, components, functionalities, and/or variations described, illustrated, and/or incorporated herein in connection with the present teachings may be included in other similar devices and methods, including being interchangeable between disclosed embodiments.
  • the following description of various examples is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. Additionally, the advantages provided by the examples and embodiments described below are illustrative in nature and not all examples and embodiments provide the same advantages or the same degree of advantages.
  • AKA means “also known as,” and may be used to indicate an alternative or corresponding term for a given element or elements.
  • inboard means toward the front portion of the vehicle
  • rearward means toward the rear of the vehicle.
  • the same directional terms may be used as if the vehicle were present. For example, even when viewed in isolation, a device may have a “forward” edge, based on the fact that the device would be installed with the edge in question facing in the direction of the front portion of the host vehicle.
  • Coupled means connected, either permanently or releasably, whether directly or indirectly through intervening components.
  • “Resilient” describes a material or structure configured to respond to normal operating loads (e.g., when compressed) by deforming elastically and returning to an original shape or position when unloaded.
  • Rigid describes a material or structure configured to be stiff, non-deformable, or substantially lacking in flexibility under normal operating conditions.
  • “Elastic” describes a material or structure configured to spontaneously resume its former shape after being stretched or expanded.
  • Processing logic describes any suitable device(s) or hardware configured to process data by performing one or more logical and/or arithmetic operations (e.g., executing coded instructions).
  • processing logic may include one or more processors (e.g., central processing units (CPUs) and/or graphics processing units (GPUs)), microprocessors, clusters of processing cores, FPGAs (field-programmable gate arrays), artificial intelligence (Al) accelerators, digital signal processors (DSPs), and/or any other suitable combination of logic hardware.
  • processors e.g., central processing units (CPUs) and/or graphics processing units (GPUs)
  • microprocessors e.g., microprocessors, clusters of processing cores, FPGAs (field-programmable gate arrays), artificial intelligence (Al) accelerators, digital signal processors (DSPs), and/or any other suitable combination of logic hardware.
  • Al artificial intelligence
  • DSPs digital signal processors
  • a “controller” or “electronic controller” includes processing logic programmed with instructions to carry out a controlling function with respect to a control element.
  • an electronic controller may be configured to receive an input signal, compare the input signal to a selected control value or setpoint value, and determine an output signal to a control element (e.g., a motor or actuator) to provide corrective action based on the comparison.
  • a control element e.g., a motor or actuator
  • an electronic controller may be configured to interface between a host device (e.g., a desktop computer, a mainframe, etc.) and a peripheral device (e.g., a memory device, an input/output device, etc.) to control and/or monitor input and output signals to and from the peripheral device.
  • a host device e.g., a desktop computer, a mainframe, etc.
  • a peripheral device e.g., a memory device, an input/output device, etc.
  • “Providing,” in the context of a method, may include receiving, obtaining, purchasing, manufacturing, generating, processing, preprocessing, and/or the like, such that the object or material provided is in a state and configuration for other steps to be carried out.
  • a self-balancing skateboard in accordance with the present teachings may include a board having a two deck portions on either side of a central opening.
  • each deck portion is configured to support a respective foot of a user oriented as on a standard skateboard, such that the vehicle is ridden with the user facing approximately ninety degrees to the direction of travel.
  • a single wheel (or side-by-side wheels) is supported in the central opening on an axle and driven by a motor (e.g., a hub motor).
  • the board is therefore tiltable about the axis of the wheel (i.e. , about an axis of rotation defined by the axle).
  • An onboard electronic controller is configured to receive orientation information indicating an orientation of the board. In response to this orientation information, the controller causes the hub motor to propel the board, and provides a self-stabilizing feature.
  • the skateboard includes a handle pivotably coupled to a portion of the board, such as to an axle mounting block of the board.
  • the handle can be pivoted between a stowed configuration and a deployed configuration. In the stowed configuration, the handle is flipped up (or in some examples down) adjacent the hub motor. In the deployed configuration, the handle is pivoted down (or up) to extend away from the hub motor and provide a graspable carrying handle for the user.
  • the vehicle has a fender, which is interchangeable with a substitute “fender delete,” which covers the connection points of the fender to the vehicle but does not extend to cover the vehicle wheel.
  • the fender is removably coupled to a frame of the board and spans the opening between the deck portions.
  • the fender has an arched portion covering an upper surface of the tire and a peripheral flange extending around the opening.
  • the fender delete has a similar appearance, without the arched portion. In other words, it surrounds the periphery of the opening but does not overarch the tire or wheel.
  • the vehicle includes a status indicator (e.g., a battery charge indicator) including a plurality of illuminators viewable through a slot formed in an upper surface of the board. This enables easy viewing for the rider.
  • a status indicator e.g., a battery charge indicator
  • the vehicle includes footpads having concave upper surfaces configured to reduce foot fatigue and improve user control.
  • One or more sensors embedded within the concave footpads have a three-dimensional shape to conform to the footpad concavity, and are configured to provide rider detection functionality.
  • the footpad sensors comprise a plastic laminate which can bend or curve in one direction but cannot easily bend in a compound curvature, e.g., without damaging internal circuitry.
  • a plastic laminate which can bend or curve in one direction but cannot easily bend in a compound curvature, e.g., without damaging internal circuitry.
  • slots AKA “cuts,” “slits,” “isolines,” or “channels” are provided along specific lines (e.g., diagonal from the outer corners). The slots facilitate conforming to the compound curvature of the footpad while relieving stress on the membrane.
  • the footpad surface provides a concave surface by creating multiple regions, wherein each region has substantial curvature only in a single direction.
  • sensor traces of the membrane switch are aligned with the direction of curvature to prevent buckling.
  • ribs or ridges protrude from the footpad surface to fill in or retain the sensor slots.
  • computational flattening is utilized to convert the desired curved surface of the membrane into a flat pattern for manufacturing.
  • the concave footpads include at least two portions: a rigid substrate (e.g., plastic) and a resilient layer (e.g., rubber or foam) disposed thereon.
  • the rigid substrate may comprise a thermoplastic polymer, e.g.,$acrylonitrile butadiene styrene (ABS), polyethylene (PE), polyvinyl chloride (PVC), and/or another suitable material.
  • the resilient layer may comprise an elastomer, e.g., a synthetic and/or natural rubber or another suitably resilient material, e.g., a high density foam.
  • Computer-readable media can be a computer-readable signal medium and/or a computer- readable storage medium.
  • a computer-readable storage medium may include an electronic, magnetic, optical, electromagnetic, infrared, and/or semiconductor system, apparatus, or device, or any suitable combination of these.
  • Computer program code for carrying out operations for aspects of the present control systems may be written in one or any combination of programming languages, including an object-oriented programming language such as Java, C++, and/or the like, and conventional procedural programming languages, such as C.
  • Mobile apps may be developed using any suitable language, including those previously mentioned, as well as Objective-C, Swift, C#, HTML5, and the like.
  • the program code may execute entirely on a user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), and/or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).
  • LAN local area network
  • WAN wide area network
  • an Internet Service Provider for example, AT&T, MCI, Sprint, MCI, etc.
  • Each block and/or combination of blocks in a flowchart and/or block diagram may be implemented by computer program instructions.
  • the computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block(s).
  • machine-readable instructions may be programmed onto a programmable logic device, such as a field programmable gate array (FPGA).
  • FPGA field programmable gate array
  • These computer program instructions can also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, and/or other device to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block(s).
  • each block may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
  • the functions noted in the block may occur out of the order noted in the drawings.
  • two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • Each block and/or combination of blocks may be implemented by special purpose hardware-based systems (or combinations of special purpose hardware and computer instructions) that perform the specified functions or acts. Examples, Components, and Alternatives
  • FIG. 1 - 22 this section describes an illustrative electric vehicle 100.
  • Vehicle 100 is an example of the electric vehicles described in the Overview.
  • Figs 1 - 8 show vehicle 100 from various viewpoints.
  • Figs. 9 - 22 are various sectional views, exploded views, and other views showing arrangements of components of the vehicle.
  • Vehicle 100 is a single-wheeled, self-stabilizing skateboard including a board 102 (AKA a tiltable portion of the vehicle, a platform, and/or a foot deck) having a frame 104 supporting a first deck portion 106 and a second deck portion 108 defining an opening 110 therebetween.
  • Board 102 may generally define a plane.
  • Each deck portion 106, 108 (or foot pad portion thereof) is configured to receive and support a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board (see Figs. 1 and 2), the direction of travel generally indicated at D.
  • First and second deck portions 106, 108 may be formed of a same physical piece, may be unitary with the frame, or may be separate pieces.
  • First and second deck portions 106, 108 may be included in the definition of board 102.
  • Motor assembly 116 includes an axle 126 (AKA a shaft), which couples motor assembly 116 to board 102, e.g., by one or more axle mounts and one or more fasteners, such as a plurality of bolts.
  • axle 126 is coupled to board 102 by way of a suspension system.
  • motor assembly 116 is configured to rotate ground-contacting element 114 around (or about) axle 126 to propel vehicle 100.
  • motor assembly 116 may include an electric motor, such as an electric hub motor, configured to rotate ground-contacting element 114 about axle 126 to propel vehicle 100 along the ground.
  • ground-contacting element 114 is hereinafter referred to as a tire or wheel, although other suitable embodiments may be provided.
  • First and second deck portions 106, 108 are located on opposite sides of wheel assembly 112, with elongate board 102 being dimensioned to approximate a skateboard.
  • the board approximates a longboard skateboard, snowboard, surfboard, or may be otherwise desirably dimensioned.
  • deck portions 106, 108 of board 102 are at least partially covered with non-slip material portions 128, 130 (e.g., grip tape or other textured material) to aid in rider control and protect underlying components.
  • Deck portions 106 and 108 may include any suitable structures configured to support the feet of a rider, such as non-skid surfaces 128, 130, as well as vehicle- control features, such as various sensors and a rider detection system 168.
  • the rider detection system includes a rider detection sensor in the form of a pressure switch or a strain gauge in communication with a controller of the vehicle.
  • the rider detection sensor may include a plurality of pressure switches housed in a waterproof casing to form a membrane switch.
  • Deck portions 106 and 108, as well as related features, are described in further detail below.
  • Shaft or axle 126 of motor assembly 116 is coupled to frame 104, as shown in Fig. 1.
  • the axle may be directly attached to frame 104, or may be coupled to the frame at each end through a respective connection or axle mounting block 132, 134 (also referred to as an axle mount or a simply a mounting block).
  • Axle 126 may be bolted or otherwise affixed to mounting blocks 132, 134, e.g., at either end, which in turn may be bolted or affixed to frame 104 using suitable fasteners (e.g., by bolts 136, 138).
  • Through-holes 140, 142 may be provided in frame 104 for receiving fasteners of the axle and mounting blocks, thereby securing the components together.
  • axle 126 is coupled to frame 104 by a suspension system (not shown).
  • Vehicle 100 has a pitch axis A1, a roll axis A2, and a yaw axis A3 (see Fig. 1).
  • Pitch axis A1 is the axis about which tire 114 is rotated by motor assembly 116.
  • pitch axis A1 may pass through axle 126 (e.g., pitch axis A1 may be parallel to and aligned with an elongate direction of axle 126).
  • Roll axis A2 is perpendicular to pitch axis A1, and extends in direction D (i.e., the direction in which vehicle 100 is propelled by the motor assembly).
  • roll axis A2 may correspond to a long axis of board 102.
  • Yaw axis A3 is perpendicular both to pitch axis A1 and to roll axis A2.
  • Yaw axis A3 is normal to a plane defined by deck portions 106, 108, as shown in Fig. 1.
  • Axes A1 and A2 are analogous to the Y and X axes (e.g., corresponding to horizontal), while axis A3 is analogous to the Z axis (e.g., corresponding to vertical).
  • Pitch axis A1 and roll axis A2 may lie in a plane of the board. In some embodiments, the pitch and roll axes may define this plane.
  • Tire 114 may be wide enough in a heel-toe direction (e.g., in a direction parallel to pitch axis A1) that the rider can balance in the heel-toe direction manually, i.e., by shifting his or her own weight, without automated assistance from the vehicle.
  • Tire 114 may be tubeless, or may be used with an inner tube.
  • tire 114 may be a non-pneumatic tire.
  • tire 114 may be “airless,” solid, and/or may comprise a foam.
  • Tire 114 may have a profile such that the rider can lean vehicle 100 over an edge of the tire (and/or pivot the board about roll axis A2 and/or yaw axis A3) through heel and/or toe pressure to facilitate cornering of vehicle 100.
  • Motor assembly 116 may include any suitable driver of tire/wheel 114, such as an electric hub motor 144 mounted within wheel 114.
  • the hub motor may be internally geared or may be direct-drive.
  • the use of a hub motor facilitates the elimination of chains and belts, and enables a form factor that considerably improves maneuverability, weight distribution, and aesthetics.
  • Mounting tire 114 onto hub motor 144 may be accomplished by either a split-rim design that may use hub adapters, which may be bolted on to hub motor 144, or by casting a housing of the hub motor such that it provides mounting flanges for a tire bead directly on the housing of the hub motor.
  • first bumper 122 (AKA the front bumper) is integrated into (or removably coupled to) a first end 146 of board 102 proximate first deck portion 106
  • second bumper 124 (AKA the rear bumper) is integrated into (or removably coupled to) a second end 148 of board 102 proximal second deck portion 108.
  • Bumpers 122, 124 may be referred to as skid pads, and may be replaceable and/or selectively removable.
  • the bumpers may include replaceable polymer parts or components, and/or may each be entirely replaceable as a single (e.g., monolithic) piece.
  • bumpers 122, 124 each comprise a thermoplastic polymer, such as acrylonitrile butadiene styrene (ABS).
  • ABS acrylonitrile butadiene styrene
  • the bumpers are configured to allow the rider to bring vehicle 100 to a stop in an angled orientation (e.g., by setting one end of the board against the ground after the rider removes their foot from a rider detection device or switch, which is described below in further detail).
  • the bumpers may be configured to be abrasion-resistant and/or ruggedized.
  • First bumper 122 and/or second bumper 124 each include a bumper body 123 configured to form a distal, external end of board 102, and an expanse 125 extending from body 123 to form a lower external surface of board 102.
  • each lateral edge of expanse 125 includes a lengthwise channel 127 configured to slidingly mate with a corresponding inward protrusion 129 disposed along a discrete length of each of the respective side rails of frame 104. See Fig. 16, which is an end view of vehicle 100 with the bumper removed. This configuration enables body 123 of the bumper to be held to the frame by one or more removable fasteners at one end while the opposing end of the bumper is supported entirely by channels 127 and protrusions 129 (i.e. , without additional fasteners).
  • expanse 125 of bumper 122 includes an aperture 131 forming a carrying handle.
  • An electronics housing (AKA enclosure) 208, described further below, disposed above expanse 125 includes a corresponding recess 209 that is in registration with aperture 131 of the bumper when fully assembled, such that a user’s fingers are received by aperture 131 and recess 209 when the vehicle is carried by this handle.
  • Recess 209 is a blind hole (e.g., dead-ended) having dimensions corresponding to the aperture in the bumper expanse.
  • one or more portions of expanse 125 surrounding aperture 131 and portions of recess 209 configured to be grasped manually by the user are coated (e.g., overmolded) with a resilient material, e.g., a rubber or a soft plastic, to create a more comfortable grip.
  • a resilient material e.g., a rubber or a soft plastic
  • Fig. 19 is a partially exploded view of a rear end of vehicle 100, showing rear bumper 124 removed from the board.
  • Bumper 124 includes body portion 123 and expanse 125, with a tab protruding upward from the end of the bumper to wrap around an enclosure (e.g., battery enclosure) internal to the board.
  • Bumper 124 may be attached to board 102 using removable fasteners (e.g., screws or bolts) at the body end and along the expanse.
  • Fig. 20 depicts an alternative embodiment of a bumper 124’, depicted on a vehicle 100’.
  • Bumper 124’ is generally U-shaped, having a body 133 configured to form an external end of the board.
  • a pair of legs 135, 137 extend from the body to form lower longitudinal corners of the board, such that the upper surfaces of the legs of the bumper are in contact with the bottom edges of the side rails of a frame 104’.
  • Each leg 135, 137 includes an inward protrusion 139 running along a length (e.g., a discrete length) of each of the legs.
  • Protrusion 139 is configured to slidingly mate with a corresponding lengthwise channel 141 of the vehicle, e.g., formed in a battery housing (AKA enclosure) 230’ or other enclosure of the board.
  • Body 133 of the bumper is coupled or held to the board by one or more removable fasteners, and distal ends (ends closest to tire 114’) of legs 135, 137 are supported entirely by protrusions 139 and channels 141 (i.e. , without fasteners).
  • Bumper 124’ may be provided or utilized in examples where a battery enclosure 230’ extends downward farther than adjacent side rails of the vehicle frame.
  • channels 141 are disposed lower than the bottom edges of the side rails, and the enclosure extends between the two legs of the bumper to form an external surface of the board.
  • vehicle 100 further includes a stowable handle 150.
  • Handle 150 is disposed on a lateral side of wheel 114, adjacent hub motor 144, and is transitionable between a first configuration, in which a graspable grip portion 152 of the handle is stowed in a position proximate the hub motor, and a second configuration, in which grip portion 152 is pivoted or folded into a position extending or protruding transverse to the stowed position, such that the grip portion may be engaged by a hand of the user to carry or transport the board.
  • the grip of the handle may be substantially vertical in the first configuration (preventing breakage, interference with riding, etc.) and substantially horizontal in the second configuration.
  • the first configuration may be referred to as the “stowed” position, the “up” position, the “riding” position, the “operational” position, the “undeployed” position, and/or the “in” position.
  • the second configuration may be referred to as the “carrying” position, the “down” position, the “portable” position, the “deployed” position, and/or the “out” position.
  • handle 150 includes a hinge 154 comprising hinge knuckles 156 configured to receive a hinge pin.
  • Handle 150 may be pivotably coupled to any suitable fixed feature of the vehicle, such as the frame, fender, or axle block.
  • handle 150 is coupled to axle mounting block 134 by hinge 154, e.g., on an inboard upper side of the block.
  • a magnetic tab is configured to contact and be biased toward (i.e., attracted to) mounting block 134 to retain handle 150 while in the stowed position.
  • a spring-loaded hinge e.g., using a torsion spring
  • Components of handle 150 may be constructed using injection-molded plastic and/or machined or cast metal. Portions configured to be grasped manually by the user may be overmolded using a resilient material, e.g., a rubber or a soft plastic, to create a more comfortable grip.
  • a resilient material e.g., a rubber or a soft plastic
  • Vehicle 100 may include any suitable apparatus, device, mechanism, and/or structure for preventing water, dirt, or other road debris from being transferred by the ground-contacting element to the rider.
  • vehicle 100 may include a fender (AKA a full fender) configured to fully cover an upper periphery of tire 114.
  • the fender is coupled to frame 104, e.g., using fasteners and/or magnetic connectors, and configured to prevent debris from being transferred from tire 114 to the rider, such as when tire 114 is rotated about pitch axis A1.
  • the one or more electrical components of vehicle 100 may include a power supply 164, a motor controller 166, a rider detection device 168, a power switch 170, and a charge plug receptacle 172. Further description is provided below, with respect to Fig. 22.
  • Power supply 164 may include one or more batteries (e.g., secondary or rechargeable batteries), such as one or more lithium-ion batteries that are relatively light in weight and have a relatively high power density.
  • power supply 164 may include one or more lithium iron phosphate batteries, one or more lithium polymer batteries, one or more lithium cobalt batteries, one or more lithium manganese batteries, or a combination thereof.
  • power supply 164 may include sixteen (16) A123 lithium iron phosphate batteries (e.g., size 8050).
  • the batteries of power supply 164 may be arranged in a 16S1P configuration, or any other suitable configuration.
  • Motor controller 166 will generally include suitable electronics for controlling the vehicle motor.
  • a microcontroller 174 and/or one or more sensors (or at least one sensor) 176 may be included in or connected to motor controller 166 (see Fig. 22).
  • At least one of sensors 176 may be configured to measure orientation information (or an orientation) of board 102.
  • sensors 176 may be configured to sense movement of board 102 about and/or along the pitch, roll, and/or yaw axes.
  • the motor may be configured to cause rotation of wheel 114 based on the orientation of board 102.
  • motor controller 166 may be configured to receive orientation information measured by the at least one sensor of sensors 176 and to cause motor assembly 116 to propel the electric vehicle based on the orientation information.
  • motor controller 166 may be configured to drive hub motor 144 based on received sensed movement of board 102 from sensors 176 via microcontroller 174 to propel and/or actively balance vehicle 100.
  • Vehicle 100 further includes a plurality of light assemblies, such as one or more headlight and/or taillight assemblies (see, e.g., Figs. 3 and 4), and a battery indicator.
  • a first headlight/taillight assembly (or first light assembly) 180 may be disposed on or at (and/or connected to) first end portion 146 of the board (e.g., at a distal end portion of first deck portion 106), and a second headlight/taillight assembly 182 may be disposed on or at (and/or connected to) second end portion 148 of the board (e.g., at a distal end portion of second deck portion 108).
  • Headlight/taillight assemblies 180, 182 may be configured to reversibly light vehicle 100.
  • assemblies 180, 182 may indicate the direction that vehicle 100 is moving by changing color.
  • the headlight/taillight assemblies may each include one or more high output RGB and/or red and white LEDs (or other suitable one or more illuminators) 184 configured to receive data from microcontroller 174 (and/or a pitch sensor or sensors 176, such as a 3-axis gyro(s) 186 or accelerometer(s) 188) and automatically change color (e.g., from red to white, white to red, or a first color to a second color) based on the direction of movement of vehicle 100.
  • the first color shines in the direction of motion and the second color shines backward (e.g., opposite the direction of motion).
  • one or more of the headlight/taillight assemblies may be coupled to microcontroller 174 via an LED driver, which may be included in or connected to motor controller 166.
  • Assemblies 180, 182 and their associated illuminators may be located in and/or protected by bumpers 122, 124.
  • bumpers 122, 124 may include respective apertures 200, 202, through which illuminators may shine.
  • Apertures 200, 202 may be dimensioned to prevent the illuminators from contacting the ground.
  • apertures 200, 202 may each have a depth or inset profile.
  • Vehicle 100 may also include a power supply status indicator, specifically a battery indicator 204 comprising one or more illuminators 206 (e.g., LEDs) disposed within a housing 208 of motor controller 166.
  • Battery indicator 204 may include any suitable ilium inator(s) configured to indicate a state of power supply 164, e.g., by way of a signal provided to the battery indicator by the microcontroller and/or directly or indirectly from the power supply.
  • Battery indicator 204 is viewable by a rider, e.g., during operation of the vehicle, through an aperture or slot 210 formed in an upper side of one of the foot pads.
  • battery indicator 204 is an LED strip visible to the rider. Seven illuminators 206 are provided, using RGB-capable LED lights, although more or fewer may be utilized.
  • the LED strip is programmable, and configured to display a battery state of charge as a bar graph and/or by a color (e.g., starts green when fully charged, goes through yellow, to red when nearing full discharge).
  • the LED strip may also flash error codes, display status of footpad zone activation (i.e. , via rider detection system 168), display alerts/alarms, blink code warnings, and/or the like. In some examples, LED behavior may be programmed to disappear while riding and only fade back in when stopped (or below a threshold speed).
  • a mode of operation prevents the rider from looking down while riding.
  • One or more of the above-described modes may be remotely selectable by a user.
  • the modes and, for example, a brightness adjustment may be controllable from a software application running on a user’s smartphone or other mobile device.
  • brightness may be based on either absolute brightness setting, or some other variable, e.g., a time of day adjustment (dimmer at night).
  • a portion of housing 208 includes a light pipe 212 extending from adjacent the illuminators to (and in some examples, into) the slot.
  • Light pipe 212 may include any suitable structure configured to transmit light from the illuminators (e.g., mounted on a circuit board within the controller housing) to the slot 210.
  • light pipe 212 may be an optical fiber or a solid transparent material, and may be flexible or rigid.
  • light pipe 212 is formed as a wide column of solid transparent material to cover a linear array of LED illuminators at a lower end and to interface with or fit into slot 210 at an upper end.
  • an upper portion of light pipe 212 fills slot 210, thereby plugging the slot and preventing or reducing the incursion of debris and the like.
  • Light pipe 212 may be formed as a single piece with a lid 214 of housing 208, which is coupled to the base of the housing.
  • FIG. 9 is a partially exploded view of front deck portion 106.
  • deck portion 106 in this example, includes nonskid sheet 128, which is layered on a membrane switch 220 (see Fig. 13) of rider detection system 168, which in turn is disposed on a first footpad 222 (AKA the front footpad).
  • Footpad 222 may include any suitable rigid, generally planar structure configured to support the rider on board 102.
  • footpad 222 is thicker on one end, such that an upper surface of footpad 222 is ramped or curved upward slightly toward end 146 of the board.
  • Deck portion 108 similarly includes nonskid sheet 130, which is disposed on a second footpad 226 (AKA the rear footpad).
  • Footpad 226 may include any suitable rigid, generally planar structure configured to support the rider on board 102.
  • footpad 226 is thicker on one end, such that an upper surface of footpad 226 is curved upward slightly toward end 148 of the board.
  • Footpad 226 is coupled directly to frame 104, and supported thereon.
  • Power supply 164 is housed under footpad 226, inside an upper battery cover 228 and a lower battery housing 230.
  • An undercarriage is provided by the battery housing and/or an extension of rear bumper 124, or in some examples by a separate housing or expanse of rigid material.
  • each of the concave footpads may include a rigid substrate 223 with a compliant or resilient layer 225 disposed thereon.
  • the rigid substrate may include any suitable material and structure configured to support a rider’s weight, such as a thermoplastic polymer, e.g.,$acrylonitrile butadiene styrene (ABS), polyethylene (PE), polyvinyl chloride (PVC), and/or the like.
  • the resilient layer may comprise an elastomer, e.g., a synthetic and/or natural rubber, or another suitably resilient material, e.g., a high-density foam.
  • resilient layer 225 is overmolded onto rigid substrate 223.
  • Rigid substrate 223 and resilient layer 225 may be coupled by one or more mating features configured to provide structural security and additional mechanical stability.
  • resilient layer 225 may include a plurality of downward-facing protrusions 227 received in corresponding apertures 229 in the rigid substrate.
  • resilient layer 225 may have a connecting rail 231 mated with a corresponding slot structure 233 of rigid substrate 223, such that, once formed together (e.g., by injection molding the resilient layer onto and through the rigid substrate), the resilient layer and the rigid substrate comprise a single piece incapable of nondestructive disassembly.
  • footpad 222 and footpad 226 have a ramped profile in the direction of travel, such that an end portion of each footpad is ramped upward in a direction away from the wheel.
  • one or both footpads may be unramped or differently ramped.
  • the ramped profile is concave- up in the longitudinal direction.
  • Figs. 11 and 12 show the footpad with membrane switch 220 installed.
  • One or both of footpads 222 and 226 may include the membrane switch, although examples depicted herein have the membrane switch on a front footpad.
  • the footpad is monolithic and made from a single material, instead of the two-layered, interlocked version described above.
  • footpad 222 and footpad 226 may be concave, having a concave-up profile in a heel-toe direction (i.e. , laterally).
  • the heel-toe concave-up profile may also be described as being in a direction parallel to the axis of rotation of the wheel, in a direction parallel to the axle, in a direction orthogonal to the direction of travel, and/or in a direction parallel to the pitch or tilt axis.
  • one or both footpads are laterally concave and longitudinally ramped.
  • one or both footpads are concave-up in more than one direction or on more than one axis.
  • one or both footpads have a longitudinal profile that is ramped and concave-up, and a lateral profile that is concave- up.
  • a concave footpad (i.e., concave-up laterally) may have any suitable smooth, continuous, and/or faceted concave cross-sectional profile.
  • footpad 222 and/or footpad 226 may have a radial concavity (e.g., having a generally constant radius of curvature), a progressive concavity (e.g., with a smaller radius of curvature closer to lateral edges than at the center), a W-shaped concavity (e.g., with a raised portion in the center), or a tub-shaped or flat-cave concavity (e.g., with a generally flat center and raised lateral edges).
  • Membrane switch 220 is disposed on the concave front footpad, e.g., between resilient layer 225 and an upper layer of grip tape, and therefore has a similarly concave profile to conform to the footpad.
  • Membrane switch 220 comprises a plastic (e.g., waterproof) laminate housing one or more (e.g., two) force sensitive resistors or other pressure sensors.
  • Membrane switch 220 is an expanse sized and configured to enable simultaneous detection of a toe portion and a heel portion of a rider’s foot.
  • Membrane switch 220 comprises a first pressure transducer 220A configured to detect pressure from a first (e.g., toe) portion of the rider’s foot, and a second pressure transducer 220B configured to detect pressure from a second (e.g., heel) portion of the rider’s foot.
  • the membrane switch is sized and shaped such that one pressure sensor may be disposed under a toe region of the footpad and the other pressure sensor may be disposed under a heel region of the footpad, such that the presence and stance of a rider can be detected based on which sensor or sensors are activated.
  • transducer 220A and transducer 220B have been described as the “toe” and “heel” sensors, the roles of these transducers may be reversed depending on user preference or riding style, e.g., by way of a user-configurable setting.
  • Membrane switch 220 may be bendable (or flexible, e.g., slightly flexible) in one direction (e.g., on one axis), but may not be capable of compound curvature (e.g., simultaneously on two or more axes) without suffering stress and/or possible failure (e.g., sensor damage). Accordingly, as shown in Fig. 13, membrane switch 220 includes a pair of slots 221 to facilitate conforming to the curvature of footpad 222 and relieve stress on the membrane caused by conforming to the underlying concavity and/or ramped profile of the footpad.
  • Membrane switch 220 has a pair of angled slots in an outer end, forming an end portion and two side portions, such that the side portions of the membrane switch are configured to bend upward to conform to the concave profile of the footpad and the end portion of the membrane switch is configured to bend upward to conform to the ramped profile.
  • the angled slots are each oriented from an outer corner of the membrane toward a central area of the membrane. More or fewer slots may be utilized, depending on the desired concavity and conformity.
  • Corresponding ribs 235 (AKA ridges) protrude upward from resilient layer 225 to accommodate slots 221, e.g., to guide placement and minimize unwanted movement of membrane switch 220.
  • the concave surface of the footpads may be formed by multiple sloped portions or facets, wherein each facet is planar or has substantial curvature only in a single direction.
  • sensor traces of the membrane switch are aligned with the direction of curvature to prevent buckling.
  • computational flattening is utilized to convert the curved surface into a flat pattern for manufacturing the membrane switch.
  • An inboard end of deck portion 106 may be open or uncovered. This opening is covered or substantially sealed, and interior components are protected, by a skirt portion or downward flange of the fender.
  • the fender further includes a peripheral flange configured to seat on frame 104 and be coupled thereto, e.g., by fasteners such as screws or bolts.
  • a dome or arch portion of the fender extends from front and rear ends of the peripheral flange, and is configured to overarch tire 114 from front to rear.
  • a beveled edge is provided in an inboard side of the flange, to facilitate placement of the handle into the carrying position.
  • a notch is formed in an end of the peripheral flange, such that the notch corresponds with a notch of footpad 222 to form a slot.
  • a fender substitute (AKA the “fender delete”) may be installed in place of the full fender.
  • the fender substitute includes a skirt portion, a peripheral flange, beveled edge, and a notch, all substantially as described above with respect to the fender.
  • the fender and fender delete are configured to cover and protect the frame members, manage the gap around the tire (e.g., for safety and aesthetics), to snap onto the axle mounting blocks for additional retention, and to provide additional protection from water/mud ingress into motor controller 166 through the open end of deck portion 106.
  • a tire pressure sensor 298 may be included in vehicle 100, and coupled electrically / electronically to a pressure valve 299 of tire 114.
  • Tire pressure sensor 298 may include any suitable pressure sensor coupled to or integrated into tire 114, e.g., at the valve stem, and configured to sense pneumatic pressure in tire 114.
  • Sensed pressure is communicated, e.g., wirelessly, to the controller and/or a networked device such as a user’s mobile digital device (e.g., a smart phone).
  • a tire pressure management system may be employed on-vehicle and/or as part of a software application (app) running on the mobile device.
  • the management system may function to log tire pressures, display or otherwise provide high- or low- pressure warnings or alerts, and/or communicate the tire pressure for further analysis and display.
  • the TPMS may provide an analysis of the vehicle’s range efficiency (e.g., measured in Wh/mi) as a function of the sensed tire pressure.
  • tire pressure sensor 298 may communicate tire pressure information to motor controller 166, such that, e.g., in the case of unsafe tire pressure, the motor controller is configured to bring the vehicle to a safe stop.
  • Fig. 22 is a block diagram of various illustrative electrical components of vehicle 100, including onboard controls, some or all of which may be included in the vehicle.
  • the electrical components may include a power supply management system 300 having a battery management system (BMS), a direct current to direct current (DC/DC) converter 302, a brushless direct current (BLDC) drive logic 304, a power stage 306, one or more 3-axis accelerometers 188, one or more 3-axis gyros 186, one or more Hall sensors 308, and/or a motor temperature sensor 310.
  • DC/DC converter 302, BLDC drive logic 304, and power stage 306 may be included in and/or coupled to motor controller 166.
  • motor controller 166 may comprise a variable- frequency drive and/or any other suitable drive.
  • Gyro(s) 186 and accelerometer(s) 188 may be included in sensors 176.
  • the feedback control mechanism may include sensors 176, which may be electrically coupled to and/or included in motor controller 166.
  • the feedback control mechanism includes a Proportional-Integral-Derivative (PID) control scheme using one or more gyros (e.g., gyro(s) 186) and one or more accelerometers (e.g., accelerometer(s) 188).
  • Gyro 186 may be configured to measure a pivoting of the foot deck about its pitch axis.
  • Gyro 186 and accelerometer 188 may be collectively configured to estimate (or measure, or sense) a lean angle of board 102, such as an orientation of the foot deck about the pitch, roll and/or yaw axes.
  • gyro 186 and accelerometer 188 may be collectively configured to sense orientation information sufficient to estimate the lean angle of frame 104 including pivotation about the pitch, roll and/or yaw axes.
  • orientation information of board 102 may be measured (or sensed) by gyro 186 and accelerometer 188.
  • the respective measurements (or sense signals) from gyro 186 and accelerometer 188 may be combined using a complementary or Kalman filter to estimate a lean angle of board 102 (e.g., pivoting of board 102 about the pitch, roll, and/or yaw axes, with pivoting about the pitch axis corresponding to a pitch angle (about axle 126), pivoting about the roll axis corresponding to a roll or heel-toe angle, and pivoting about the yaw axis corresponding to a side-to-side yaw angle) while filtering out the impacts of bumps, road texture and disturbances due to steering inputs.
  • gyro 186 and accelerometer 188 may be connected to microcontroller 174, which may be configured to correspondingly measure movement of board 102 about and/or along the pitch, roll, and/or yaw axes
  • the feedback control loop may be configured to drive motor 144 to reduce an angle of board 102 with respect to the ground. For example, if a rider were to angle board 102 downward, so that first deck portion 106 was ‘lower’ than second deck portion 108 (e.g., if the rider pivoted board 102 counterclockwise (CCW) about axle 126 in Fig. 2), then the feedback loop may drive motor 144 to cause CCW rotation of tire 114 about the pitch axis (i.e. , axle 126) and a clockwise force on board 102.
  • CCW rider pivoted board 102 counterclockwise
  • motion of the electric vehicle may be achieved by the rider leaning his or her weight toward a selected (e.g., “front”) foot.
  • deceleration may be achieved by the rider leaning toward the other (e.g., “back” foot).
  • Regenerative braking can be used to slow the vehicle, as discussed further below.
  • Sustained operation may be achieved in either direction by the rider maintaining their lean toward either selected foot.
  • microcontroller 174 may be configured to send a signal to brushless DC (BLDC) drive logic 304, which may communicate information relating to the orientation and motion of board 102.
  • BLDC drive logic 304 may then interpret the signal and communicate with power stage 306 to drive motor 144 accordingly.
  • Hall sensors 308 may send a signal to the BLDC drive logic to provide feedback regarding a substantially instantaneous rotational rate of the rotor of motor 144.
  • Motor temperature sensor 310 may be configured to measure a temperature of motor 144 and send this measured temperature to logic 304.
  • Logic 304 may limit an amount of power supplied to motor 144 based on the measured temperature of motor 144 to prevent the motor from overheating.
  • microcontroller 174 (or another suitable portion of the control system) provides feedback to the user when an error is detected, the vehicle is operating in an unsafe condition, power supplied to motor 144 is about to be limited, the motor is at risk of overheating or overdrawing current, battery charge is low, and/or other potentially dangerous situations.
  • microcontroller 174 may provide haptic feedback (e.g., via a vibration motor within board 102), audible feedback (e.g., via a speaker within board 102), and/or visual feedback (e.g., via color changes and/or light patterns using illuminators 206).
  • feedback may be provided to the user via a mobile digital device such as a smartphone alert.
  • PID loop or other suitable feedback control loop may be incorporated to improve performance and safety of the electric vehicle.
  • integral windup may be prevented by limiting a maximum integrator value, and an exponential function may be applied to a pitch error angle (e.g., a measured or estimated pitch angle of board 102).
  • some embodiments may include neural network control, fuzzy control, genetic algorithm control, linear-quadratic regulator control, state- dependent Riccati equation control, and/or other control algorithms.
  • absolute or relative encoders may be incorporated to provide feedback on motor position.
  • a field-oriented control (FOC) or vector control system may be incorporated into the motor controller (e.g., in microcontroller 174, drive logic 304, and/or any other suitable processing logic of the motor controller).
  • FOC field-oriented control
  • a suitable FOC system may be configured to divert excess regenerative current, thereby acting as a protective mechanism for the battery.
  • the pitch angle can be modulated by the heel-toe angle (e.g., pivoting of the board about the roll axis), which may improve performance and prevent a front inside edge of board 102 from touching the ground.
  • the feedback loop may be configured to increase, decrease, or otherwise modulate the rotational rate of the tire if the board is pivoted about the roll and/or yaw axes. This modulation of the rotational rate of the tire may exert an increased normal force between a portion of the board and the rider, and may provide the rider with a sense of “carving” when turning, similar to the feel of carving a snowboard through snow or a surfboard through water.
  • the control loop may be configured to not activate until the rider moves the board to a predetermined orientation.
  • an algorithm may be incorporated into the feedback control loop, such that the control loop is not active (e.g., does not drive the motor) until the rider uses their weight to bring the board up to an approximately level orientation (e.g., zero-degree pitch angle).
  • the feedback control loop may be enabled (or activated) to balance the electric vehicle and to facilitate a transition of the electric vehicle from a stationary mode (or configuration, or state, or orientation) to a moving mode (or configuration, or state, or orientation).
  • the various electrical components may be configured to manage power supply 164.
  • the battery management system of power supply management system 300 is configured to protect batteries of power supply 164 from being overcharged, over-discharged, and/or short-circuited.
  • charge receptacle 172 includes three electrical pins configured to mate with female connectors in a corresponding charging plug connectable to the charging port.
  • the three pins include a ground pin 173, an input pin 175, and a third pin 177 (AKA the identification (ID) pin).
  • the charging plug may be a component of an external charging circuit 179, e.g., comprising an alternating current (AC) to direct current (DC) converter (AKA adapter) that receives AC power from a standard home outlet or the like.
  • AC alternating current
  • DC direct current converter
  • the external charging circuit is configured to communicate an identification (ID) signal to the ID pin of the charging port. Accordingly, the charging system of the vehicle receives the identification signal via the third pin, and selectively enables charging of the battery based on the received identification signal.
  • system 300 (or the BMS of system 300) checks that the signal applied to the ID pin matches a known, expected value (or series of values and/or timing of the series of values).
  • the identification signal is a specific voltage, current, or both. System 300 therefore confirms legitimacy of the charger by confirming that the correct identification signal has been applied to the ID pin.
  • the correct (i.e. , expected) ID signal varies with respect to time.
  • the correct ID signal may change according to a known sequence of values, a known continuous function, or the like.
  • the ID signal utilizes a form of pulse width modulation, in which a selected value and duty cycle are expected by the BMS.
  • the external charging unit may provide an ID signal in pulses at regular or calculable intervals. The magnitude of the ID signal may be higher or lower than a background value, or the ID signal and the background may have overlapping values.
  • the BMS checks for the identification signal on the third pin. If the ID signal matches the expected value, then the BMS enables charging of the vehicle.
  • a device for charging the battery of an electric vehicle may include a first plug having three conductors, wherein the first plug is configured to mate with a three-conductor charging receptacle of an electric vehicle, and the three (e.g., female) conductors of the first plug include a direct current (DC) output conductor, a ground, and an identification signal conductor.
  • the device may further include a second plug configured to mate with an alternating-current (AC) outlet, and an AC to DC converter configured to receive an AC current from the second plug and to provide a DC current to the first plug.
  • AC alternating-current
  • a method for charging the battery of an electric vehicle may include coupling an alternating current (AC) to direct current (DC) adapter (e.g., external charging circuit 179) to a charging port of the vehicle (e.g., charge receptacle 172).
  • the method includes applying a charging voltage to a first conductor of the charging port, using the AC to DC adapter, and communicating an identification signal to a second conductor of the charging port, wherein the identification signal is configured to match an identification signal expected by the battery management system (BMS) of the vehicle.
  • BMS battery management system
  • the method may include generating the identification signal in response to sensing that the adapter has been coupled to the charging port.
  • the first and second conductors of the charging port are male connectors (e.g., pins).
  • the charging port has a third male connector in the form of a ground pin.
  • the identification signal comprises a selected value (e.g., a voltage and/or current magnitude) pulsed periodically in accordance with a selected duty cycle.
  • the method includes charging the secondary battery of the vehicle using the AC to DC adapter.
  • the method may further include coupling the AC to DC adapter to a source of AC electricity (e.g., a household electrical outlet).
  • the AC to DC adapter has a first plug configured to mate with the charging port of the electric vehicle and a second plug configured to mate with an AC electrical outlet.
  • Converter 302 may transmit the power-on signal to microcontroller 174.
  • microcontroller may initialize sensors 176, and rider detection device 168.
  • the electric vehicle may include one or more safety mechanisms, such as power switch 170 and/or rider detection device 168 to ensure that the rider is on the board before engaging the feedback control loop.
  • rider detection device 168 may be configured to determine if the rider’s foot or feet are disposed on the foot deck, and to send a signal causing motor 144 to enter an active state when the rider’s foot or feet are determined to be disposed on the foot deck.
  • Rider detection device 168 may include any suitable mechanism, structure, or apparatus for determining whether the rider is on the electric vehicle.
  • device 168 may include one or more mechanical buttons, one or more capacitive sensors, one or more inductive sensors, one or more optical switches, one or more force-resistive sensors, and/or one or more strain gauges. Rider detection device 168 may be located on or under either or both of first and second deck portions 106, 108.
  • the one or more mechanical buttons or other devices may be pressed directly (e.g., if on the deck portions), or indirectly (e.g., if under the deck portions), to sense whether the rider is on board 102.
  • the one or more capacitive sensors and/or the one or more inductive sensors may be located on or near a surface of either or both of the deck portions, and may correspondingly detect whether the rider is on the board via a change in capacitance or a change in inductance.
  • the one or more optical switches may be located on or near the surface of either or both of the deck portions. The one or more optical switches may detect whether the rider is on the board based on an optical signal.
  • the one or more strain gauges may be configured to measure board or axle flex imparted by the rider’s feet to detect whether the rider is on the board.
  • device 168 may include a hand-held “dead-man” switch.
  • device 168 may send a rider-present signal to microcontroller 174.
  • the rider- present signal may be the signal causing motor 144 to enter the active state.
  • microcontroller 174 may activate the feedback control loop for driving motor 144.
  • microcontroller 174 may send board orientation information (or measurement data) from sensors 176 to logic 304 for powering motor 144 via power stage 306.
  • device 168 may send a rider-not-present signal to microcontroller 174.
  • circuitry of vehicle 100 e.g., microcontroller 174, logic 304, and/or power stage 306 may be configured to reduce a rotational rate of the rotor relative to the stator to bring vehicle 100 to a stop.
  • the electric coils of the rotor may be selectively powered to reduce the rotational rate of the rotor.
  • the vehicle may be configured to actively drive motor 144 even though the rider may not be present on the vehicle (e.g., temporarily), which may allow the rider to perform various tricks.
  • device 168 may be configured to delay sending the rider-not-present signal to the microcontroller for a predetermined duration of time, and/or the microcontroller may be configured to delay sending the signal to logic 304 to cut power to the motor for a predetermined duration of time.
  • a self-balancing electric vehicle comprising: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the 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 a wheel rotatable about an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; and an electronic controller configured to receive orientation information of the board measured by at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; wherein the first deck portion includes a concave first footpad having a concave-up profile in a heel-toe direction.
  • A1 The vehicle of AO, wherein the first footpad has a ramped profile in the direction of travel, such that an end portion of the first footpad is ramped upward in a direction away from the wheel.
  • A3 The vehicle of any one of AO through A2, further including a rider detection system comprising a membrane switch having one or more pressure transducers; wherein the membrane switch is layered onto the concave first footpad.
  • A4 The vehicle of A3 wherein the membrane switch has a pair of angled slots in an outer end, forming an end portion and two side portions, such that the side portions of the membrane switch are configured to bend upward to conform to the concave profile of the first footpad and the end portion of the membrane switch is configured to bend upward to conform to the ramped profile of the first footpad.
  • A5. The vehicle of A4, wherein the angled slots are each oriented from an outer corner of the membrane toward a central area of the membrane.
  • A6 The vehicle of A4 or A5, wherein the footpad includes a pair of ridges configured to fit into the slots of the membrane switch.
  • A7 The vehicle of any one of A3 through A6, wherein the membrane switch has a waterproof outer housing.
  • A8 The vehicle of any one of A3 through A7, wherein the membrane switch comprises a first pressure transducer configured to detect pressure from a toe portion of a rider’s foot, and a second pressure transducer configured to detect pressure from a heel portion of the rider’s foot.
  • A9 The vehicle of A8, wherein at least one of the pressure transducers comprises a force sensitive resistor.
  • A10 The vehicle of any one of AO through A9, wherein the first footpad comprises a resilient layer covering a rigid base.
  • A11 The vehicle of A10, wherein the rigid base comprises a plastic.
  • A12 The vehicle of A10 or A11 , wherein the resilient layer comprises a rubber material.
  • A13 The vehicle of A10 or A11 , wherein the resilient layer comprises a foam.
  • A14 The vehicle of any one of A10 through A13, wherein the resilient layer is overmolded onto the rigid base.
  • A15 The vehicle of any one of A10 through A14, wherein the rigid base includes one or more apertures.
  • A16 The vehicle of A15, wherein the resilient layer includes one or more protrusions received by the one or more underlying apertures of the rigid base.
  • A17 The vehicle of any one of AO through A16, wherein a concave rider detection switch is disposed between the first concave footpad and an upper layer of grip tape.
  • A18 The vehicle of any one of AO through A17, wherein the second deck portion comprises a second concave footpad.
  • a self-balancing electric vehicle comprising: a wheel assembly including a wheel having an axis of rotation; a board including an aperture to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axis of rotation of the wheel; an electric hub motor configured to drive the wheel; and a controller configured to receive orientation information indicating an orientation of the board and to cause the hub motor to propel the board based on the orientation information; wherein the first deck portion includes a concave first footpad having a concave-up profile in a direction parallel to the axis of rotation of the wheel.
  • B3 The vehicle of any one of BO through B2, further including a rider detection system comprising a membrane switch having one or more pressure transducers; wherein the membrane switch is disposed on the concave first footpad.
  • B4 The vehicle of B3, wherein the membrane switch has a pair of angled slots in an outer end, forming an end portion and two side portions, such that the side portions of the membrane switch are configured to bend upward to conform to the concave profile of the first footpad and the end portion of the membrane switch is configured to bend upward to conform to the ramped profile of the first footpad.
  • B9 The vehicle of B4 or B5, wherein the footpad includes a pair of diagonal ridges configured to fit into the slots of the membrane switch.
  • B13 The vehicle of B10 or B11 , wherein the resilient layer comprises a foam.
  • B16 The vehicle of B15, wherein the resilient layer includes one or more protrusions received by the one or more underlying apertures of the rigid base.
  • B17 The vehicle of any one of BO through B16, wherein a concave rider detection switch is disposed between the first concave footpad and an upper layer of grip tape.
  • a self-balancing electric vehicle comprising: a wheel assembly including a wheel driven by a hub motor about an axle; a board including an aperture to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axle; and a controller configured to cause the hub motor to propel the board based on board orientation information; wherein the first deck portion includes a concave first footpad having a concave-up profile in a direction parallel to the axle.
  • C6 The vehicle of any one of C3 to C5, wherein the membrane switch has a waterproof outer housing.
  • C7 The vehicle of any one of C3 through C6, wherein the membrane switch comprises a first pressure transducer configured to detect pressure from a toe portion of the rider’s foot, and a second pressure transducer configured to detect pressure from a heel portion of the rider’s foot.
  • a self-balancing electric vehicle comprising: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the 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 a wheel rotatable about an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; an electronic controller configured to receive orientation information of the board measured by at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; and a bumper coupled to the first end portion of the frame, wherein the bumper comprises a body configured to form a distal external end of the board, and an expanse extending from the body to form a lower external surface of the board; wherein each lateral edge of the expanse of the bumper includes a lengthwise
  • D5. The vehicle of D4, wherein the recess in the electronics enclosure is a blind hole having dimensions corresponding to the aperture in the bumper.
  • a self-balancing electric vehicle comprising: a wheel assembly including a wheel having an axis of rotation; a board including an opening to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axis of rotation of the wheel; an electric hub motor configured to drive the wheel; a controller configured to receive orientation information indicating an orientation of the board and to cause the hub motor to propel the board based on the orientation information; and a bumper coupled to the first deck portion, wherein the bumper comprises a body configured to form a distal external end of the board, and an expanse extending from the body to form a lower external surface of the board; wherein each lateral edge of the expanse of the bumper includes a lengthwise channel configured to slidingly mate with a corresponding inward protrusion of a respective side rail of the board.
  • E4 The vehicle of E3, wherein an electronics enclosure disposed above the expanse of the bumper includes a recess in registration with the aperture of the bumper.
  • a self-balancing electric vehicle comprising: a wheel assembly including a wheel driven by a hub motor about an axle; a board including a central opening to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axle; and a controller configured to cause the hub motor to propel the board based on board orientation information; a bumper coupled to the first deck portion, wherein the bumper comprises a body configured to form a distal external end of the board, and an expanse extending from the body to form a lower external surface of the board; wherein each lateral edge of the expanse of the bumper includes a lengthwise channel configured to slidingly mate with a corresponding inward protrusion of a respective side rail of the board.
  • F6 The vehicle of any one of F0 through F5, wherein the inward protrusion runs along a discrete length of each of the side rails.
  • a self-balancing electric vehicle comprising: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the 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 a wheel rotatable about an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; an electronic controller configured to receive orientation information of the board measured by at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; and a U-shaped bumper coupled to the second deck portion, wherein the bumper comprises a body configured to form an external end of the board, and a pair of legs extending from the body to form lower longitudinal corners of the board; wherein each leg of the bumper includes an inward protrusion configured to slidingly mate
  • G1 The vehicle of GO, wherein the body of the bumper is held to the board by one or more removable fasteners, and distal ends of the legs of the bumper are supported entirely by the protrusions and channels.
  • G3 The vehicle of G2, wherein upper surfaces of the legs of the bumper are in contact with the bottom edges of the side rails.
  • G4 The vehicle of any one of GO through G3, wherein a lower surface of the battery enclosure extends between the two legs of the bumper to form an external surface of the board.
  • a self-balancing electric vehicle comprising: a wheel assembly including a wheel having an axis of rotation; a board including a central opening to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axis of rotation of the wheel; an electric hub motor coupled to a battery and configured to drive the wheel; and a controller configured to receive orientation information indicating an orientation of the board and to cause the hub motor to propel the board based on the orientation information; a U-shaped bumper coupled to the second deck portion, wherein the bumper comprises a body configured to form a distal end of the board, and a pair of legs extending from the body to form lower longitudinal corners of the board; wherein each leg of the bumper includes an inward protrusion configured to slidingly mate with a corresponding lengthwise channel of a battery enclosure of the board.
  • H2 The vehicle of HO or H1 , wherein the battery enclosure extends downward farther than adjacent side rails of the board, and the channels of the battery enclosure are disposed lower than bottom edges of the side rails.
  • H4 The vehicle of any one of HO through H3, wherein a lower surface of the battery enclosure extends between the two legs of the bumper to form an external surface of the board.
  • H5. The vehicle of H4, wherein the inward protrusion runs along a discrete length of each of the legs.
  • J1 The vehicle of JO, wherein the body of the bumper is held to the board by one or more removable fasteners, and distal ends of the legs of the bumper are supported entirely by the protrusions and channels.
  • J2 The vehicle of JO or J1, wherein the battery enclosure extends downward farther than adjacent side rails of the board, and the channels of the battery enclosure are disposed lower than bottom edges of the side rails.
  • J3 The vehicle of J2, wherein upper surfaces of the legs of the bumper are in contact with the bottom edges of the side rails.
  • J4 The vehicle of any one of JO through J3, wherein a lower surface of the battery enclosure extends between the two legs of the bumper to form an external surface of the board.
  • J5 The vehicle of J4, wherein the inward protrusion runs along a discrete length of each of the legs.
  • a self-balancing electric vehicle comprising: a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the 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 a wheel rotatable about an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions; a motor assembly powered by a rechargeable battery and configured to rotate the wheel about the axle to propel the vehicle; an electronic controller configured to receive orientation information of the board measured by at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; and a battery charging system incorporated into the vehicle and electrically coupled to the battery, the charging system comprising a user-accessible charging port having a ground pin, an input pin, and an identification (ID) pin; wherein the charging system of the vehicle is configured to receive an identification
  • K1 The vehicle of K0, wherein a battery management system (BMS) of the charging system is configured to check for the identification signal on the ID pin, in response to an input voltage on the input pin.
  • BMS battery management system
  • K2 The vehicle of K1 , wherein the BMS is configured to enable the charging system of the vehicle based on a comparison between the identification signal and an expected value.
  • K4 The vehicle of K3, wherein the identification signal comprises the expected value pulsed in accordance with an expected duty cycle.
  • K5. The vehicle of K2 or K3, wherein the expected value is an expected voltage.
  • K6 The vehicle of K5, wherein the expected voltage has a magnitude lower than a background voltage.
  • K7 The vehicle of K2 or K3, wherein the expected value is an expected current.
  • K8 The vehicle of K0, wherein a battery management system (BMS) of the charging system is configured to check for the identification signal on the ID pin.
  • BMS battery management system
  • K9 The vehicle of K8, wherein the BMS is configured to check for the identification signal in response to an input voltage on the input pin.
  • K10 The vehicle of K8, wherein the BMS is configured to enable the charging system of the vehicle based on a comparison between the identification signal and an expected value.
  • K11 The vehicle of K8, wherein the BMS is configured to disable the charging system of the vehicle based on a comparison between the identification signal and an expected value.
  • K13 The vehicle of K12, wherein the identification signal comprises the expected value pulsed in accordance with an expected duty cycle.
  • K14 The vehicle of K12 or K13, wherein the expected value is an expected voltage.
  • K15 The vehicle of K14, wherein the expected voltage has a magnitude lower than a background voltage.
  • K17 The vehicle of any one of K0 through K16, further comprising an external charging circuit connectable to the charging port, wherein the external charging circuit is configured to communicate the identification signal to the ID pin of the charging port.
  • K18 The vehicle of K17, wherein the external charging circuit comprises an alternating current (AC) to direct current (DC) converter.
  • AC alternating current
  • DC direct current
  • a method for charging the battery of an electric vehicle comprising: coupling an alternating current (AC) to direct current (DC) adapter to a charging port of an electric vehicle; applying a charging voltage to a first conductor of the charging port, using the AC to DC adapter; communicating an identification signal to a second conductor of the charging port, wherein the identification signal is configured to match an identification signal expected by a battery management system (BMS) of the vehicle, and wherein the identification signal comprises a selected value pulsed periodically in accordance with a selected duty cycle; in response to the BMS enabling the charging system of the vehicle, charging a secondary battery of the vehicle using the AC to DC adapter.
  • L1 The method of L0, further comprising coupling the AC to DC adapter to a source of AC electricity.
  • L2 The method of L0 or L1 , wherein the selected value of the identification signal comprises a voltage magnitude.
  • L6 The method of any one of L0 through L5, wherein the AC to DC adapter comprises a first plug configured to mate with the charging port of the electric vehicle and a second plug configured to mate with an AC electrical outlet.
  • L8 The method of any one of L0 through L7, wherein the electric vehicle is a self-balancing electric vehicle, comprising: a wheel assembly including a wheel having an axis of rotation, a board including a central opening to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axis of rotation of the wheel, an electric hub motor powered by the secondary battery and configured to drive the wheel, and a controller configured to receive orientation information indicating an orientation of the board and to cause the hub motor to propel the board based on the orientation information.
  • a wheel assembly including a wheel having an axis of rotation, a board including a central opening to accommodate the wheel, such that the board is tiltable about the wheel, first and second deck portions of the board each configured to receive a left or right foot of a rider oriented generally parallel to the axis of rotation of the wheel, an electric hub motor powered by the secondary battery and configured to drive the wheel
  • illustrative embodiments and examples described herein allow for a membrane switch to be placed on a multi- dimensionally curved footpad, enabling both the front and the rear footpads to have a concave profile.
  • illustrative embodiments and examples described herein allow an increase of user comfort by decreasing foot fatigue.
  • illustrative embodiments and examples described herein allow the user to be better alerted in the case that an error or an unsafe condition has occurred.
  • illustrative embodiments and examples described herein have more than one handle, and therefore allow multiple options for carrying the vehicle by hand.
  • illustrative embodiments and examples described herein allow fewer fasteners to be used in mounting bumpers to the vehicle, thereby decreasing part count and manufacturing costs while increasing user convenience and simplicity of bumper replacement.

Landscapes

  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un véhicule automoteur à une roue pouvant comprendre une planche comportant deux parties de plateforme comportant chacune un repose-pieds avant concave conçu pour recevoir un pied d'un usager, et un ensemble roue disposé entre les parties de plateforme. Le repose-pieds avant concave comporte un capteur de détection d'usager sous la forme d'un commutateur à membrane épousant la forme du repose-pieds (par ex. facilité par une ou plusieurs encoches formées dans le commutateur à membrane). Un ensemble moteur entraîne le véhicule en réponse à l'orientation de la planche et aux informations de détection d'usager.
PCT/US2022/035325 2021-06-30 2022-06-28 Planche à roulette auto-stabilisatrice WO2023278453A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US202163217162P 2021-06-30 2021-06-30
US63/217,162 2021-06-30
US17/506,551 US11273364B1 (en) 2021-06-30 2021-10-20 Self-stabilizing skateboard
US17/506,551 2021-10-20
US17/695,586 US11590409B2 (en) 2021-06-30 2022-03-15 Self-stabilizing skateboard
US17/695,586 2022-03-15

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WO2023278453A1 true WO2023278453A1 (fr) 2023-01-05

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080242515A1 (en) * 2006-04-28 2008-10-02 Larry Richard Odien Motorized apparatus and method for dynamic balancing exercise
US20160121198A1 (en) * 2014-11-05 2016-05-05 Future Motion, Inc. Rider detection system
US20200282293A1 (en) * 2019-03-07 2020-09-10 Carvewell LLC Footpad with sensor compatibility
US11045712B1 (en) * 2019-04-04 2021-06-29 Paul Orehek Cushioned concave pads for self-balancing vehicles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080242515A1 (en) * 2006-04-28 2008-10-02 Larry Richard Odien Motorized apparatus and method for dynamic balancing exercise
US20160121198A1 (en) * 2014-11-05 2016-05-05 Future Motion, Inc. Rider detection system
US20200282293A1 (en) * 2019-03-07 2020-09-10 Carvewell LLC Footpad with sensor compatibility
US11045712B1 (en) * 2019-04-04 2021-06-29 Paul Orehek Cushioned concave pads for self-balancing vehicles

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