U.S. patent application number 16/739085 was filed with the patent office on 2020-09-10 for auto-balancing device with longitudinally disposed and movable platform sections.
The applicant listed for this patent is Shane Chen, Ywanne Chen. Invention is credited to Shane Chen, Ywanne Chen.
Application Number | 20200282295 16/739085 |
Document ID | / |
Family ID | 1000004843667 |
Filed Date | 2020-09-10 |
United States Patent
Application |
20200282295 |
Kind Code |
A1 |
Chen; Shane ; et
al. |
September 10, 2020 |
AUTO-BALANCING DEVICE WITH LONGITUDINALLY DISPOSED AND MOVABLE
PLATFORM SECTIONS
Abstract
An auto-balancing transportation device configured for being
ridden in a foot forward or sideways standing position. The rider
platform has front and rear foot platform areas and two connecting
members, located on opposite lateral sides of the device, that
couple the front and rear platform areas. Two drive wheels are
located under or through the platform. The front and/or rear
platform areas are movable or twistable so as to alter the fore-aft
tilt of one or more of the connecting members. Position sensors
associated with each connecting member are used to drive a
corresponding drive wheel. In this manner, differences in fore-aft
tilt angle of the two connecting members achieves a turning of the
device.
Inventors: |
Chen; Shane; (Camas, WA)
; Chen; Ywanne; (Camas, WA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Chen; Shane
Chen; Ywanne |
Camas
Camas |
WA
WA |
US
US |
|
|
Family ID: |
1000004843667 |
Appl. No.: |
16/739085 |
Filed: |
January 9, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62790301 |
Jan 9, 2019 |
|
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|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60L 2240/22 20130101;
B62K 11/007 20161101; B60L 2200/16 20130101; A63C 17/014 20130101;
B60L 2260/34 20130101; B62J 45/4151 20200201; A63C 2203/18
20130101; A63C 17/12 20130101; A63C 2203/12 20130101 |
International
Class: |
A63C 17/12 20060101
A63C017/12; B62K 11/00 20060101 B62K011/00; A63C 17/01 20060101
A63C017/01; B62J 45/415 20060101 B62J045/415 |
Claims
1. An auto-balancing transportation device, comprising: a platform
having first and second front subsections and first and second rear
subsections, and a first connecting member located between the
first front and rear subsections and a second connecting member
located between the second front and rear subsections; a first
wheel, a first drive motor, and a first sensor associated with the
first connecting member; a second wheel, a second drive motor, and
a second sensor associated with the second connecting member; a
control circuit that drives the first drive motor toward
auto-balancing the first connecting member based on data from the
first sensor and that drives the second drive motor toward
auto-balancing the second connecting member based on data from the
second sensor; and wherein the fore-aft tilt angle of the first and
second connecting members is changeable by a rider during use and a
difference in fore-aft tilt angle between the first and second
connecting members achieves differential driving of the first and
second wheels and a turning of the device.
2. The device of claim 1, wherein the platform is greater in
longitudinal dimension than lateral dimension.
3. The device of claim 1, wherein the platform is 1.5 times or more
greater in longitudinal dimension than lateral dimension.
4. The device of claim 1, wherein the first and second wheels are
wholly below the platform.
5. The device of claim 1, wherein the first and second wheels are
in part below the platform and in part above the platform.
6. The device of claim 1, wherein the first sensor senses fore-aft
tilt angle of the first connecting member.
7. The device of claim 1, wherein the first and second connecting
members are substantially parallel to one another, and are
physically separate from one another.
8. The device of claim 1, wherein the first and second connecting
members are coupled to one another through a flexible coupler.
9. The device of claim 1, wherein the first and second connecting
members are formed in a contiguous board that has an opening
defined therein, the board being sufficiently flexible to allow
movement of the first and second connecting members relative to one
another in fore-aft tilt angle.
10. The device of claim 9, wherein the first and second wheels
extend above the platform through the opening.
11. The device of claim 1, wherein the first and second front
subsections are configured to move relative to one another in
fore-aft tilt angle, and movement of the first and second front
subsections relative to one another in fore-aft tilt angle causes
movement of the first and second connecting members relative to one
another.
12. The device of claim 1, wherein the first and second rear
subsections are configured to move relative to one another in
fore-aft tilt angle, and movement of the first and second rear
subsections relative to one another in fore-aft tilt angle causes
movement of the first and second connecting members relative to one
another.
13. An auto-balancing transportation device, comprising: a platform
having first and second front subsections and first and second rear
subsections, and a first connecting member located between the
first front and rear subsections and a second connecting member
located between the second front and rear subsections; a first
wheel, a first drive motor, and a first sensor associated with the
first connecting member; a second wheel, a second drive motor, and
a second sensor associated with the second connecting member; a
control circuit that drives the first drive motor toward
auto-balancing the first connecting member based on data from the
first sensor and that drives the second drive motor toward
auto-balancing the second connecting member based on data from the
second sensor; and wherein the first connecting member is capable
of fore-aft tilt angle movement while the fore-aft tilt angle of
the second connecting member is unchanged.
14. The device of claim 13, wherein the second connecting member is
capable of fore-aft tilt angle movement while the fore-aft tilt
angle of the first connecting member is unchanged.
15. The device of claim 13, wherein the platform is greater in
longitudinal dimension than lateral dimension.
16. The device of claim 13, wherein the first and second wheels are
wholly below the platform.
17. The device of claim 13, wherein the first and second wheels are
in part below the platform and in part above the platform.
18. The device of claim 13, wherein the first and second connecting
members are formed in a contiguous board that has an opening
defined therein, the board being sufficiently flexible to allow
movement of the first and second connecting members relative to one
another in fore-aft tilt angle.
19. The device of claim 18, wherein the first and second wheels
extend above the platform through the opening.
20. The device of claim 13, having at least one of: the first and
second front subsections configured to move relative to one another
in fore-aft tilt angle, and movement of the first and second front
subsections relative to one another in fore-aft tilt angle causing
movement of the first and second connecting members relative to one
another; and the first and second rear subsections configured to
move relative to one another in fore-aft tilt angle, and movement
of the first and second rear subsections relative to one another in
fore-aft tilt angle causing movement of the first and second
connecting members relative to one another.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. Provisional
Application No. 62/790,301, filed Jan. 9, 2019, entitled
Self-Balancing Personal Vehicles, and having Ywanne Ying Chen as
inventor.
BACKGROUND OF THE INVENTION
[0002] The prior art includes several auto-balancing transport
devices. These include the Segway, developed by Kamen et al and
disclosed in U.S. Pat. No. 6,302,230 (among others), the Solowheel,
by Chen (U.S. Pat. No. 8,807,250) and Hovertrax, also by Chen (U.S.
Pat. No. 8,738,278). The prior art also includes the Hovershoe,
disclosed in U.S. patent application Ser. No. 15/338,387. These
three patents and the Hovershoe application are hereby incorporated
by reference as though disclosed in their entirety herein.
[0003] The above patents disclose devices that are typically ridden
with a rider standing facing forward, hips towards the line of
direction of travel. In a conventional skateboard, however, a rider
stands sideways. For people who experienced skateboard riding as a
child, it might be easier to learn to ride an auto-balancing device
standing sideways than hips forward.
[0004] U.S. Pat. No. 9,101,817, issued to Doerksen, for a
Self-Stabilizing Skateboard, discloses an auto-balancing device
that may be ridden while standing sideways. This device (and others
like it) is disadvantageous in several aspects. One is that it is
difficult to turn. There is a singular wide, flat wheel, and this
wheel structure makes turning very slow or gradual. Other
disadvantageous aspects include that the exposed wheel is
dangerous, throws rain water, and restricts foot movement.
[0005] A need thus exists for an auto-balancing transportation
device that allows a rider to stand sideways yet affords sharper
and more responsive turning.
SUMMARY OF THE INVENTION
[0006] Accordingly, it is an object of the present invention to
overcome the shortcomings of the prior art.
[0007] It is another object of the present invention to provide an
auto-balancing transportation device that affords skateboard style
riding (i.e., one foot forward) and more responsive turning.
[0008] It is also an object of the present invention to provide
such a device with two platform sections or components that are
movable with respect to one another and that each control a drive
wheel, the differential driving of the wheels achieving
turning.
[0009] These and related objects of the present invention are
achieved by use of an auto-balancing device with longitudinally
disposed and movable platform sections as described herein.
[0010] The attainment of the foregoing and related advantages and
features of the invention should be more readily apparent to those
skilled in the art, after review of the following more detailed
description of the invention taken together with the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIGS. 1-2 are bottom and top perspective views,
respectively, of one embodiment of a transportation device in
accordance with the present invention.
[0012] FIGS. 3-4 illustrate another embodiment of an auto-balancing
device with a longitudinally disposed platform 115 in accordance
with the present invention.
[0013] FIGS. 5-6 illustrate yet another embodiment of an
auto-balancing device with a longitudinally disposed platform in
accordance with the present invention.
[0014] FIG. 7 is a perspective view of another embodiment of an
auto-balancing device in accordance with the present invention in
which the drive wheels extend through the platform.
DETAILED DESCRIPTION
[0015] Referring to FIGS. 1 and 2, bottom and top perspective views
of a first embodiment of a transportation device 10 in accordance
with the present invention are respectively shown.
[0016] Device 10 preferably includes a longitudinally disposed foot
platform 15 that has two foot platform sections 21,22, one located
on each lateral side of the platform. Below each platform section
is an auto-balancing foot platform unit or module (herein "FPU")
30,50. In FIG. 1, platform section 21 is coupled to FPU 30 and
platform section 22 is coupled to FPU 50.
[0017] Each FPU preferably has a drive wheel 31,51 and an
associated motor 32,52. The motor may be a hub motor or other motor
arrangement. Each FPU also preferably has a control circuit 34,54,
a position sensor (such as a fore-aft tilt angle sensor or
gyroscopic sensor or other sensor) 35,55, and a battery 36,56.
Alternatively, the sensor for a given FPU may be provided with the
associated platform section. Regardless, the sensors are preferably
configured to sense the fore-aft tilt angle of their foot platform
section.
[0018] FPUs 30,50 are preferably configured such that the control
circuit drives the drive wheel 31,51 towards auto-balancing the FPU
based on data from the sensor 35,55. Auto-balancing arrangements,
including those for use in an FPU, are known in the art.
[0019] FPUs 30,50 are preferably coupled to one another such that
the drive wheels have a common axis of rotation, though they may be
otherwise arranged without departing from the present
invention.
[0020] Foot platform sections 21,22 each have a front end A, a rear
end B, and a connecting member C therebetween. The end portions may
be referred to as subsections, such as 21A,22A in the front and
21B,22B in the rear, and the connecting members as 21C,22C. As
shown in FIG. 6, a rider would typically stand with a foot on
subsections 21A,22A and the other on subsections 21B,22B. By
switching weight from heel to ball on their feet, and vice versa,
the rider can change the tilt of the connecting member 21C,22C
relative to one another and thus achieve turning.
[0021] For example, if in FIG. 2, connecting member 22C is tilted
forward by 1 degree and connecting member 21C is tilted forward by
5 degrees, then there is a 4 degree differential between the
connecting members and wheel 31 is driven faster than wheel 51,
turning device 10 to the right.
[0022] It should be recognized that which longitudinal end is the
front or rear may be arbitrary as a rider may mount from either
direction (though the device may be made with a dedicated front and
rear).
[0023] Note that equal and opposite tilting of the connecting
members 21C,22C would allow the device to pivot in place, something
prior art auto-balancing skateboard devices cannot achieve.
[0024] By affording independent, or relative difference based,
control of two drive wheels, the present invention is able to
achieve much more responsive turning than available in prior art
devices. Further, it is achieved in a manner that is intuitive to a
rider, which makes learning to ride easier, and increases the
potential uses of the device--commuting, recreation, games and
competitions, etc.
[0025] It should also be recognized that in the present invention,
the platform has a greater longitudinal dimension than lateral
dimension. This may be simply longer than wide, or 1.5.times.
longer, or 2.times. longer or 2.5.times. longer than wide, or
more.
[0026] Referring to FIGS. 3-4, another embodiment of an
auto-balancing device 110 with a longitudinally disposed platform
115 in accordance with the present invention is shown.
[0027] Device 110 is similar to device 10 and similar components
may have the same reference numerals in the tens and ones digits.
One difference is that while platform 15 of device 10 is two
physically separate items, i.e., not directly connected, the two
platform sections 121,122 of platform 115 are coupled by a flexible
membrane 140. The membrane is preferably coupled to the platform
sections in such a way as to give the feel of one contiguous
platform surface yet afford sufficient flexibility such that the
platform sections can move in fore-aft tilt relative to one
another. The membrane may be made of latex rubber or flexible
plastic or other suitable material.
[0028] Similar to device 10, each platform section 121,122 has a
front subsection 121A,122A, a rear subsection 121B,122B, and a
connecting member 121C,122C therebetween.
[0029] FIG. 4 illustrates one potential assembly technique for
device 110. Arrow A indicates the platform being mounted to FPUs
130,150. Platform 115 may be screwed to the FPUs or otherwise
fastened. Coupling techniques for joining the FPUs are known in the
art.
[0030] Referring to FIGS. 5 and 6, yet another embodiment of an
auto-balancing device 210 with a longitudinally disposed platform
215 in accordance with the present invention is shown.
[0031] Device 210 includes a contiguous or one piece platform 215,
albeit preferably with a longitudinally disposed hole 271 in it to
enhance twisting. Platform 215 preferably has subsections 221A,222A
up front, subsections 221B,222B in the rear, and connecting members
221C,222C therebetween.
[0032] FIG. 6 illustrates where a rider might stand. For example,
one foot 5 at the front and one foot 6 at the rear. It can be seen
that each foot touches a pair of subsections. As a rider leans
forward or rearward (in the line of direction of travel) the device
will go in that direction, however, when a rider twists the
platform longitudinally, the connecting members 221C,222C will
experience different fore-aft tilt angles causing the device to
turn.
[0033] Referring to FIG. 7, a perspective view of another
embodiment of an auto-balancing device 310 with longitudinally
disposed platform in accordance with the present invention is
shown. Device 310 includes a flexible platform 315 with holes
therein. Center hole 371 accommodates two drive wheels 330,350 that
extend above the platform's top surface. Holes 372 are provided at
the longitudinal ends (at subsections 321A,322A,321B,322B) to
facilitate twisting.
[0034] Device 310 operates similar to device 210. A rider standing
skateboard style leans forward or rearward to initiate movement and
twists the board by alternatively applying weight to the balls and
heels of his or her feet. This twisting causes connecting members
321C,322C to have different fore-aft tilt angles, as detected by
sensors 335,355, respectively, to achieve a turning of the
device.
[0035] While the invention has been described in connection with
specific embodiments thereof, it will be understood that it is
capable of further modification, and this application is intended
to cover any variations, uses, or adaptations of the invention
following, in general, the principles of the invention and
including such departures from the present disclosure as come
within known or customary practice in the art to which the
invention pertains and as may be applied to the essential features
hereinbefore set forth, and as fall within the scope of the
invention and the limits of the appended claims.
* * * * *