Self-balancing board having a suspension interface
A self-balancing board is provided, comprising a platform having a first foot deck portion to substantially support a first foot of a rider, and a second foot deck portion to substantially support a second foot of the rider. A wheel assembly is positioned between the first foot deck portion and the second foot deck portion along a longitudinal axis of the platform, and comprises a wheel having a rotation axis that is generally orthogonal to the longitudinal axis of the platform, and a motor unit driving the wheel. An orientation sensor senses the orientation of the platform. A controller receives data from the orientation sensor and controls the motor unit in response to the received data. At least one suspension interface between the platform and the wheel assembly has a single degree of freedom generally orthogonal to the rotation axis of the wheel and to the longitudinal axis of the platform, and biases the platform towards a rest position.
1. A self-balancing board for lateral transportation of individuals, comprising:
a motor unit with an extending drive shaft, defining a reference z-axis and an x-y plane normal to the z-axis;
a power unit coupled to the motor unit to supply power thereto;
a wheel having a rotation axis and adapted to receive the motor unit with the rotation axis and the z-axis aligned concentrically;
an elongated board unit, predominantly having a cuboid shape, its sides extending along respective symmetry axes defining reference axes x, y and z and an imaginary board center-point of gravity, defining an x-z plane and a normal axis y, having a recess adapted to receive the wheel symmetrically and with concentric z-axes, the drive shaft fixed in both ends by bushing means on the board unit, and the board enabling a rider to stand along the x-z plane straddling the wheel, the rider's feet being oriented predominantly along the x direction;
movement sensors attached to the board unit; and
a control unit adapted to read data from the movement sensors and selectively control the power supplied to the motor unit in order to maintain vertical alignment between the centers-of-gravity of the board unit and rider,
wherein there is at least one suspension interface between the board unit and drive shaft of the motor unit, the at least one suspension interface having a single degree of freedom generally normal to the x-z plane of the elongated board unit.
2. A self-balancing board according to claim 1 , wherein each of the at least one suspension interface comprises a pneumatic damper.
3. A self-balancing board according to claim 1 , wherein each of the at least one suspension interface comprises a hydraulic damper.
4. A self-balancing board according to claim 1 , wherein each of the at least one suspension interface comprises a dry-friction damper.
5. A self-balancing board according to claim 1 , wherein each of the at least one suspension interface comprises a damper made of a resilient material.
6. A self-balancing board for lateral transportation of individuals, comprising:
a motor unit with an extending drive shaft defining a z-axis;
a power unit coupled to the motor unit to supplying power thereto;
a wheel having a rotation axis and adapted to receive the motor unit with the rotation axis and the z-axis aligned concentrically;
an elongated board unit comprising a first foot deck portion to substantially support a first foot of a rider, and a second foot deck portion to substantially support a second foot of the rider, the board unit being adapted to receive the wheel between the first foot deck portion and the second foot deck portion along a longitudinal axis of the board unit that is generally orthogonal to the rotation axis of the wheel, the drive shaft fixed at both ends by bushing means on the board unit;
a gyroscopic sensor attached to the board unit;
a control unit, adapted to read data from the gyroscopic sensor and selectively control the supply of power to the motor unit in order to maintain vertical alignment between the centers-of-gravity of board and rider; and
at least one suspension interface between the board unit and the drive shaft of the motor unit, and having a single degree of freedom generally orthogonal to the rotation axis of the wheel and to the longitudinal axis of the elongated board.
7. A self-balancing board, comprising:
a platform comprising a first foot deck portion to substantially support a first foot of a rider, and a second foot deck portion to substantially support a second foot of the rider;
a wheel assembly positioned between the first foot deck portion and the second foot deck portion along a longitudinal axis of the platform, the wheel assembly comprising:
a wheel having a rotation axis that is generally orthogonal to the longitudinal axis of the platform; and
a motor unit driving the wheel;
an orientation sensor sensing the orientation of the platform;
a controller receiving data from the orientation sensor and controlling the motor unit in response to the received data; and
at least one suspension interface between the platform and the wheel assembly and having a single degree of freedom generally orthogonal to the rotation axis of the wheel and to the longitudinal axis of the platform, and biasing the platform towards a rest position.
8. A self-balancing board according to claim 7 , wherein each of the at least one suspension interface comprises a spring.
9. A self-balancing board according to claim 8 , wherein the spring comprises a helical coil.
10. A self-balancing board according to claim 8 , wherein the spring comprises a leaf spring.
11. A self-balancing board according to claim 8 , wherein the spring comprises a resilient element.
12. A self-balancing board according to claim 8 , wherein each of the at least one suspension interface further comprises a damper.
13. A self-balancing board according to claim 12 , wherein the damper comprises a pneumatic damper.
14. A self-balancing board according to claim 12 , wherein the damper comprises a hydraulic damper.
15. A self-balancing board according to claim 12 , wherein the damper comprises a dry-friction damper.
16. A self-balancing board according to claim 12 , wherein the damper comprises a resilient material.
17. A self-balancing board according to claim 7 , wherein the wheel assembly further comprises an axle extending through the motor unit, and wherein each of the at least one suspension interface is coupled to the axle.
18. A self-balancing board according to claim 17 , wherein the at least one suspension interface comprises an elongated slot that is orthogonal to the rotation axis of the wheel and to the longitudinal axis of the platform.
19. A self-balancing board according to claim 18 , wherein a feature of at least one of the wheel assembly and the at least one suspension interface prevents fore-aft tilting of the wheel assembly relative to the platform.
20. A self-balancing board according to claim 19 , wherein the feature comprises a drive slider secured to the wheel assembly that is dimensioned to be snugly received and restricted from rotating within the elongated slot.
21. A self-balancing board according to claim 19 , wherein the feature comprises a cross-section of the axle that is dimensioned to be snugly received and restricted from rotating within the elongated slot.
22. A self-balancing board according to claim 18 , comprising at least two of the suspension interfaces, the elongated slots of the at least two suspension interfaces having a fixed width therebetween.
23. A self-balancing board according to claim 7 , further comprising:
an accelerometer coupled to the controller, wherein the controller receives motion data from the accelerometer and controls the motor unit in response to the received motion data.
24. A self-balancing board according to claim 7 , wherein the wheel comprises a tire having a generally flat central tread region and tapering towards its lateral sides.
25. A self-balancing board, comprising:
a platform comprising a first foot deck portion to substantially support a first foot of a rider, and a second foot deck portion to substantially support a second foot of the rider;
a wheel assembly positioned between the first foot deck portion and the second foot deck portion along a longitudinal axis of the platform, the wheel assembly comprising:
a wheel having a rotation axis that is generally orthogonal to the longitudinal axis of the platform; and
a motor unit driving the wheel;
an orientation sensor sensing the orientation of the platform;
a controller receiving data from the orientation sensor and controlling the motor unit in response to the received data; and
at least one suspension interface between the platform and the wheel assembly and preventing tilting and lateral and longitudinal movement of the platform relative to the wheel assembly, the at least one suspension interface biasing the platform towards a rest position.