A self-stabilizing, one-wheeled electric skateboard may include improved features. In some examples, the vehicle includes a status indicator viewable through a slot formed in an upper surface of the board. In some examples, the vehicle includes a convertible carrying handle transitionable between stowed and deployed positions. In some examples, the vehicle includes an interchangeable fender and fender substitute that may be removably coupled to an upper surface of the board. In some examples, a motor controller of the vehicle may operate a field-oriented control (FOC) scheme configured to control the electric motor by manipulating a direct current aligned with a rotating rotor flux angle and a quadrature current defined at ninety degrees from the rotating rotor flux angle. In some examples, the motor controller may be configured to permit intuitive dismounting of the vehicle by tilting and/or moving the vehicle backward.

The present specification discloses wheel mounts for personal vehicles, such as skateboards and scooters. Wheel mount embodiments disclosed herein provide for the interchangeable mounting of wheels having differently shaped wheel cores. The present invention allows users to forego the previous limitation of having a specific wheel mount that only provides for the mounting a specific wheel having one specific wheel core geometry. Embodiments can be utilized on motorized personal vehicles, such as motorized skateboards and scooters that utilize various motors, such as direct drive or belt drive motors.

A self-stabilizing, one-wheeled electric skateboard may include improved features. In some examples, the vehicle includes a status indicator viewable through a slot formed in an upper surface of the board. In some examples, the vehicle includes a convertible carrying handle transitionable between stowed and deployed positions. In some examples, the vehicle includes an interchangeable fender and fender substitute that may be removably coupled to an upper surface of the board. In some examples, a motor controller of the vehicle may operate a field-oriented control (FOC) scheme configured to control the electric motor by manipulating a direct current aligned with a rotating rotor flux angle and a quadrature current defined at ninety degrees from the rotating rotor flux angle. In some examples, the motor controller may be configured to permit intuitive dismounting of the vehicle by tilting and/or moving the vehicle backward.

A device which may include first and second cross skate bodies each having a frame configured to support at least first and second wheels situated inline of each other, each frame having at least one compartment configured to position a corresponding power source of first and second power sources; first and second foot couplers, each foot coupler configured to couple a foot of a user to a corresponding cross skate body of the cross skate bodies; a first traction motor coupled to drive at least one of the first and second wheels of the first cross skate body; a second traction motor coupled to drive at least one of the first and second wheels of the second cross skate body; and a controller which may be configured to: receive a drive signal from a drive controller, and control the first and second traction motors to drive the corresponding wheels in accordance with the drive signal.

A method of controlling a four-wheel skateboard, the method comprising: applying a load on an induction switch of the four-wheel skateboard, the induction switch starting a power switch of the four-wheel skateboard; driving the four-wheel skateboard to slide by the assistance of the load; controlling and starting a motor, by a controller of the four-wheel skateboard, to drive the four-wheel skateboard to slide; and taking the load off from the induction switch of the four-wheel skateboard and the induction switch shutting down the power switch of the four-wheel skateboard. The four-wheel skateboard relies on the load-assisted driving, not entirely on the driving force of the motor, so that the four-wheel skateboard consumes less electricity for sliding the same distance as conventional skateboards, requires relatively small amounts of lithium-ion batteries, and requires not too large battery capacity and not too high voltage, thus reducing the manufacturing cost of the four-wheel skateboard.

An electric skateboard with a hands free control mechanism includes weight sensors embedded in the front and rear truck base plates to measure both the total weight of the rider as well as their weight distribution on the deck. An advanced skate control circuit uses these weight signals from the base plate to control the motor power, and includes the ability to detect when the rider is kicking the board. During these kicking events, the skate control algorithm changes to a mode which minimises any rapid changes to the skateboard velocity so that the rider will remain stable with just one foot on the deck.

When an electric vehicle is traveling downhill, experiencing regenerative braking, or otherwise forcing the vehicle motor to turn faster than the commanded motor torque, the vehicle motor produces electrical energy that can be used to recharge a vehicle battery. However, if the vehicle battery is already nearly or fully charged, the excess electrical energy produced may damage the battery. Control systems described herein may reduce and/or dispose of the excess energy by manipulating the motor flux (i.e., direct) current and quadrature current independently.

A personal vehicle system including a control system and at least one wheel motor coupled to the personal vehicle system and subject to control by the control system. A control system for a personal vehicle system including steps for calibrating the control system, where the control system includes a sensor system having load sensors incorporated into the personal vehicle system and also having lean forward and lean backward outputs, a user interface that prompts a user to lean forward and backward and allows a user to input a sensitivity value, and an electronic hardware component for calculating a normalization value where the wheel motor current is controlled as a function of the normalization value.

A pipe transporter traction wheel suitable for mounting on a pipe transporter travelable along an interior surface of a pipe may include a tractor portion configured to be attached to a pipe transporter, the tractor portion having a tractor surface configured to contact an interior surface of a pipe when the pipe transporter is driven in the pipe. The tractor portion may include a harder granular material and a softer matrix material embedding the granular material. The wheel may include a hub and/or a mounting interface. A kit may be provided including one or two adapters and a wheel.

A personal vehicle system including a control system and at least one wheel motor coupled to the personal vehicle system and subject to control by the control system. A control system for a personal vehicle system including steps for calibrating the control system, where the control system includes a sensor system having load sensors incorporated into the personal vehicle system and also having lean forward and lean backward outputs, a user interface that prompts a user to lean forward and backward and allows a user to input a sensitivity value, and an electronic hardware component for calculating a normalization value where the wheel motor current is controlled as a function of the normalization value.