(19) United States
`(12) Patent Application Publication (10) Pub. No.: US 2013/0238231 A1
`(43) Pub. Date:
`Sep. 12, 2013
`Chen
`
`US 20130238231A1
`
`(54)
`
`TWO-WHEEL SELF-BALANCING VEHICLE
`WITH INDEPENDENTLY MOVABLE FOOT
`PLACEMENT SECTIONS
`
`(71)
`(72)
`
`Applicant: Shane Chen, Camas, WA (US)
`Inventor: Shane Chen, Camas, WA (US)
`
`(21)
`
`Appl. No.: 13/764,781
`
`(22)
`
`Filed:
`
`Feb. 11, 2013
`
`(60)
`
`Related U.S. Application Data
`Provisional application No. 61/597,777, filed on Feb.
`12, 2012.
`
`Publication Classification
`
`(2006.01)
`
`(51) Int. Cl.
`B62K3/00
`(52) U.S. Cl.
`CPC ...................................... B62K3/007 (2013.01)
`USPC .......................................................... 701A124
`ABSTRACT
`(57)
`A two-wheel, self-balancing personal vehicle having inde
`pendently movable foot placement sections. The foot place
`ment sections have an associated wheel, sensor and motor and
`are independently self-balancing which gives the user inde
`pendent control over the movement of each platform section
`by the magnitude and direction of tilta user induces in a given
`platform section. Various embodiments are disclosed includ
`ing those with a continuous housing, discrete platform sec
`tions and/or tapering platform sections.
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`SY
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`DGL Exhibit 1004
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`Patent Application Publication
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`Patent Application Publication
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`Patent Application Publication
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`US 2013/0238231 A1
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`Sep. 12, 2013
`
`TWO-WHEEL SELF-BALANCING VEHICLE
`WITH INDEPENDENTLY MOVABLE FOOT
`PLACEMENT SECTIONS
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`0001. The present application claims the benefit of provi
`sional application No. 61/597,777, filed Feb. 12, 2012, for a
`Two-Wheeled Self-Balancing Vehicle by the inventor herein.
`
`FIELD OF THE INVENTION
`0002 The present invention relates to two-wheel, self
`balancing vehicles and, more specifically, to Such vehicles
`with two platform sections or areas that are independently
`movable with respect to one another and that thereby provide
`independent control and/or drive of the wheel associated with
`the given platform section/area.
`
`BACKGROUND OF THE INVENTION
`0003. A first group of prior art two-wheel self-balancing
`vehicles is represented by a product known commonly as the
`“Segway.” This product is disclosed in U.S. Pat. No. 6,302,
`230, issued to Srameketal (the 230 patent). While a contri
`bution in the field, the Segway and like devices are disadvan
`tageous in that they are large, heavy and expensive, i.e., too
`heavy to be carried by a commuter or youth, too expensive for
`most to buy. Furthermore, turning is achieved through a
`handle bar structure that ascends from the platform upward
`toward the chest of a user. This tall steering structure is a trip
`hazard when a user makes an unplanned exit from the vehicle.
`0004 Another group of prior art two-wheel self-balancing
`vehicles has two platform sections, each associated with a
`given wheel, that tilt from side-to-side as a user leans left or
`right. The two platform sections move in a linked or “depen
`dent’ manner (for example, through a parallelogram frame,
`and not independently) and there is a single “vertical axis for
`the platforms. When the axis is tilted directly forward or
`backward, both wheels drive at the same speed (as required
`for self-balancing). If a user leans to the side (tilts the “verti
`cal axis sideways), then the outside wheel is driven faster
`than the inside wheel to effect a turn toward the direction of
`the tilt.
`0005. These devices typically require a multi-component
`parallelogram structure to coordinate/link movement of the
`two platform sections and the wheels. Such componentry
`adds to the weight, bulk, complexity, and potential for
`mechanical failure of the device. Also, the turning radius is
`fairly large as one wheel is typically rotating around the other
`(moving in the same direction though at different speeds).
`0006. A need exists for a two-wheel self-balancing vehicle
`that provides independent wheel control, is light-weight and
`compact, is easy and safe to use, and that may be made in a
`cost-effective manner. A need also exits for a two-wheel
`self-balancing vehicle that is more maneuverable and more
`ergonomic (functioning more naturally with the bio-mechan
`ics of a user's legs and body) than prior art devices.
`0007. Other prior art includes skateboards that have two
`platforms sections that are movable with respect to one
`another. Some have a shared shaft about which the two plat
`form sections pivot, while others have a degree of flexibility
`in the platform. In both of these arrangements, the platform
`sections are arranged longitudinally, one primarily behind the
`other in the longitudinal line-of-direction of travel.
`
`SUMMARY OF THE INVENTION
`0008 Accordingly, it is an object of the present invention
`to provide a two-wheel, self-balancing vehicle that over
`comes the shortcomings of the prior art.
`0009. It is another object of the present invention to pro
`vide a two-wheel, self-balancing vehicle that has indepen
`dently movable foot placement sections.
`0010. It is also an object of the present invention to provide
`such a two-wheel, self-balancing vehicle in which the inde
`pendently movable foot placement sections are used by an
`operator to assert independent control over the driving of the
`wheel associated with the respective foot placement section.
`These and related objects of the present invention are
`achieved by use of a two-wheel, self-balancing vehicle with
`independently movable foot placement sections as described
`herein.
`0011. The attainment of the foregoing and related advan
`tages and features of the invention should be more readily
`apparent to those skilled in the art, after review of the follow
`ing more detailed description of the invention taken together
`with the drawings.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`0012 FIG. 1 is a perspective view of a two-wheel, self
`balancing vehicle with independently movable platform sec
`tions in accordance with the present invention.
`0013 FIG. 2 is a block diagram of components within the
`vehicle of FIG.1.
`0014 FIG. 3 is a bottom perspective view of another
`embodiment of a two-wheel, self-balancing vehicle with
`independently movable platform sections in accordance with
`the present invention.
`0015 FIGS. 4-5 are a top perspective view and a bottom
`perspective view of another embodiment of a two-wheel,
`self-balancing vehicle with independently movable platform
`sections in accordance with the present invention.
`
`DETAILED DESCRIPTION
`0016 Referring to FIG. 1, is a perspective view of a two
`wheel, self-balancing vehicle 100 with independently mov
`able platform sections in accordance with the present inven
`tion is shown.
`0017 Vehicle 100 may have a first and a second platform
`section 110.130. Each platform section 110,130 may include
`a housing formed of a bottom housing member 111,131 and a
`top housing member 112.132. The top housing members may
`have a foot placement section or area 113,133 formed inte
`grally therewith or affixed thereon. The foot placement sec
`tion is preferably of sufficient size to receive the foot of a user
`and may include a tread or the like for traction and/or comfort.
`0018. The housing may be formed of metal, sturdy plastic
`or other suitable material. The housing members may be
`molded and incorporate strengthening reinforcements, and be
`shaped to receive and “nest the internal components (dis
`cussed below) of the vehicle. The bottom and top housing
`sections are formed complementarily so that after the internal
`components are installed, the top housing section is fitted
`onto the bottom housing section and secured with screws or
`other fasteners. FIG. 1 illustrates holes 161, through which
`the fasteners are inserted.
`(0019. Each platform section includes a wheel 115,135,
`and each wheel preferably has an axle 116,136 and motorized
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`hub assembly 117,137 (shown in FIG. 2). Motorized hub
`assemblies are known in the art.
`0020 Referring to FIG. 2, a block diagram of components
`within vehicle 100 in accordance with the invention is shown.
`The dot-dash line represents a rough outline of the housing
`members. Each platform section preferably includes a posi
`tion sensor 120,140, which may be a gyroscopic sensor, for
`independent measurement of the position of the respective
`platform section. The sensors are preferably mounted on cir
`cuit boards 121,141 that may be attached to the interior of the
`respective bottom housings. Sensed position information
`from sensor 120,140 is used to drive the corresponding motor
`117,137 and wheel 115,135. The control logic for translating
`position data to motor drive signals may be centralized or split
`between the two platform sections. For example, control logic
`150 may be electrically connected to sensors 120,140 and to
`drive motors 117,137, electrical conduits connecting through
`the connecting shaft 170 between sensor 140, control logic
`150, and drive motor 137.
`0021 Alternatively, a separate processor/control logic 151
`may be provided in the second platform section 130. Logic
`151, in this case, would be is connect directly to sensor 140
`and drive motor 137 and generate drive signals to motor 137
`(and wheel 135) based data from sensor 140.
`0022 Communication between these components is pri
`marily in the direction of data from the sensor and drive
`signals to the motor. However, communication in the other
`direction may include start signals (ie, to the sensor), status
`signals (ie, from the motor indicating an unsafe condition
`(e.g., excessive rpm), or a motor/drive failure or irregularity).
`This information, in addition to battery information, etc.,
`could be communicated back to a user via lights or another
`interface, or communicated wirelessly (e.g., blue-tooth) from
`the vehicle to a hand-held device such as a mobile phone. In
`addition, if the platform sections have separate and indepen
`dent control logic 150,151, these processing units may still
`share information with one another, such as status, safe opera
`tion information, etc.
`0023 The two platform sections 110,130 are movably
`coupled to one another. FIG. 2 illustrates a shaft 170 about
`which they may rotate (or pivot with respect to one another).
`Brackets 164 and flange brackets 165 may secure the shaft to
`the platform sections, with the flange brackets preferably
`configured to prevent or reduce the entry of dirt or moisture
`within the housings. Shaft 170 may be hollow in part and
`thereby allowing for the passage of conduits therethrough.
`Pivoting or rotating shaft arrangements are known in the art,
`and others may be used without deviating from the present
`invention as long as the foot placement sections may move
`independently.
`0024. Since the platform sections may rotate or pivot with
`respect to one another, the left section 110, for example, may
`tilt forward while the right section tilts backward. This would
`cause the wheels to be driven in opposite directions, causing
`a user to spin-in-place or “pirouette’ much like a figure skater.
`Alternatively, the platform wheels could be tilted in the same
`direction, but one platform more than the other. This would
`cause the wheel associated with the more steeply tilted plat
`form to drive faster, in turn causing the vehicle to turn. The
`sharpness of the turn could be readily adjusted by the user
`based on the relative tilt of the platform sections.
`0025. This leg movement to control turning is a very ergo
`nomic and natural movement, akin to skiing and other glid
`ing/sliding activities.
`
`0026. The rotating shaft 170 may also include a bias
`mechanism integral with the flange bracket 165 or otherwise
`configured to return the platform section to an even level in
`the absence of displacement from a riders weight.
`0027. Each platform section 110,130 may also include a
`platform or “shut-off sensor 119,139 that detects when a
`user is standing of the platform. When a user falls off, the
`absence of the rider is sensed and the control logic in response
`stops driving the wheels such that the vehicle comes to a stop
`(and does not carry on rider less). In the absence of Such a
`shut-off sensor, the vehicle would still stop rather soon as the
`wheels will be driven to a self-balancing position for their
`respective sections bringing the device to rest.
`0028 Referring to FIG. 3, a bottom perspective view of
`another embodiment of a two-wheel, self-balancing vehicle
`200 with independently movable platform sections in accor
`dance with the present invention is shown. Vehicle 200 may
`include first and second platform section 210,230 that are
`formed of bottom 211,231 and top 212.232 housing sections,
`similar to those in vehicle 100 above.
`(0029. Each platform section includes a wheel 215,235
`which is respectively driven by a motorized hub 217.237 and
`an associated position sensor 220.240. Control logic 250
`receives the sensed position information and drives the asso
`ciated wheel toward self-balancing. As discussed above, the
`control logic 250 may be independent, provided in each plat
`form section, or centralized, provided in one section. Regard
`less, the driving of each wheel is based on the position sensed
`by the sensor associated with that wheel.
`0030 A pivoting shaft or other arrangement may be used
`to movably/rotatably join the two platform sections.
`0031
`Referring to FIGS. 4-5, a top perspective view and a
`bottom perspective view of another embodiment of a two
`wheel, self-balancing vehicle with independently movable
`platform sections 300 in accordance with the present inven
`tion is shown. Vehicle 300 is similar to the other vehicles
`herein, yet instead of a pivoting or rotating connection
`between platform sections, the frame or housing is made of a
`sturdy yet sufficiently flexible material that the two foot
`placement sections are effectively first and second platform
`sections that move independently with respect to each other
`for independent control of wheels 315,335.
`0032. Vehicle300 may include a bottom 311 and a top 312
`housing sections. These may be made of a flexible steel or
`durable flexible plastic or the like. The two sections are pref
`erably configured to receive the internal components. They
`are preferably complementary in shape and may be secured
`by fasteners from below. The top housing may include or have
`attached to it a rubber coating or surface or the like in the foot
`placement areas 313,333 to increase traction and/or comfort
`with the foot of a user.
`0033. The internal components may include position sen
`sors for both sections 320,340, hub motors 317,337, and
`control logic 350 for independently driving wheels 315,335
`toward a self-balancing position based on position informa
`tion sensor by their respective sensors 320,340. These com
`ponents may be the same or similar to those discussed above
`for vehicles 100 and 200 (FIGS. 1-3).
`0034. While the invention has been described in connec
`tion 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
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`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.
`1. A two-wheel, self-balancing vehicle device, comprising:
`a first foot placement section and a second foot placement
`section that are coupled to one another and are indepen
`dently movable with respect to one another;
`a first wheel associated with the first footplacement section
`and a second wheel associated with the second foot
`placement section, the first and second wheels being
`spaced apart and Substantially parallel to one another;
`a first position sensor and a first drive motor configured to
`drive the first wheel, a second position sensor and a
`second drive motor configured to drive the second
`wheel; and
`control logic that drives the first wheel toward self-balanc
`ing the first foot placement section in response to posi
`tion data from the first sensor and that drives the second
`wheel toward self-balancing the second foot placement
`section in response to position data from the second foot
`placement section.
`2. The device of claim 1, the first foot placement section
`and the second foot placement section are rotatably coupled
`to one another.
`3. The device of claim 1, the first foot placement section
`and the second footplacement section are positioned Substan
`tially linearly between the first and second wheel.
`4. The device of claim 1, wherein said first and second foot
`placement sections are mounted to a frame that is sufficiently
`
`flexible that the first and second foot placement platforms can
`move independently with respect to one another under the
`weight of a user.
`5. The device of claim 1, further comprising:
`a first housing section on which the first foot placement
`section is provided, the first housing section housing the
`first sensor and first drive motor; and
`a second housing section on which the second foot place
`ment section is provided, the second housing section
`housing the second sensor and second drive motor.
`6. The device of claim 5, wherein the control logic include
`a first control logic controlling the first drive motor located in
`the first housing section and a second control logic control
`ling the second drive motor located in the second housing
`section.
`7. The device of claim 5, wherein the first drive wheel
`extends from the first housing section on an end Substantially
`opposite where the first housing section is coupled to the
`second housing section, and the second drive wheel extends
`from the second housing section on an end Substantially
`opposite where the second housing section is coupled to the
`first housing section.
`8. The device of claim 1, further comprising a platform
`sensor provided at at least one of the first and second foot
`placement sections that detects when a user is standing on that
`foot placement section.
`9. The device of claim 1, further comprising a bias mecha
`nism for returning the two independently movable first and
`second foot placement sections toward alignment in the
`absence of a force by a user displacing the two footplacement
`sections from alignment.
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