Fully self-balanced hands-free portable vehicle

Abstract

The present disclosure provides a hands-free, self-balancing vehicle including a tiltable platform for a rider to stand on. The tiltable platform may tilt in any direction and direct the direction of motion of the vehicle. The vehicle is compact and may be disassembled for easy portability.

Claims

1. A vehicle comprising: a tiltable platform for receiving a rider's feet, wherein, when the vehicle is in a neutral position, a top surface of the tiltable platform is coplanar with a horizontal plane, wherein the tiltable platform is configured to tilt in at least four directions; a first right wheel in communication with a right motor, wherein the tiltable platform is connected to the right wheel; and a first left wheel in communication with a left motor, wherein the tiltable platform is connected to the left wheel, a first spring connects the tiltable platform to a support beam including a first end and second end, wherein the first end of the support beam is attached to a right casing including the right wheel and the right motor, wherein the second end of the support beam is attached to a left casing including the left wheel and the left motor; wherein a planar position of the top surface of the tiltable platform relative to the horizontal plane indicates the acceleration of the vehicle.

2. The vehicle of claim 1 wherein a second spring connects the tiltable platform to a support beam, wherein the first spring and the second spring are perpendicular to each other.

3. The vehicle of claim 1 further comprising an acceleration sensor in communication with a control system, wherein the acceleration sensor is configured to detect the planar position of the tiltable platform relative to the horizontal plane, wherein the control system is configured to: receive position information from the acceleration sensors; determine acceleration information from the position information; and adjust mechanical motion of the right motor and left motor based on the acceleration information.

4. The vehicle of claim 1 wherein the at least four directions includes forward, backwards, right, and left.

5. The vehicle of claim 1 wherein the tiltable platform may tilt in any direction within 360 degrees.

6. The vehicle of claim 1 further including at least one battery connected to the right motor and the left motor.

7. The vehicle of claim 1 further including a pressure sensor connected to the tiltable platform, wherein, when the pressure sensor detects no pressure on the titlable platform, the vehicle automatically stops motion.

8. The vehicle of claim 1 wherein the right wheel and the left wheel may fold under the tiltable platform when the vehicle is not in use.

9. The vehicle of claim 1 wherein the right wheel and the left wheel may detach from the tiltable platform when the vehicle is not in use.

10. The vehicle of claim 1 wherein the planar position of the top surface of the tiltable platform relative to the horizontal plane indicates a direction of movement of the vehicle.

11. A vehicle comprising: a tiltable platform for receiving a rider's feet, wherein, when the vehicle is in a neutral position, a top surface of the tiltable platform is coplanar with a horizontal plane, wherein the tiltable platform is configured to tilt in at least four directions, wherein a planar position of the top surface of the tiltable platform relative to the horizontal plane indicates the acceleration of the vehicle; a tilt sensor connected to the tiltable platform; at least one right wheel in communication with a right motor, wherein the tiltable platform is connected to the right wheel; at least one left wheel in communication with a left motor, wherein the tiltable platform is connected to the left wheel; and a control system in communication with the tilt sensor, the right wheel, the right motor, the left wheel, and the left motor, wherein the control system is configured to: receive a position information from the tilt sensor; determine acceleration information from the position information; and adjust the mechanical motion of the right motor and the left motor based on the acceleration information; further comprising a second right wheel and a second left wheel, wherein the second right wheel is connected to a right magnet in communication with a right magnetic sensor, wherein the second right wheel is connected to a left magnet in communication with a left magnetic sensor, wherein the right magnetic sensor and the left magnetic sensor are in communication with the control system, wherein the control system is further configured to: receive magnetic information from the right magnetic sensor and the left magnetic sensor, determine an angular velocity of the vehicle based on the magnetic information, and adjust the mechanical motion of the right motor and the left motor based on the angular velocity.

12. The vehicle of claim 11 wherein the tiltable platform may tilt in any direction within 360 degrees.

13. The vehicle of claim 11 further including a pressure sensor connected to the tiltable platform, wherein the pressure sensor is in communication with the control system, wherein, when the pressure sensor detects zero pressure on the titlable platform, the control system powers off the right motor and the left motor.

14. The vehicle of claim 11 wherein the right wheel and the left wheel may fold under the tiltable platform when the vehicle is not in use.

15. The vehicle of claim 11 wherein the right wheel and the left wheel may detach from the tiltable platform when the vehicle is not in use.

16. The vehicle of claim 11 wherein the planar position of the top surface of the tiltable platform relative to the horizontal plane indicates the direction of movement of the vehicle.

17. A vehicle comprising: a tiltable platform for receiving a rider's feet, wherein, when the vehicle is in a neutral position, a top surface of the tiltable platform is coplanar with a horizontal plane, wherein the tiltable platform is configured to tilt in at least four directions; a first right wheel in communication with a right motor, wherein the tiltable platform is connected to the right wheel; and a first left wheel in communication with a left motor, wherein the tiltable platform is connected to the left wheel, wherein a planar position of the top surface of the tiltable platform relative to the horizontal plane indicates the acceleration of the vehicle and the right wheel and the left wheel may fold under the tiltable platform when the vehicle is not in use.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The drawing figures depict one or more implementations in accord with the present concepts, by way of example only, not by way of limitations. In the figures, like reference numerals refer to the same or similar elements.

(2) FIG. 1 is a top view of an embodiment of the vehicle disclosed herein, wherein the view schematically depicts possible positions of the internal electronics.

(3) FIG. 2 is a front view of an embodiment of the vehicle disclosed herein.

(4) FIG. 3 is a perspective top view of an embodiment of the vehicle disclosed herein.

(5) FIG. 4 is a perspective bottom view of an embodiment of the vehicle disclosed herein.

(6) FIG. 5 is a perspective view of an embodiment of the vehicle disclosed herein with the platform tilted.

(7) FIG. 6 is a perspective view of an embodiment of the vehicle disclosed herein illustrating the vehicle disassembled for storage.

(8) FIG. 7 is a perspective view of an embodiment of the vehicle disclosed herein including a two-wheeled implementation.

(9) FIG. 8 is a perspective view of an embodiment of the vehicle disclosed herein that includes a thin platform.

(10) FIG. 9 is a perspective view of an embodiment of the spring system disclosed herein that is connecting a support beam to a platform.

DETAILED DESCRIPTION OF THE INVENTION

(11) FIGS. 1-4 illustrate examples of a four-wheeled implementation of the vehicle 28. As shown in FIG. 1, the vehicle 28 includes a tiltable platform 1, which is connected to a support beam 8 by a spring system 31, 32, as depicted in FIG. 9. The support beam 8 is then attached to right casing 2 and left casing 3, wherein the casings 2, 3 are attached to the motors 9, 10, gearboxes 28, 30 and wheels 4, 5, 6, 7. The gearboxes 28, 30 may be replaced with belt systems, chain systems, other suitable rpm reduction methods, or even in some cases be eliminated. Of course, the tiltable platform 1 may be connected to the right casing 2 and left casing 3 by any suitable connection. The right casing 2 may include, or be connected to, a right motor 9 and the left casing 3 may include, or be connected to, a left motor 10. In addition, the right casing 2 may include or connect to a right wheel 6, and the left casing 3 may include or connect to a left wheel 7. In an example, the support beam 8 may be directly connected to the right wheel 6 and left wheel 7. Finally, the vehicle 28 may be powered by a battery 27, which may also be contained in the tiltable platform 1.

(12) The vehicle 28 may include a control system 26 that is in communication with various sensors and controls the movement of the vehicle 28. As shown in FIG. 1, the control system may be positioned within the tiltable platform 1. However, it is contemplated the control system 26 may be positioned anywhere within the vehicle 28, or even outside of the vehicle 28, wherein the control system 26 is not physically connected to the vehicle 28. Similarly, any of the sensors disclosed herein may be in physical communication or wireless communication with the control system 26.

(13) For example, the vehicle 28 may include tilt sensors 11 (such as an accelerometer and/or gyroscope) in the tiltable platform 1, as well as tilt sensors 12 in a non-tiltable part of the vehicle 28. The tilt sensors 11, 12 may be in communication with the control system 26. The position of the tilt sensors 12 in or on non-tiltable parts of the vehicle 28 allows the control system 26 to determine to what degree and direction the platform 1 is tilted with respect to the rest of the vehicle 28, as well as how the vehicle 28 is oriented with respect to gravity. In addition, the control system 26 may determine when the vehicle 28 is going over a non-flat surface, such as a hill, based on the combination of tilt data from the tilt sensors 11, 12. The tilt data may be used by the controller to adjust the mechanical motion of the right motor 4 and left motor 5 as appropriate. For example, the degree of tilt may indicate the acceleration, speed or velocity intended by the rider, and/or the direction of tilt may indicate the direction of motion by the rider.

(14) In addition to the tilt sensors 11, 12, the vehicle 28 may also contain a right magnetic sensor 13 and left magnetic sensor 14, both in communication with the control system 26. The magnetic sensors 13, 14 may also be any suitable tachometer, including but not limited to opto-isolator sensor and/or a Hall effect magnetic sensor. The magnetic sensors 13, 14 detect a right magnet 24 and a left magnet 25, respectively, attached to the two non-motor connected wheels 6,7. Such configuration allows the control system 26 to measure the velocity of the vehicle 28. Since angular acceleration is equivalent to velocity squared divided by the turning radius, the control system 26 may determine the current velocity to adjust the mechanical motion of the vehicle 28 to self-balance the rider when turning. If the rider leans sideways the vehicle 28 must have angular acceleration to offset the imbalance caused by leaning. For example, if the rider leans to the right and the vehicle 28 is not moving, the rider will be off balance by being forced to the right. However, if the vehicle 28 is turning to the right while moving forward, then the rider will be forced to the left with respect to the vehicle 28 as a result of this turning. If the vehicle 28 properly offsets these apparent forces, then the rider will be balanced.

(15) The vehicle 28 may also include a pressure sensor 23 that enables the vehicle 28 to determine whether a rider is on the vehicle 28, wherein the pressure sensor 23 is in communication with the control system 26. The control system 26 may cause the mechanical motion of the vehicle 28 to automatically brake or stop motion when the pressure sensor 23 detects a rider is not on the vehicle 28. As a result, a rider may mount and dismount the vehicle 28 without risk of an accident.

(16) As shown in FIG. 4, the support beam 8 is connected to the platform 1 by a spring system 31,32. The tiltable platform 1 is capable of tilting in any direction several degrees without contacting the support beam 8, the ground, or any other part of the vehicle 28.

(17) FIG. 5 illustrates the vehicle 28 with the platform 1 being tilted forward and to the left. As already explained, the platform 1 may tilt in any direction within 360 degrees. In other words, the tiltable platform 1 can tilt in any combination of either direction of the fore and aft plane and either direction of the side-to-side plane.

(18) FIG. 6 illustrates the vehicle 28 disassembled into three pieces. The disassembly is advantageous when carrying or storing the vehicle 28, as it is small enough to fit in a common backpack. The right attachment mechanism 15 and left attachment mechanisms 16 disconnect from the right wheel and motor casing 2 and left wheel and motor casing 3, respectively, when disassembling the vehicle. In yet another embodiment, the right wheel 2 and left wheel 3 fold under the tiltable platform 1 for portability. In other words, in such example, the right wheel and motor casing 2 and left wheel and motor casing 3 do not completely disconnect from the tiltable platform 1. The attachment mechanisms 15,16 may attach in various suitable ways, such as with seatbelt buckles and clips or with thumb screws.

(19) FIG. 7 illustrates an alternative implementation of the vehicle 28 that only includes two wheels. This design has smaller wheel and motor casings 17, 18 because two less wheels are used, and does sacrifice some stability as it is no longer passively statically stable as the four-wheeled implementation. Apart from the two fewer wheels, this two-wheel vehicle 28 design is substantially the same as the four-wheeled approach. It is also contemplated that the vehicle 28 may include only three wheels, wherein the three-wheel vehicle 28 has a combination of stability and portability.

(20) FIG. 8 illustrates yet another alternative implementation where the tiltable platform 20 is very thin. Instead of a support beam 8, a larger base 19 is connected to the platform 20 by spring system 31 and allows for motors 4, 5 to be contained in the base 19 (and not in the encasings of the wheels and motors 2, 3 as shown in FIG. 1-7). Such configuration allows for the wheel encasing 21, 22 to be much smaller. In spite of this size reduction, this alternative implementation of the vehicle 28 is generally less portable owing to the fact that disassembling the vehicle 28 will lead to much less benefit in terms of volume reduction than the standard implementation of the vehicle.

(21) FIG. 9 illustrates a possible configuration of the spring system 31,32. Springs 31 connect to the top of the support beam 8 and the bottom of the platform 1. If the combined spring constant of these springs 31 is multiple times greater than the rider's weight per inch then springs 31 will compress much less than an inch when the rider steps on the vehicle 28. However, if these springs 31 are close enough to the center of the support beam 8 and platform 1, then the platform 1 will still be able to tilt in the side-to-side directions relatively easily due to the mechanical advantage and geometry of the system. If it is desired for more force to be required for the platform 1 to tilt in this direction so that the rider does not unintentionally tilt the platform 1, then the springs 31 can be simply separated further apart from the center of the platform 1 and support beam 8.

(22) Tilt in the fore and aft directions, as well as rotation about the axis parallel to the rider's length will not be significantly restricted by these springs 31. This is because of the considerable mechanical advantage and from the geometry of the spring placement when performing these rotations. Therefore, the vehicle 28 may include additional springs 32 perpendicular to springs 31 such that the springs 31, 32 are pointing toward the fore and aft of the vehicle 28. When the platform 1 tilts in the fore and aft directions, springs 32 will be greatly stretched and or compressed, which will allow for greater resistance for tilt in the fore and aft directions than springs arranged as springs 31 are if they have similar spring constants. If tilting in the fore and aft direction does not have enough resistance, then the rider may have greater difficulty balancing since the rider may tilt the platform 1 unintentionally.

(23) Additionally, since no mechanical or geometric advantage is gained for rotation about the axis parallel to the length of the rider's body, springs 32 will virtually eliminate the vehicles ability to rotate this way, provided that they have a spring constant relatively similar to springs 31. This is generally advantageous because if the platform 1 rotates significantly in this way more sensors and logic would be required for the vehicle to self-balance. Also it will be more complex for the rider to balance on the vehicle 28 since the platform 1 could rotate significantly in an additional way.

(24) It should be noted that various changes and modifications to the embodiments described herein will be apparent to those skilled in the art. Such changes and modifications may be made without departing from the spirit and scope of the present invention and without diminishing its attendant advantages. For example, various embodiments of the system and device may be provided based on various combinations of the features and functions from the subject matter provided herein.