U.S. patent application number 16/077193 was filed with the patent office on 2020-06-25 for motorized skate.
The applicant listed for this patent is Timur Artemev. Invention is credited to Timur Artemev.
Application Number | 20200197786 16/077193 |
Document ID | / |
Family ID | 55697637 |
Filed Date | 2020-06-25 |
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United States Patent
Application |
20200197786 |
Kind Code |
A1 |
Artemev; Timur |
June 25, 2020 |
MOTORIZED SKATE
Abstract
The present invention provides a motorized skate having a
balance control system adapted to maintain fore-and-aft balance of
a platform of the skate about a wheel arrangement. The wheel
arrangement defines a pivot point for the platform. A motor
arrangement is adapted to drive the wheel arrangement so as to
allow for the balance control system to maintain fore-and-aft
balancing of the platform about the wheel arrangement.
Inventors: |
Artemev; Timur; (Haslemere,
Surrey, GB) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Artemev; Timur |
Haslemere, Surrey |
|
GB |
|
|
Family ID: |
55697637 |
Appl. No.: |
16/077193 |
Filed: |
February 13, 2017 |
PCT Filed: |
February 13, 2017 |
PCT NO: |
PCT/GB2017/050380 |
371 Date: |
August 10, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63C 2203/12 20130101;
A63C 17/08 20130101; A63C 17/0073 20130101; A63C 17/12 20130101;
A63C 17/262 20130101; A63C 2203/24 20130101; A63C 2203/44 20130101;
A63C 2203/18 20130101 |
International
Class: |
A63C 17/12 20060101
A63C017/12; A63C 17/08 20060101 A63C017/08 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 12, 2016 |
GB |
1602567.8 |
Claims
1. A motorized skate for a single foot, the motorized skate
comprising: a platform adapted to support a single foot of a user;
a coupling arrangement adapted to couple the foot of the user to
the platform; a single wheel arrangement comprising at least one
wheel, wherein each at least one wheel is arranged such that the
wheel arrangement forms a single pivot point about which the
platform is tiltable in a fore-aft direction; a motor arrangement
adapted to drive the at least one wheel; and a balance control
system adapted to maintain fore-aft balance of the platform about
the wheel arrangement.
2. The motorized skate of claim 1, wherein the motor arrangement
comprises: a first motor adapted to drive at least one wheel of the
wheel arrangement; and a second motor adapted to drive at least one
wheel of the wheel arrangement.
3. The motorized skate of claim 2, wherein: the wheel arrangement
comprises a plurality of wheels; the first motor is adapted to
drive a first wheel of the plurality of wheels; and the second
motor is adapted to drive a second wheel of the plurality of
wheels, wherein the first motor and the first wheel are independent
of the second motor and the second wheel.
4. The motorized skate of claim 3, wherein during a turning
manoeuvre: the first motor drives the first wheel at a first speed;
and the second motor drives the second wheel at a second, different
speed.
5. The motorized skate of claim 2, wherein the first and second
motor is adapted to drive at least one wheel using a belt or
chain.
6. The motorized skate of claim 5, wherein a respective rotating
output of the first and second motor has a smaller diameter than an
input interface of the wheel driven by the respective first and
second motor.
7. The motorized skate of claim 1, further comprising a stowable
stand adapted to be operable in at least a stowed configuration and
a deployed position, wherein the stowable stand is less proximate
to the platform when in the deployed configuration.
8. The motorized skate of claim 1, further comprising a battery
unit mounted thereon, the battery unit being adapted to provide
power to at least the respective motor arrangement.
9. The motorized skate of claim 8, wherein the battery unit is
coupled to the platform.
10. The motorized skate of claim 1, further comprising a sensor
arrangement adapted to detect a side-to-side tilting indication
from the user and to generate a signal indicative of an intention
to perform a turning manoeuvre based the detected side-to-side
tilting indication.
11. The motorized skate of claim 1, further adapted to generate a
control signal indicative of at least a current or historical
control parameter of the motorized skate.
12. The motorized skate of claim 11, wherein the control signal
indicates at least one of: a speed of the skate; a remaining
battery level of the skate; a distance to another skate; an
indication of balance of the platform of the skate; an orientation
of the skate; an indication of intended use of the skate, a wind
speed incident on the skate; the acceleration of the skate; the
torque applied by the motor arrangement of the skate; and a current
output power of the motor arrangement.
13. The motorized skate of claim 11, further comprising a
communication arrangement adapted to communicate the control
signal.
14. The motorized skate of claim 13, wherein the communication
arrangement is further adapted to receive a control signal
communicated by another motorized skate.
15.-17. (canceled)
18. The motorized skate of claim 1, further comprising a wheel
arrangement positioning system adapted to adjust a position of the
wheel arrangement with respect to the foot platform.
19. A motorized system comprising: a first motorized skate
according to claim 1; and a second motorized skate according to
claim 1.
20. The motorized system of claim 19, wherein the motor arrangement
of the first skate comprises: a first motor adapted to drive a
first wheel of the wheel arrangement of the first skate; a second
motor adapted to drive a second wheel of the wheel arrangement of
the first skate, the first motor and first wheel being independent
of the second motor and second wheel, and wherein the motor
arrangement of the second skate comprises: a third motor adapted to
drive a first wheel of the wheel arrangement of the second skate; a
fourth motor adapted to drive a second wheel of the wheel
arrangement of the second skate, wherein, during a turning
manoeuvre, the first motor drives the first wheel of the first
skate at a first speed, the second motor drives the second wheel of
the first skate at a second speed, the third motor drives the first
wheel of the second skate at a third speed and the fourth motor
drives the second wheel of the second skate at a fourth speed,
wherein the first, second, third and fourth speeds are different
from one another.
21. The motorized system of claim 19, wherein if the first
motorized skate is unbalanced in the fore direction, and the second
motorized skate is unbalanced in the aft direction, the motorized
system generates a signal indicative of an intention to perform a
turning manoeuvre.
22. The motorized system of claim 19, wherein the first skate and
second skate are adapted to be releasably connectable together, so
as to form a single unit.
23. The motorized skate of claim 14, further comprising a
processing unit adapted to: obtain the received control signal;
obtain a balance signal from the balance control system; and
control the motor arrangement to drive the wheel arrangement based
on at least the received control signal and the balance signal;
wherein the balance control system is adapted to generate the
balance signal based on a level of fore-and-aft balance of the
platform.
24. The motorized skate of claim 1 wherein the orientation of the
skate relative to a gravity force does not affect the operation of
the balance control system.
25. The motorized skate of claim 1, wherein the balance control
system is adapted to maintain a combined vector of all forces
applied to the skate at a position of the single pivot point.
Description
FIELD OF THE INVENTION
[0001] This invention relates to the field of motorized footwear,
and in particular to the field of motorized skates adapted to be
worn by a user.
BACKGROUND OF THE INVENTION
[0002] The concept of a powered, motorized skate is well known in
the prior art. In particular, it is known to provide skates having
a motor with a controllable speed by means of a control device such
as a handheld input interface. Typically, such skates have either a
combustion engine or an electric motor adapted to drive a plurality
of wheels of the motorized skate, where the engine or motor can be
controlled by the user.
[0003] The concept of a skating system having a primary skate and a
secondary skate is known. In such arrangements the movement of the
primary skate can be controlled by the user, where information
related to that movement is passed to the secondary skate. This
information is used by the secondary skate so as to reciprocally
move in response. In typical examples, the rider positions the
primary skate in front of the second skate so as to balance and
control the skating system.
SUMMARY OF THE INVENTION
[0004] The invention is defined by the claims.
[0005] According to an aspect of the invention there is provided a
motorized skate for a single foot, the motorized skate comprising:
a platform adapted to support a single foot of a user; a coupling
arrangement adapted to couple the foot of the user to the platform;
a single wheel arrangement comprising at least one wheel, wherein
each at least one wheel is arranged such that the wheel arrangement
forms a single pivot point about which the platform is tiltable in
a fore-aft direction; a motor arrangement adapted to drive the at
least one wheel; and a balance control system adapted to maintain
fore-aft balance of the platform about the wheel arrangement.
[0006] The balance control system of the motorized skate maintains
a balance of the platform of the skate, for example, relative to a
ground surface. That is to say, as the platform undergoes an
attempted tilt in the fore or aft direction about the wheel
arrangement (e.g. in response to a shift in a user's weight) the
balance control system may attempt to address the unbalancing of
the platform by accelerating the at least one wheel of the wheel
arrangement forward or backwards. Thus, a balance control system
employed by an embodiment may be arranged to maintain fore-aft
balance by controlling the operation of an associated motor.
[0007] Embodiments thereby provide a motorized skate that is
self-balancing in the fore-aft direction about a wheel arrangement.
In particular, the wheel arrangement defines a single pivot point
about which a platform of the skate may rotate in a fore-aft
direction. The motorized skate is self-balanced about this pivot
point. The self-balancing capability enables the propulsion of a
user/rider in a controllable manner by the user/rider manipulating
the fore-aft balance of a platform of the skate upon which they
stand. Embodiments may thereby provide a user/rider with a
significant degree of freedom or manoeuvrability.
[0008] Provision of a single pivot point provides an improved level
of control to a user, with a greater degree of feedback for their
movement. In particular, the tilting of the platform about the
single pivot point may provide an intuitive and enjoyable way for a
user to control their movement. In particular, it is recognised
that a user may unbalance the platform so as to easily control the
movement and speed of the motorized skate.
[0009] Proposed embodiments relate to a motorized skating system
comprising a pair of such motorized skates. It may be understood
that one motorized skate of such a motorized skating system may be
substantially independent from the other motorized skate, such that
an attempted tilt of the platform of the motorized skate need not
cause a corresponding movement or tilt in the other skate. That is
to say, two skates can self-balance independently from one
another.
[0010] As used herein, the term "at least one wheel" refers to any
wheel or element that is, during use, in contact with the floor or
a ground surface. By way of example, a wheel may comprise a
pneumatic tyre, a hubless wheel or even a roller. Other suitable
rotatable structures suitable for acting as a wheel will be well
known to the person skilled in the art.
[0011] In some embodiments, the motor arrangement comprises a first
motor adapted to drive at least one wheel of the wheel arrangement
and a second motor adapted to drive at least one wheel of the wheel
arrangement.
[0012] Provision of a plurality of motors in this manner allows for
at least a degree of redundancy, as failure of a single motor will
not necessarily prevent further usage of the skate. The use of more
than one motor also provides a greater deal of precision with
respect to the movement of the wheel arrangement (as both motors
need not be used simultaneously or controlled in the same manner)
and also provides an increased efficiency in power usage for the
motors, as the amount of torque required by each of the at least
two motors is reduced. Furthermore, standardized motors may be used
to efficiently drive a respective skate, rather than a complex
bespoke or custom motor. This may, for example, minimise the
complexity or cost of the motorized skate.
[0013] In at least one further embodiment: the first motor is
adapted to drive a first wheel of the wheel arrangement; and the
second motor is adapted to drive a second wheel of the wheel
arrangement, wherein the first motor and the first wheel are
independent of the second motor and the second wheel.
[0014] In other words, wheels of the wheel arrangement may be
controlled independently from one another, such that the balance
control system has an improved choice in how to control the wheel
arrangement to account for an unbalancing of the platform of the
skate. In other examples, the wheels may be controlled
independently so as to account for a control, steering, battery
power, energy recovery or directional stability of the skate.
[0015] In some further embodiments, during a turning manoeuvre: the
first motor drives the first wheel at a first speed; and the second
motor drives the second wheel at a second, different speed.
Optionally the direction of rotation of the first wheel may be
opposite to the direction of rotation of the second wheel during a
turning manoeuvre.
[0016] Optionally, the first and second motor of the motorized
skate is adapted to drive the at least one wheel using a belt or
chain.
[0017] Preferably, a respective rotating output of the first and
second motor has a smaller diameter than an input interface of the
wheel driven by the respective first and second motor.
[0018] In at least one embodiment, the motorized skate further
comprises a battery unit mounted thereon, the battery unit being
adapted to provide power to at least the motor arrangement.
[0019] The battery unit may be coupled to either an upper surface
of the platform or a lower surface of the platform. In other
embodiments, the battery unit is embedded within the platform.
[0020] In some embodiments, a user may attempt to tilt the platform
from side to side so as to indicate an intention to perform a
turning manoeuvre. The motorized skate may detect such a
side-to-side tilting intention using a sensor arrangement, and
generate a signal indicative of an intention to perform a turning
manoeuvre based on the side-to-side tilting intention. In such an
embodiment, in response to a side-to-side tilting intention, the
motorized skate may perform a turning manoeuvre. In other words,
the user may lean to a side, which may be sensed by the sensor
arrangement (comprising, for example, a pressure sensor or a
platform tilt detecting system). The motorized skate may then
generate a signal indicative of an intention to perform a turning
manoeuvre based on this sensed signal.
[0021] Optionally, the motorized skate is adapted to generate a
control signal indicative of at least a current or historical
control parameter of the skate. Such a control signal may, for
example, be generated by a control sensor.
[0022] The control signal may indicate at least one of a speed of
the skate; a remaining battery level of the skate; a distance to
another skate; an indication of balance of the platform of the
skate; an orientation of the skate (e.g. at least one of an x, y
and z position of a skate); an indication of intended use of the
skate, a wind speed incident on the skate; the acceleration of the
skate; the torque applied by the motor arrangement of the skate;
and a current output power of the motor arrangement.
[0023] The motorized skate may comprise a communication arrangement
adapted to communicate, transmit or emit the control signal. The
communication arrangement is optionally further adapted to receive
an emitted control signal of another motorized skate.
[0024] In further such embodiments, the motorized skate is adapted
to further comprise a processing unit adapted to: obtain the
received control signal; obtain a balance signal from the balance
control system; and control the motor unit to drive the at least
one wheel based on at least the received control signal and the
balance signal; wherein the balance control system is adapted to
generate the balance signal based on a level of fore-and-aft
balance of the platform.
[0025] The motorized skate may further comprise a stowable stand
adapted to be operable in at least a stowed configuration and a
deployed position, wherein the stowable stand is less proximate to
the platform when in the deployed configuration.
[0026] Embodiments may provide a motorized system comprising two
motorized skates as briefly described earlier. In particular, there
may be provided a first motorized skate and a second motorized
skate. The motorized system may be considered to be a motorized
skating system.
[0027] Embodiments may therefore provide a motorized skating system
having a high amount of manoeuvrability and agility. Each skate may
be independent so as to allow for a user to easily and swiftly
perform a turn with a minimal turning circle. As the balance
control system of each skate may be independent from one another,
there may be a reduction in the overall power consumed by the
motorized skating system. The skating system advantageously permits
for each skate to be independently operable from one another so as
to allow the user of the skates a greater degree of freedom, for
example, in performing tricks or stunts. The use of separable
skates as described may, for example, allow a user to traverse
difficult or uneven terrain, an obstacle or even steps.
[0028] There may be a skating system wherein the motor arrangement
of the first skate comprises: a first motor adapted to drive a
first wheel associated with the wheel arrangement of the first
skate; a second motor adapted to drive a second wheel associated
with the wheel arrangement of the first skate, the first motor and
first wheel being independent of the second motor and second wheel.
In such a skating system, the motor arrangement of the second skate
may comprise: a third motor adapted to drive a third wheel
associated with the wheel arrangement of the second skate; a fourth
motor adapted to drive a fourth wheel associated with the wheel
arrangement of the second skate, wherein, during a turning
manoeuvre, the first motor drives the first wheel at a first speed,
the second motor drives the second wheel at a second speed, the
third motor drives the third wheel at a third speed and the fourth
motor drives the fourth wheel at a fourth speed, wherein the first,
second, third and fourth speed are different from one another.
[0029] In conceivable embodiments, each skate is adapted to learn
from one another by, for example, combining data from the two units
to determine how to improve overall control of the skating
system.
BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Examples of the invention will now be described in detail
with reference to the accompanying drawings, in which:
[0031] FIG. 1A depicts a schematic view of a motorized skating
system according to a first embodiment;
[0032] FIG. 1B illustrates a side view of the first skate for the
motorized skating system according to the first embodiment.
[0033] FIG. 2 depicts a schematic view of a motorized skating
system according to a second embodiment;
[0034] FIG. 3 depicts a schematic view of a motorized skating
system according to a third embodiment;
[0035] FIG. 4A depicts a schematic view of a motorized skating
system according to a fourth embodiment;
[0036] FIG. 4B illustrates a side view of a first skate for the
motorized skating system according to the fourth embodiment;
and
[0037] FIGS. 5A-5C illustrate a motorized skate according to an
embodiment.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0038] The present invention provides a motorized skate having a
balance control system adapted to maintain fore-and-aft balance of
a platform of the skate about a wheel arrangement. The wheel
arrangement defines a pivot point for the platform. A motor
arrangement is adapted to drive the wheel arrangement so as to
allow for the balance control system to maintain fore-and-aft
balancing of the platform about the wheel arrangement.
[0039] Embodiments of a motorized skate will be described in the
context of a motorized skating system formed of a pair of motorized
skates. It is readily apparent that the same inventive principles
and concepts could be applied to a single skate, such that a single
skate can be provided independently of another skate.
[0040] FIGS. 1A and 1B schematically depict a motorized skating
system 1 according to a first embodiment. FIG. 1A identifies an
underside view of the skating system, whereas FIG. 1B depicts a
side view of a single motorized skate of the motorized skating
system. The motorized skating system comprises a first motorized
skate 100 and a second motorized skate 190. Thus, FIGS. 1A and 1B
also illustrate a motorized skate according to an embodiment.
[0041] Each motorized skate comprises a platform 105 adapted to
support a respective foot of a user.
[0042] The platform 105 is tiltable about a single wheel
arrangement 130, which here comprises a single wheel 135 positioned
on an axis 140. In particular, the wheel arrangement 130 defines a
single pivot point (here the axis 140) about which the platform may
tilt (when the wheel arrangement is in contact with a ground
surface). The wheel arrangement may define a single or sole axis of
rotation about which the platform 105 may tilt in a fore-aft
direction. That is, the wheel arrangement may thereby define a
single point or axis (i.e. a single pivot point or single pivot
axis) about which the platform may tilt both in a forward direction
and in a rearward direction. In particular, such a single pivot
point or pivot axis is the only or sole pivot point/axis of the
motorized skate. Thus, the motorized skate may not be associated
with any other pivot points or pivot axes about which the platform
may rotate in a fore-aft direction when the wheel arrangement is in
contact with the ground surface.
[0043] The single wheel arrangement 130 may comprise all the wheels
connected to the platform 105, such that the single wheel
arrangement is the sole or solitary wheel arrangement of the
motorized skate 100. The single wheel arrangement 130 may, at least
when the motorized skate 100 is in motion, wholly and independently
couple the platform 105 to a ground surface, so as to wholly
support the platform and the user thereon. The platform 105 may
thereby freely tilt about the single wheel arrangement 130.
[0044] In embodiments, the platform of the first 100 and second 190
motorized skate is substantially the same, such that a user may
place either his left or right foot on the platform of either
skate. In other embodiments, the platforms of the first and second
skate are different, such that a user may only place his left or
right foot on a specific skate. By way of example, the platforms of
the skates may be adapted such that the user may only comfortably
place his left foot on the first skate, and his right foot on the
second skate. In other words, the platform of each respective skate
may be shaped so as to be associated with a different foot of the
user (e.g. left and right versions). In at least one conceivable
embodiment, the platform may be partially flexible so as to, for
example, mould to a user's foot. It may be understood that
respective platforms are adapted to support only a single foot of a
user, such that, in use, both feet are not to be positioned on any
one platform.
[0045] A wheel may be formed from one or more tyres and/or hubs
that are coupled together (via a differential, for example). For
example, an embodiment may comprise a hubless wheel having a
hubless rim with a plurality of separate tyres fitted thereon.
Alternatively, an embodiment may comprise a hubless wheel formed
from a plurality of hubless rims (each having a respective tyre
fitted thereon), wherein the plurality of hubless rims are coupled
together via a differential bearing arrangement. A yet further
embodiment may comprise a wheel having a single rim and hub with a
plurality of separate tyres fitted thereon. A yet further
embodiment may comprise a wheel formed from a plurality of hubs and
rims (each having a respective tyre fitted thereon), wherein the
plurality of hub and rims are coupled together via a differential
bearing arrangement.
[0046] Each motorized skate comprises a motor arrangement having a
first motor 110 and a second motor 120. Of course, in some
embodiments the motor arrangement may comprise only a single motor.
The motor arrangement is adapted to drive the wheel arrangement
130, and in particular to rotate the single wheel 135.
[0047] The first and second motor in the motor arrangement are
adapted to drive the single wheel of the wheel arrangement so as to
control the speed of the wheel arrangement.
[0048] In at least one embodiment, the first motor 110 comprises an
output drive 111 which rotates at a first speed (i.e. is a rotating
output). The output drive is coupled to an engaging mechanism 137
of the wheel arrangement 135 by, for example, a differential, belt,
chain, gear or cog mechanism. In other words, the output drive is
coupled to an input arrangement of the wheel arrangement, so as to
provide an input rotation force to a wheel of the wheel
arrangement. As the output drive of the first motor rotates, so the
wheel is adapted to rotate.
[0049] The use of a belt, chain or gear mechanism in this manner
may allow for the motor to rotate at its most efficient or optimal
speed, whilst not necessarily rotating a wheel of the wheel
arrangement at the same said speed. This could allow, by way of
example, for an improved efficiency of the skating system as well
as a reduced power and/or an increased torque to drive the wheel
arrangement.
[0050] Similarly, the second motor 120 may also comprise a
respective output drive which rotates at a second speed. The output
drive of the second motor may also be coupled to the same or
different engaging mechanism of the wheel arrangement so as to
control the rotation of the wheel.
[0051] Simply for the purposes of further insight, a wheel for a
motorized skate may be a pneumatic tyre of 75 mm in diameter. To
attain a top speed of around 21 kmh or 13.5 mph (in a preferable
embodiment of the skating system), such a tyre need only rotate at
approximately 1500 RPM (revolutions per minute). Motors that could
be used typically have an optimal rotation of approximately
3000-6000 RPM. Thus a gearing or belt ratio of between 2:1 or 4:1
(or higher) is necessary to ensure the wheel rotates at an
appropriate speed.
[0052] A balance control system 140 is provided to each respective
skate 100, 190 so as to control the respective motor arrangement of
that skate, that is the first motor 110 and the second motor 120,
to thereby control the rotation of the single wheel 135 of the
wheel arrangement. The balance control system is adapted to
maintain fore-and-aft balance of the platform about the single
pivot point defined by the wheel arrangement.
[0053] By way of example, the balance control system 140 of each
motorized skate may include a gyroscope, accelerometer, force
vector sensor, sonar or ultrasound sensor, or other proximity
sensing system (not shown) which senses forward and backward tilt
of the platform about the wheel arrangement, and optionally in
relation to the ground surface, and regulates the motor arrangement
accordingly to maintain a fore-aft balance of the platform. The
platform may be maintained substantially horizontal with respect to
the ground surface.
[0054] In this way, the user is provided a way of controlling the
acceleration and deceleration of the motorized skate by varying the
pressure applied to various areas of the platform. It also enables
each motorized skate to self-regulate its balance with respect to
the platform rotation about the wheel arrangement in the
fore-and-aft plane.
[0055] The balance control system may take into account, for
example, additional forces rather than that of simply gravity. For
example, the balance control may take a current friction or
centrifugal force into account when determining the fore-aft
balance of the platform. In some embodiments, the balance control
system may attempt to bring a vector of combined forces towards
substantially the centre of the wheel arrangement (e.g. by driving
the wheel arrangement to move the platform backwards or forwards),
such that the platform may be balanced with respect to the wheel
arrangement. Thus, the vector of combined forces applied to the
platform may be brought to a position of the single pivot point. In
particular, the balance control system is adapted to maintain a
combined vector of all forces applied to the skate at a centre of
the wheel arrangement. Such forces may be detected, for example,
using an accelerometer, gyrometer, pressure sensor, proximity
sensor and so on. It will be appreciate that some such force
detection systems, e.g. and accelerometer, may be indiscriminate in
determining forces applied (e.g. it detects both a gravitational
force and a centripetal force in a same manner). This may allow,
for example, the balance control system to maintain a fore-aft
balance of the platform even on non-horizontal, sloped or even
vertical surfaces (such as a "Wall of Death").
[0056] In other words, each skate is adapted to attempt to maintain
a substantially horizontal (relative to a ground surface) platform
of that motorized skate through monitoring the fore-and-aft balance
of that platform about the wheel arrangement. Each skate is
individually adapted to react to an unbalancing in the forward or
reverse direction, relative to the direction of the skate. The
ground surface need not be understood to be simply a conventional
flat floor, but may rather by, for example, a slope, ramp, loop,
sphere and so on. The orientation of the motorized skating system
relative to the surface of the planet (e.g. Earth) may be
immaterial to the fore-aft balance system, that is to say that the
balance control system may be adapted to as to account for a
gravitational force. By way of example, a user may wish to ride the
motorized system in a `Wall of Death` having substantially vertical
boards on which the motorized system is intended to ride, and the
balance control system may attempt to maintain a substantially
horizontal platform relative to the vertical wall (where the user
is held on the wall by friction and centrifugal forces). It will be
clear that, in some embodiments, if the surface on which the
motorized skating system is not flat, the motorized skating system
may attempt to maintain a fore-aft balance of the platform relative
to an area of the ground surface on which the wheel arrangement is
positioned. In other or further embodiments, the balance control
system of the respective skate may take the absolute orientation
(i.e. the orientation relative to the planet) of the motorized
skating system into when maintaining the fore-aft balance of the
platform.
[0057] Of course, the `Wall of Death` scenario is only a primitive
example of a multitude of possible, complex surfaces which the
motorized skate may be configured to operate. Other surface
includes, for example, skate park surfaces, spheres or other rough
or wave-like surfaces.
[0058] In some embodiments, the skate may be adapted to predict or
detect an upcoming surface (e.g. using a camera or LIDAR system or
algorithms based on a current surface) and determine how to control
a fore-aft balance of the skate based on the upcoming surface.
[0059] From the foregoing explanation, it will be apparent that the
balance control system is adapted to maintain a fore-aft balance of
the platform about the wheel arrangement with respect to all forces
applied by a foot of the user to the platform. These forces may
comprise a combination of a gravitational force (due to a user's
weight), a centripetal force, a force applied by a user and so on.
In particular, a combined force vector may be maintained
substantially toward a position of the pivot point or wheel
arrangement.
[0060] It may be otherwise understood that the platform may tilt
about the wheel arrangement and relative to a ground surface so as
to cause an unbalancing of the platform in at least the
fore-and-aft directions. The balance control system may then
attempt to address the unbalancing of the platform by, for example,
accelerating the at least one wheel of the wheel arrangement
forward or backwards. It is therefore readily apparent that a user
of a motorized skate can control the speed of the motorized skate
by adjusting the amount of which the platform is attempted to be
tilted, so as to control the extent to which the balance control
system attempts to maintain the fore-and-aft balance of the
platform.
[0061] It should be apparent that the balance control system 140 is
adapted to maintain the fore-aft balance of the platform 105 of the
motorized skate 100 about the wheel arrangement (i.e. the single
pivot point) by controlling the motor arrangement (first motor 110
and second motor 120) so as to control the driving, speed or even
direction of the wheel 135.
[0062] The motorized skate 100 comprises a coupling arrangement 180
adapted to engage a user's foot to the platform. By way of example,
such a coupling arrangement may comprise straps, as illustrated,
buckles, laces and so on. It should be understood that references
to foot, as used throughout the description, are intended to be
interpreted as referring to a user's foot, ankle, toes, lower legs,
footwear (such as that worn by a user) or items which may be
attached to a user's foot.
[0063] The coupling arrangement may be adapted to be automatically
switchable between at least a coupled mode, in which the foot of
the user is coupled to the support such that removal of the foot
from the support is restricted, hindered, prevented or even
impossible, and an uncoupled mode, in which removal of the foot
from the support is permitted or possible.
[0064] In particular, the coupling arrangement may be adapted to
switch between at least the coupled mode and the uncoupled mode in
response to a usage signal generated by a usage detection system
(not shown). The usage signal may be representative of or
associated with at least a usage of the wheeled transportation
device. By way of example, the usage signal may comprise an
indication of intent to begin or end use of the wheeled
transportation device or a parameter of the motorized skate (e.g.
speed, acceleration, distance travelled, time since power on and
the like).
[0065] The coupling arrangement may thereby comprise, for example,
auto-retracting straps, magnetic arrangements or other retractable
couplers.
[0066] In another example, the coupling arrangement may be adapted
to switch between at least the coupled mode and the uncoupled mode
in response to a user input signal (e.g. from a mobile device).
[0067] Thus, the coupling arrangement may be adapted to, without a
manual input from a user, switch between a coupled mode and an
uncoupled mode so as to releasably secure the user's foot to the
platform. Of course, in other embodiments the coupling arrangement
may be adapted to receive a manual input from a user so as to
couple and decouple accordingly, such as a user undoing a buckle or
loosening a strap.
[0068] Embodiments allow for a motorized skating system having two
independently controllable skates, to provide the user with a high
amount of manoeuvrability and agility. The independence of each
skate may allow for a user to easily and swiftly perform a turn
with a minimal turning circle. The skating system advantageously
permits for each skate to be independently operable from one
another so as to allow the user of the skates a greater degree of
freedom. The use of separable skates in this manner may, for
example, allow a user to traverse difficult terrain, obstacle in a
terrain or steps.
[0069] Provision of a plurality of motors for controlling the
rotation of the wheel arrangement, as above described, provides an
increased efficiency in power distribution as well as an improved
efficiency in control of the movement of the wheel arrangement.
[0070] Each motorized skate further comprises a battery unit 170
adapted to provide power to at least the motor arrangement, and
optionally also to the balance control system.
[0071] In the present embodiment, the wheel arrangement (i.e. the
single wheel) is positioned directly beneath the platform, that is,
beneath the sole of the foot. In other embodiments, the single
wheel may be positioned to the side of the platform (e.g. coupled
to the left or right side of the platform). In yet other
embodiments, the wheel is positioned in a cut-out of the platform,
such that the platform partially covers a side of the wheel. The
user's foot may be supportable by the platform in any position
relative to the wheel arrangement, by way of example, the user's
foot may be positioned to a left side of the platform, whereas the
wheel arrangement be positioned to a right side of the platform.
Other positions of the wheel arrangement relative to the platform
and the user's foot will be readily apparent to the person skilled
in the art.
[0072] It will be clear that the platform is adapted to rotate
about the wheel arrangement, and in particular, about a pivot point
defined by the wheel arrangement.
[0073] Presently, the first and second motor of the motor
arrangement are respectively positioned at the fore and aft ends of
the motorized skate (i.e. positioned and the front and rear of the
skate, such that one motor is positioned towards the toe end of the
motorized skate, and the other motor is positioned towards the heel
end of the skate). This allows for an increased ease in the
self-balancing of the motorized skate, as the weight of the motor
arrangement is distributed across the motorized skate.
[0074] Conceivably, the motor arrangement could be positioned
towards the same end of the motorized device. This could be used,
for example, to counter-balance a battery unit positioned at an
opposing end of the motorized skate.
[0075] In embodiments, the motor arrangement is mounted on a lower
surface of the platform. In other embodiments, the motor
arrangement is housed within or above the platform.
[0076] FIG. 2 schematically depicts a motorized skating system 2
according to a second embodiment of the invention. The motorized
skating system comprises a first motorized skate 200 and a second
motorized skate 290.
[0077] As in the previous embodiment, each motorized skate
comprises a respective platform 205 adapted to support the foot of
the user.
[0078] Similarly, each motorized skate comprises a motor
arrangement having a first motor 210 and a second motor 220 adapted
to drive a wheel arrangement 230. The wheel arrangement comprises a
first wheel 235 and a second wheel 236. The first wheel and the
second wheel are connected or coupled together by a single axle
237, shaft or differential, such that the first and second wheels
rotate together with one another. That is to say, as the first
wheel rotates, so the second wheel rotates.
[0079] Here the position of the single axle 237 defines the
position of the pivot point about which the platform 205 may rotate
in a fore-aft direction. Thus, an axis about which each wheel of
the wheel arrangement rotates may define a position of the pivot
point. The wheels may thereby be positioned side-by-side along the
axis defining the pivot point.
[0080] The first and second motor (i.e. the motor arrangement) is
adapted to rotate the first and second wheel together. In other
words, the first and second motor together drive the first and
second wheel by, for example, rotating an engaging mechanism on the
single axle 237, such that the first and second wheel are
controlled by both the first and second motor. The first and second
wheels are therefore not independent from one another.
[0081] As previously described, a balance control system 240 is
adapted to maintain fore-aft balance of the platform 205 about the
wheel arrangement 230 of the motorized skate 200 by controlling the
motor arrangement (first motor 210 and second motor 220) so as to
together control the driving or speed of rotation of the first
wheel 235 and the second wheel 236.
[0082] Provision of a plurality of motors in this manner
advantageously allows for a degree of redundancy in the motorized
skating system, such that if a single motor fails, the motorized
skate may still operate. Furthermore, a plurality of motors per
motorized skate also provides an increased efficiency in power
distribution as well as an improved efficiency in control of the
movement of the wheel arrangement.
[0083] Provision of a plurality of wheels positioned within a
single axis provides the advantage of a reduction in the likelihood
of unwanted side-to-side (e.g. left or right) tilting, such that
the user is less likely to fall or stumble sideways.
[0084] FIG. 3 schematically depict a motorized skating system 3
according to a third embodiment of the invention. The motorized
skating system comprises a first motorized skate 300 and a second
motorized skate 390.
[0085] As in the previous embodiments, each motorized skate
comprises a respective platform 305 adapted to support the foot of
a user. As previously described, the platform may be tiltable about
a wheel arrangement and relative to a ground surface in at least
the fore-and-aft directions.
[0086] Similarly, each motorized skate comprises a motor
arrangement having a first motor 310 and a second motor 320.
[0087] However, in the present embodiment, the wheel arrangement
330 comprises a first wheel 331 and a second wheel 332, each wheel
being adapted to rotate independently from one another. Thus, by
way of example, each wheel may be positioned on a separate axle,
such that rotation of the first wheel does not affect rotation of
the second wheel.
[0088] The first and second wheels 331, 332 are positioned in a
single axis 33X, such that the wheels are adapted to be positioned
alongside one another, so that they are all oriented in the same
direction and side-by-side in a single row. In other words, each
wheel is positioned along the same (imaginary) axis. This
advantageously allows the platform of each motorized skate to be
readily unbalanced, as it will be apparent that the platform may
easily rotate about the single axis defined by the wheels.
[0089] The single axis defines the single pivot point about which
the platform of the motorized skate may rotate. In particular, the
single axis is an axis about which each of the respective wheels
rotates.
[0090] In embodiments, each wheel is axle-less, but may still, for
example, be positioned in the same axis.
[0091] It should be clear that in a single axis is intended to mean
a single axis when a respective skate is viewed from above, such
that a skate where the wheels have tilted such that their axles are
no longer in line, is still be considered to have its wheels in the
same single axis (e.g. if the first and second wheel tilt in
response to a turning manoeuvre). Similarly, at rest, when the
first and second wheels have an axle, the axles of the first and
second wheel may be substantially in line with one other. That is,
when no attempted tilting of the platform is performed, the axles
can be considered to form a single virtual axle. It should also be
understood that the wheel should be considered to be in the same
axis when they are aligned side-by-side, next to one another, as
the respective skate moves solely in the fore or solely in the aft
direction on a level ground surface.
[0092] It will be appreciated that the single axis is intended to
run from one side of the skate to the other side of the skate (i.e.
in the port and starboard direction), such that the axis is not
aligned in the fore and aft directions of the skate. In other
words, the axis typically spans the width of the platform, and not
along the length.
[0093] The first motor is adapted to drive the first wheel, and the
second motor is adapted to drive the second wheel. In other words,
each wheel is associated with a respective motor, such that each
wheel may be rotated independently by a respective motor.
[0094] It is therefore apparent that in embodiments the first and
second wheel may be independently controlled (with respect to
speed, torque, RPM and so on), have a respective independent
suspension and possibly tilt independently from one another. This
similarly allows the different wheels to be rotated at different
speeds.
[0095] As before, the motor arrangement is adapted to be controlled
by a balance control system 340 so as to maintain fore-and-aft
balance of the platform by controlling the rotation of the wheel(s)
of the wheel arrangement. In other words, the balance control
system is adapted to control the independent movement of the first
wheel and the independent movement of the second wheel so as to
balance the platform of the motorized skate.
[0096] Provision of independently rotatable wheels controlled by
respective motors in this manner advantageously allows an improved
turning circle and an improved control. By way of example, during a
turning manoeuvre, the first wheel may rotate at a first speed, and
the second wheel may rotate at a second, different speed. If, for
example, the first speed is greater than the second speed, the
motorized skate will rotate in the direction of the second
wheel.
[0097] In other words, the different wheels may be adapted to be
rotatable at different speeds. Conceivably, each motorized skate
could be considered to operate in a plurality of modes including at
least a `normal travel` mode, in which the wheels of the motorized
skate rotate together at the same speed, and a `turning travel
mode` in which the wheels of the motorized skate rotate at
different speeds so as to rotate the motorized skate.
[0098] In such embodiments, each motorized skate may be able to
undergo torque vectoring or speed vectoring.
[0099] In some embodiments, the first wheel 310 is associated with
a first suspension arrangement, and the second wheel 320 is
associated with a second suspension arrangement, such that each
wheel has its own independent suspension system. This may allow,
for example, for a single wheel to run over an obstacle without
affecting another wheel in the wheel arrangement. The first and
second suspension arrangement may respectively comprise a spring or
other known dampening mechanisms.
[0100] In some embodiments, the platform 305 of each motorized
skate is adapted to tilt in the left and right directions, that is,
be tiltable in the port and starboard directions towards the sides
of the platform. It is therefore apparent that in such embodiment,
the platform may tilt in at least four directions: forward and
backward (i.e. fore and aft) as well as in both directions sideways
(i.e. left and right). The balance control system may be adapted to
determine this side-to-side tilting and determine that the user
intends to perform a turning manoeuvre or requires a turning
movement. Based on this side-to-side tilting (i.e. in response to a
user leaning sideways) each motorized skate may perform a turning
manoeuvre so as to rotate a direction is which a user faces.
Preferably, the platform is adapted such that the platform is free
to tilt in any direction (e.g. diagonally). Such a diagonal tilt
may, for example, be indicative of both a forward movement and a
turning movement. Such a tilting platform is implementable in any
herein described embodiment. Of course, it will be understood that
a user tilting such a platform is indicative of a user's intention
to tilt.
[0101] In other embodiments, there may be a pressure sensor system
positioned on the foot platform, the pressure sensor system being
adapted to determining a tilting movement of the user, indicative
of an intended side-to-side tilt of the platform. The balance
control system may similarly generate a signal indicative of an
intention to perform a turning manoeuvre, and each motorized skate
may perform a turning manoeuvre based on this signal. In other
words, each motorized skate may be adapted to detect when a person
is attempting to tilt the platform from side-to-side (but, for
example, the platform is unable to perform such tilting) and
generate a signal based on this detected intention or desire. This
embodiment may advantageously decrease the complexity of the
side-to-side tilt sensing system, whilst still allowing a user to
indicate an intention or desire to perform a turn by leaning from
side-to-side.
[0102] In one such embodiment, the platform 305 is mounted on
springs adapted to allow the platform to tilt in the at least four
directions. This advantageously permits the platform to be
suspended relative to the wheel arrangement and/or the ground
surface so as to increase the comfort of ride for a user.
[0103] In such embodiments, it may be particularly advantageous for
the first and second wheels to be associated with a respective
separate suspension arrangement, such that as a user leans on the
platform (and thereby causes a leaning of at least one wheel), both
wheels may still remain in contact with a ground surface so
maintain a drive against the ground surface.
[0104] The balance control system may be adapted to detect a
rotation speed of the first wheel and a rotation speed of the
second wheel, so as to calibrate the motor arrangement to rotate
the wheels at an appropriate speed so as to maintain a balancing of
the platform of the respective motorized skate.
[0105] In the above described embodiments the wheel(s) of the wheel
arrangement of the motorized skate are generally positioned
centrally with respect to the fore and aft directions (i.e.
generally in the centre of the skate). This advantageously allows
for an increased efficiency of the skate, as the platform is
naturally more evenly balanced such that the balance control system
has a reduced required output to maintain the balance of the
platform. Of course, the wheel arrangement may be positioned
anywhere in the motorized skate with respect to the platform.
[0106] FIG. 4A depicts a schematic representation of a motorized
skating system 4 according to a fourth embodiment of the inventive
concept. As in previous embodiments, the motorized skating system
comprises a first motorized skate 400 and a second motorized skate
490. FIG. 4B depicts a side view of the first motorized skate 400
according to the fourth embodiment.
[0107] In the usual manner, each motorized skate comprises a
platform 405 adapted to support a foot of the user. In a similar
way to the third embodiment, each motorized skate comprises a motor
arrangement having a first motor 410 and a second motor 420, each
motor being adapted to drive a single wheel, being the first wheel
431 and the second wheel 432 of the wheel arrangement 430
respectively.
[0108] As before, the motor arrangement is adapted to be controlled
by a balance control system 440 so as to maintain fore-and-aft
balance of the platform by controlling the rotation of the wheel(s)
of the wheel arrangement. In other words, the balance control
system is adapted to control the independent movement of the first
wheel and the independent movement of the second wheel so as to
balance the platform of the motorized skate.
[0109] However, in the present embodiment, the first wheel 431 and
the second wheel 432 are positioned so as to not lie within the
same axis. In other words, the first and second wheels are not
aligned to lie alongside one another, side-by-side.
[0110] However, the first wheel 431 and second wheel 432 may be
considered to lie substantially along the same axis, such that they
continue to define a single pivoting point about which the platform
rotates.
[0111] By way of example, the wheels may be offset from one another
so as to account for the natural balance of a user or the natural
shape of a foot. It will, however, be understood that due at least
to the natural shape of the foot or balance of the user, the wheel
arrangement continues to act as a single pivoting point about which
the platform may rotate.
[0112] As before, the wheels of each respective skate may be
associated with a respective suspension system so as to allow each
wheel to remain in contact with a ground surface. This may be of
particular advantage when the skate(s) are passing over rough or
uneven terrain.
[0113] In some embodiments, each motorized skate of the motorized
skating system may be adapted to pass information about the
respective motorized skate to the other motorized skate of the
motorized skating system. This information could be passed by, for
example, a communication arrangement mounted on each motorized
skate. Information about the motorized skate may, for example, be
generated by a control sensor adapted to generate an indication of
a current or historical control parameter of the respective
motorized skate. By way of example, the information passed may
comprise any one or more control parameters associated with at
least one of: a speed of the respective skate; a remaining battery
level of the respective skate (in a battery unit of the respective
skate, for example); a distance to the other skate of the skating
system (measured by, for example, a signal strength between the
skates or a proximity sensor directed toward the other skate and so
on); an indication of balance of the platform of the respective
skate; an orientation of the respective skate (e.g., relative to a
gravitational force or to a ground surface); an indication of
intended use of the respective skate (e.g. whether the user intends
to stop, start or pause use of the skate, or whether the user
wishes to perform a turning manoeuvre and so on), a wind speed
incident of the respective skate; the acceleration of the
respective skate; the torque applied by the motor arrangement of
the respective skate; and a current output power of the motor
arrangement (i.e. how much power is output to the wheel
arrangement).
[0114] In at least one embodiment, the balance control system of
each skate is adapted to take into account the generated and/or
received information about the motorized skate(s) in determining in
what manner to control the motor arrangement. For example, if the
first skate indicates an intention to turn, this information may be
passed to the second skate, such that the balance control system of
the second skate may determine to perform a turning manoeuvre with
the second skate. In another example, if the first skate indicates
that a battery level of the first skate is low, the second skate
may adjust the driving of the motor arrangement to a maximum
allowable speed.
[0115] In embodiments, the motorized skating system comprises a
first skate having a first motor adapted to drive a first wheel and
a second motor adapted to drive a second wheel, the first motor and
first wheel being independent of the second motor and second wheel.
The motorized skating system also comprises a second skate having a
third motor adapted to drive a third wheel (associated with the
second skate); and a fourth motor adapted to drive a fourth wheel
(associated with the second skate). In response to a turning
manoeuvre being indicated by at least one of the first and second
skates (e.g. in response to a user leaning), the first motor drives
the first wheel at a first speed, the second motor drives the
second wheel at a second speed, the third motor drives the third
wheel at a third speed and the fourth motor drives the fourth wheel
at a fourth speed, wherein the first, second, third and fourth
speed are different from one another. Thus, by way of example, if a
first wheel is a leftmost wheel, and the fourth wheel is the
rightmost wheel (relative to a user), in response to a left turn
manoeuvre, the first wheel may be rotated more slowly than the
fourth wheel. In one embodiment, information about the intent of
the first and second skates may be passed between the first and
second skates via respective communication devices so as to control
the respective speeds of the wheels to allow control of the turning
manoeuvre.
[0116] Although above embodiments describe skates having two motors
and either one or two wheels, it will be readily apparent that the
inventive concept can be expanded to incorporate any number of
motors and wheels within a respective skate. By way of example
only, a motorized skate of a motorized skating system according to
an embodiment could comprise three motors and two wheels, wherein
the wheels may be adapted to rotate either individually or together
with respect to one another. In other conceivable embodiments,
there may be provided three motors and three wheels, wherein each
wheel rotates independently with respect to the others and is
associated with a single respective motor. In other embodiments,
there may be provided three motors and three wheels, wherein a
first wheel is associated with only a first motor, and wherein a
second and third wheel are associated with a respective second and
third motor, wherein the first wheel and first motor are
independent of the second and third motor and wheel, but wherein
the second and third wheels rotate together, such that the second
and third motors controls the rotation of the second and third
wheels.
[0117] The motor arrangement of a motorized skate of the motorized
skating system may comprise additional motors (i.e. more than two)
adapted to drive the wheel arrangement. An increase in the number
of motors may allow for a greater speed of the motorized skate, an
increased redundancy, an improved control over the wheel
arrangement, a greater number of independent wheels allowing for an
improved turning circle (for example), and/or allow for motors
having different optimal efficiency rotating speeds to be
provided.
[0118] In at least one conceivable embodiment, the motor
arrangement may comprise a plurality of motors adapted to drive the
wheel arrangement, wherein the motor arrangement may switch between
active motors (i.e. currently driving motors) based on a
characteristic of the motorized skate (e.g. battery level, speed,
required RPM of wheels, environment, slippage of wheels). This may
allow a more efficient motorized skating system, wherein the most
appropriate motor drives the wheel arrangement at the most suitable
or appropriate time. In some circumstances, the switching of the
motor may depend on the speed of the device, such that the motor(s)
that has the nearest or most efficient associated RPM with respect
to the RPM or speed of the wheel arrangement can be used to drive
the wheel arrangement.
[0119] In some conceivable embodiments, the motor arrangement of
each motorized skate may comprise only a single motor adapted to
drive the wheel arrangement. Such a system would still provide for
independently operable skates and continue to provide the user with
a greater degree of freedom. In some such embodiments, each skate
may comprise more than one wheel, each wheel being connected by a
controllable differential so as to control the rotation of each
wheel so as to allow for control of the turning circle of the
motorized skating system (by, for example, rotating the wheels at
different speeds by controlling the differential). Such a
differential may comprise a controllable gearing system, for
example, so as to allow for selection of a ratio in the rotation
speeds of the more than one wheel.
[0120] It should be readily understood that in the above described
embodiments, the one or more wheels of the wheel arrangement may be
positioned to the side of the foot platform, mounted below the foot
platform, embedded within the foot platform and so on.
[0121] The orientation of the respective foot of the user to the
respective foot platforms of the skates may be in any direction
relative to the fore-aft direction of the skates. By way of
example, with reference to a single skate, the user may stand with
his foot in line with the fore-aft direction of the foot platform,
such that forward and backward leaning of the user unbalances the
foot platform in the fore and aft direction respectively. In other
embodiments, the user's foot may be positioned perpendicular to the
fore-aft direction of the respective skate, such that a side to
side leaning of the user may unbalance the skate in the fore-aft
direction.
[0122] In at least one embodiment, a pair of motorized skates are
adapted to be connectable with one another so as to form a single
device. In other words, the first skate may be physically connected
or coupled to the second skate. When connected, each skate may
still be able to tilt independently of the other. In other such
embodiments, the skates maybe limited so as to only be able to tilt
together with each other, such that as the foot platform of the
first skate tilts, so the foot platform of the second skate tilts
correspondingly. It will be apparent that the pair of motorized
skates may be releasably connected together, so that they may act
as independent skates or as a single, combined device.
[0123] Of course, in other embodiments there may be provided a
motorized skating system comprises a pair of motorized skates which
are not adapted to be connectable together, such that the motorized
skates may only be physically independent of one another.
[0124] In above embodiments, the at least one wheel of the wheel
arrangement may be positioned directly beneath the platform, that
is, beneath the sole of the foot. In other embodiments, the wheels
may be positioned to the side of the platform (e.g. coupled to the
side of the platform). In yet other embodiments, the wheel is
positioned in a cut-out of the platform, such that the platform
partially covers a side of the wheel. It is conceivable that any of
the above described positions for the wheels (i.e. underneath, to
the side of, adjacent to or within the platform of a respective
skate) may be implemented in an embodiment of the invention. It
will be apparent that the at least one wheel may, for example, lie
in line with the axis of rotation of the platform defined by the
pivot point (i.e. the wheel arrangement).
[0125] In other scenarios, the first wheel may be positioned
towards the fore or frontal direction of the platform, and the
second wheel may be positioned towards the aft or more rearward
direction of the platform. By way of example only, the wheel may be
positioned inline with one another or offset from one another. This
may allow for an increased stability in the motorized skate or
improved turning capabilities.
[0126] In such an scenario, a balance in the fore direction may be
calculated with respect to the first wheel (positioned towards the
fore direction of the motorized skate), for example, using a first
gyrometer, and a balance in the aft direction may be calculated
with respect to the second wheel (e.g. by a second gyrometer). In
other words, the balance control system may be able to detect
attempted rotations in the fore direction about the first, more
frontal wheel, and also attempted rotations in the aft direction
about the second, more rearward wheel. This could allow for
balancing in the fore-and-aft directions to be performed.
[0127] As illustrated with reference to at least FIGS. 5A-5C, in an
embodiment the motorized skate 100, comprising a platform 105 and a
wheel arrangement 130, may further comprise at least one stowable
stand 501 adapted to couple the platform 105 to a ground
surface.
[0128] The stowable stand may be movable between at least a stowed
or retracted position/configuration, as illustrated in FIG. 5A, in
which it does not contact a ground surface, and a deployed
position/configuration, as illustrated in FIGS. 5B and 5C, in which
it is more proximate to a ground surface. When in a stowed
configuration, the stand may be more proximate to the platform than
when in the deployed configuration. In particular, when in the
deployed position, the stowable stand may extend at least a same
distance from the platform 105 as the wheel arrangement 135.
[0129] Thus, when in the deployed position, the stowable stand may
restrict or prevent a fore-aft leaning or tilting of the platform
105 about the wheel arrangement 135, whereas when in the stowed
position, the stowable stand may permit a fore-aft leaning or
tiling of the platform 105 about the wheel arrangement 135.
[0130] The stowable stand 501 may be coupled to the platform via a
rotating element 502. The rotating element 502 may be controlled
(e.g. by a motor) so as to raise and lower the stowable stand such
that the stowable stand may be controllably positioned with respect
to the ground surface. The rotating element 502 may control the
position of the stowable stand 501 with respect to the platform
105. In particular, the stowable stand may be rotated in a first
direction so as to be lowered with respect to the platform, and
rotated in a second, opposite direction so as to be raised with
respect to the platform.
[0131] The stowable stand may thereby operate in an analogous
manner to a landing gear or landing wheel.
[0132] In other embodiments, the stowable stand may be coupled to
the platform via a linear actuator (such as a worm drive or
pneumatic/hydraulic actuator) so as to be raised and lowered by the
linear actuator. A linear actuator may thereby control the position
and/or movement of the stowable stand 501 with respect to the
platform 105.
[0133] The motorized skate may comprise a plurality of stowable
stands. For example, the motorized skate 100 may comprise a first
stowable stand 501 and a second stowable stand.
[0134] In particular embodiments, when the at least one stowable
stand is in a deployed configuration, the user of the motorized
skate may be coupled to a ground surface and supported by the
stowable stands. In this configuration, the use may be able to walk
in a conventional manner using the motorized skates. Thus, when in
the deployed configuration, the motorized skate may be analogous to
a shoe or platform shoe so as to allow a user to walk or run using
the motorized skates.
[0135] FIG. 5C illustrates a side-view of the motorized skate 100
along the axis X.sub.1-X.sub.2, wherein the at least one stowable
stands are in a deployed configuration. The stowable stand 501 may
be formed in a substantially horseshoe-like or cee shape. This
would both restrict a fore-aft leaning and a side-to-side leaning
of the motorized skate, whilst using minimal materials. This may
advantageous decrease a weight of the skate and provide a greater
volume or surface area for other components of the skate.
[0136] The configuration of the at least one stowable stand may be
controlled, for example, by a stand control system (not shown). The
stand control system may be adapted to receive a user input signal
(e.g. from a mobile device) and determine a configuration of the at
least one stowable stand based on the user input signal. Thus, the
stowable stands may be raised or lowered based on a user input.
[0137] In another example, the stand control system may be adapted
to determine a user intention, and determine a configuration of the
at least one stowable stand based on the user intention. The stand
control system may determine a user intention based on at least one
signal received from one or more sensors (e.g. proximity sensors,
pressure sensors, temperature sensors and so on) adapted to
determine a characteristic of the user, and an algorithm adapted to
analyse the received signals so as to determine a user intention.
The user intention may be one of whether or how the user intends to
mount, operate or dismount the motorized skate 100. For example, a
pressure sensor may be adapted to determined when a pressure from a
user's foot is removed from a skate, which may be indicative of an
intention to dismount the skates.
[0138] In yet another example, the stand control system may be
adapted to control a configuration of the at least one stowable
stand based on a characteristic of the user or the motorized skate.
By way of example, the stand control system may, when a speed falls
below a predetermined amount, automatically deploy the at least one
stowable stand. Other characteristics may include: a time since
power on of the motorized skate; an indication of whether two
skates have been mounted; an indication of whether a coupling
arrangement has engaged with the user; a skill level of the user;
an experience level of the user and so on.
[0139] The at least one stowable stand may act as a charging
connector for the motorized skate. That is, the stowable stand may
be adapted to electrically connect a battery of the motorized skate
to a charging terminal for the motorized skate. For example, when
in the deployed position, the stowable stand may be adapted to
couple with an electric terminal, and conduct electricity for
charging a battery unit of the motorized skate. The stowable stand
may thereby comprise electrically conductive material.
[0140] Preferably the wheel arrangement is positioned in line with
a centre of force received by the platform. Such a force, received
by the platform, may be the combined vector of all forces applied
to the skate by the user due to gravity, centripetal force and so
on. Thus, the wheel arrangement may be adapted to provide a single
pivot point in line with the force applied by the user's feet (e.g.
due at least to a user's weight or mass) to the foot platform.
[0141] In at least one embodiment, the position of the wheel
arrangement relative to the platform is adjustable, such that the
wheel arrangement may be repositioned. This may be performed
automatically, for example, in response to a detected distribution
of the user's weight about the platform. In particular, in response
to a user first stepping onto the platforms, the position of the
wheel arrangement may be automatically adjusted to account for the
weight distribution and/or standing position of the user. By way of
example, if a user stands on tiptoes, the wheel arrangement may be
positioned substantially beneath the user's toes.
[0142] In one example, in response to a user mounting the platform,
the wheel arrangement may be positioned so as to lie beneath a
combined vector of all forces, such as gravity or a centripetal
force, applied to the platform at a position of the single pivot
point. Thus, if a user stands on a single skate only and the
gravity of the user is the only force acting on the platform, the
wheel arrangement may be positioned beneath or in line with the
centre of gravity of the user.
[0143] The position of the wheel arrangement may be adjusted, for
example, by a wheel arrangement positioning device. The wheel
arrangement positioning device may, for example, be adapted to move
the wheel arrangement along a track. Actuators of the wheel
arrangement positioning device, such as worm drives or
pneumatic/hydraulic actuators, may reposition the wheel arrangement
with respect to the foot platform. Thus, the position of the single
pivot point about which the platform of the motorized skate is
adapted to rotate may be adjusted.
[0144] The position of the wheel arrangement may, for example, be
locked after a predetermined period of time after the user has
mounted the skate. This will subsequently allow the balance control
system to maintain the fore-aft balance of the platform about the
wheel arrangement.
[0145] The motorized skate may comprise additional wheels. Such
additional wheel may, for example, be smaller than the wheels of
the single wheel arrangement. An additional wheel may be positioned
at a fore or aft end of the motorized skate so as to, for example,
prohibit rotation of the motorized skate about the wheel
arrangement beyond a predetermined amount. It should be understood
that, at least when the motorized skate is in motion, the wheel
arrangement may be the only element coupling the platform of the
motorized skate to a ground surface.
[0146] Other variations to the disclosed embodiments can be
understood and effected by those skilled in the art in practicing
the claimed invention, from a study of the drawings, the
disclosure, and the appended claims. In the claims, the word
"comprising" does not exclude other elements or steps, and the
indefinite article "a" or "an" does not exclude a plurality. A
single processor or other unit may fulfil the functions of several
items recited in the claims. The mere fact that certain measures
are recited in mutually different dependent claims does not
indicate that a combination of these measured cannot be used to
advantage. Any reference signs in the claims should not be
construed as limiting the scope. The figures are provided purely
for explanatory purposes and are not necessarily draw to scale. The
term `coupling` or `connected` should not be construed as meaning
directly coupled or connected, and such coupled features may be
coupled, for example, through a further element connected there
between.
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