Cargo add-on devices

Abstract

A cargo add-on device is provided for attachment to a parent vehicle, which has front and rear wheels. The cargo add-on device comprises a frame configured to remain substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, and device wheels that can pivot relative to the frame. The cargo add-on device is configured to convert the parent vehicle into a cargo vehicle.

Description

Technical Field

[0001] 1. Technical Field The field of the present invention relates to a cargo add-on device that can be attached to a parent vehicle such as a motorcycle. The cargo add-on device is configured to increase the loading capacity of the parent vehicle. Specifically, it relates to a device configured to convert any ordinary vehicle into a cargo vehicle or an electric cargo vehicle, and a system or method for improving the stability, drivability, and / or steering of a cargo vehicle or an electric cargo vehicle.

[0002] A part of the disclosure of this patent document includes materials subject to copyright protection. The copyright owner has no objection to the facsimile reproduction of the patent document or patent disclosure as described in the patent file or record of the Patent and Trademark Office, but reserves all copyrights otherwise.

Modes for Carrying Out the Invention

[0003] 2. Modes for Carrying Out the Invention In the UK, 68% of travel distances are only 1 - 5 miles. Schools operating in the UK generate a surprising 500,000 tons of CO2 annually, yet 73% of households live within 2 miles of the school. The UK would need to plant 2.5 billion trees every year to offset this carbon dioxide emissions, but the total number of trees in the UK is currently only 3 billion. Furthermore, tire wear from automobiles generates 21,420 tons of microplastics annually, which are discharged into local waterways and the ocean. This is equivalent to the production of 1.1 billion water bottles every year.

[0004] Why are we using cars to travel these short distances? Unfortunately, there are few viable alternatives when it comes to transporting children or valuable cargo. There is a large gap in the market for transportation solutions for households.

[0005] The rise of electric cargo bikes is gaining significant momentum as a promising direction for transportation (CARGEU 4.86, North America 5.85). Some of the challenges to the large-scale adoption of electric cargo bikes include: • Cost: Typically £2,000-£5,000 • Weight: The average weight for the long tail is 30kg, and the cargo box can weigh up to 70kg. • Maneuverability: With a length of 2-3 meters, electric cargo bikes may be difficult to ride in urban areas. • Storage: Due to its large size and weight, it is difficult to carry upstairs or keep it at home. In addition, the lack of adequate on-street storage infrastructure exposes them to the risk of damage or theft.

[0006] Therefore, existing cargo bike solutions tend to be expensive, offer unstable steering, are inconvenient to use in bad weather conditions, and are often heavy and bulky, making them difficult to drive and store.

[0007] While trailers that can be attached to motorcycles are available, they often reduce stability and make driving and steering difficult because they protrude considerably from the rear of the motorcycle. The weight distribution is also concentrated at the rear, placing excessive weight on the rear axle of the motorcycle. This also affects the balance and stability of the motorcycle and causes the trailer to sway from side to side. Higher speeds can amplify this swaying effect. As a result, motorcycles with attachable trailers often affect the rider's ability to steer efficiently.

[0008] Furthermore, because trailers lack any mechanism other than their own weight to maintain contact between the wheels and the ground, resonant vibrations can occur at high speeds, potentially causing the trailer to "bounce" and resulting in an uncomfortable ride.

[0009] Electric motorcycle conversion kits are also available. However, existing solutions often require a significant amount of adjustment and cable management to successfully convert a regular motorcycle into an electric motorcycle. Furthermore, existing solutions do not increase the motorcycle's load capacity. They also increase the vehicle's weight and average speed, but do not improve the system's braking capabilities.

[0010] This invention addresses the vulnerabilities described above and other issues not mentioned above. [Overview of the project]

[0011] An aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, wherein the parent vehicle has front and rear wheels, and the cargo add-on device is... (a) A frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (b) comprising a device wheel that can pivot relative to the frame, The cargo add-on device is configured to convert the parent vehicle into a cargo vehicle.

[0012] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, wherein the parent vehicle has front and rear wheels, and the cargo add-on device is, (a) A frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (b) A device wheel that can pivot relative to the frame, (c) an electronic module including a battery, a motor, and control electronics for the motor, The cargo add-on device is configured to convert the parent vehicle into an electric cargo vehicle.

[0013] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, wherein the parent vehicle has front and rear wheels, and the cargo add-on device is, (a) A frame configured to remain substantially parallel to or aligned with a plane perpendicular to the rear axle of the parent vehicle when in use, (b) comprising an independent device wheel that can pivot relative to the frame, and whose movement or positioning is controlled by an actuator such as a motor, The cargo add-on device is configured to convert the parent vehicle into a cargo vehicle.

[0014] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, wherein the device comprises a device wheel and a frame, The cargo add-on device is configured to convert a parent vehicle into a cargo vehicle, the parent vehicle having front and rear wheels, and during rotation, (i) the frame is configured to remain substantially parallel to a plane perpendicular to the rear axle of the parent vehicle, and (ii) the steering direction of the device wheels is determined to be opposite to the steering direction of the front wheels.

[0015] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, the cargo add-on device comprising a frame and wheels mounted or attached to the frame, The device is configured to convert a parent vehicle into a cargo vehicle, and the device wheels are configured to rotate so that their axles are substantially aligned with the instantaneous steering center of the parent vehicle.

[0016] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, the cargo add-on device comprising a frame and wheels mounted or attached to the frame, The device is configured to convert a parent vehicle into a cargo vehicle, and when the cargo vehicle is following in a straight line, the device's wheels are configured to remain substantially aligned with the parent vehicle's rear wheels with a preload of approximately 10N to 100N.

[0017] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, the cargo add-on device comprising wheels, a frame, and a cargo platform, the device being configured to convert the parent vehicle into a cargo vehicle, the cargo add-on device being attachable or removable from the parent vehicle using one or more rapid release actions such as a press / snap and click mechanism.

[0018] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, the device comprising wheels, a frame, and a cargo platform, the device being configured to convert the parent vehicle into a cargo vehicle, and when riding on the cargo vehicle, the device wheels being configured to maintain a minimum contact force to ensure traction on the ground.

[0019] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, the device comprising wheels, a frame, and a cargo platform, the device being configured to convert the parent vehicle into a cargo vehicle, and the height of the device axle being always lower than the axis of rotation between the parent vehicle and the device rigid frame.

[0020] Another aspect of the present invention is a cargo add-on device for attachment to a parent vehicle, the device comprising wheels, a frame, and a cargo platform, the device being configured to convert the parent vehicle into a cargo vehicle, and the cargo add-on device further comprising a brake actuator subsystem configured to control the device wheel brakes based on a detected brake event of the parent vehicle.

[0021] Another aspect of the present invention is a pedal assist system (PAS) for controlling an electric motor of an electric vehicle, the PAS including an audio sensor that determines when the rider is not pedaling. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Here, as an example, aspects of the present invention will be described with reference to the following drawings each showing features of the present invention.

[0023] [Figure 1] A side view of a parent bike 1 with a cargo add-on device 11 attached to the parent bike is shown. [Figure 2] A perspective view of the cargo add-on device removed from the parent bike is shown. [Figure 3] A cargo add-on device with a platform / utility rack 14 removed from the device is shown. [Figure 4] A perspective view of the cargo add-on device removed from the parent bike with the kickstand 21 in a folded state is shown. [Figure 5] A perspective view of the cargo add-on device removed from the parent bike with the kickstand 21 in a folded state is shown. [Figure 6] A perspective view of the cargo add-on device removed from the parent bike with the kickstand 21 in an extended state is shown. [Figure 7] A perspective view of the cargo add-on device removed from the parent bike with the kickstand 21 in an extended state is shown. [Figure 8] A top view of the cargo add-on device 11 removed from the parent bike with the kickstand 21 in an extended state is shown. [Figure 9] A rear view of the cargo add-on device removed from the parent bike with the kickstand 21 in an extended state is shown. [Figure 10] A front view of the cargo add-on device 11 removed from the parent bike with the kickstand 21 in an extended state is shown. [Figure 11] A bottom view of the cargo add-on device 11 removed from the parent bike with the kickstand 21 in an extended state is shown. [Figure 12] A rear view of the cargo add-on device 11 removed from the parent bike with the wheel 12 rotated clockwise is shown. [Figure 13]The bottom view of the cargo add-on device 11, which has been removed from the parent motorcycle, is shown with the wheel 12 rotated clockwise. [Figure 14] The rear view shows the cargo add-on device 11 removed from the parent motorcycle, with the wheel 12 rotated counterclockwise. [Figure 15] The bottom view of the cargo add-on device 11, detached from the parent motorcycle, is shown with the wheel 12 rotated counterclockwise. [Figure 16] A side view of a cargo vehicle, including the parent motorcycle 1 and cargo add-on device 11, is shown on a plane. [Figure 17] A side view of a cargo vehicle, including the parent motorcycle 1 and cargo add-on device 11, is shown on an uneven surface. [Figure 18] A side view of a cargo vehicle, including the parent motorcycle 1 and cargo add-on device 11, is shown on an uneven surface. [Figure 19] This diagram illustrates the movement of a conventional trailer attached to a motorcycle. [Figure 20] This image shows a side view of a cargo add-on device removed from a parent motorcycle, illustrating the recline angle of the cargo add-on's steering fork. [Figure 21] This shows a top view of a cargo add-on device attached to a parent motorcycle, illustrating active rear steering. [Figure 22] The image shows a top view of a cargo add-on device attached to a parent bike, with the bike moving along a straight line (22A) and the handlebars rotating clockwise in combination with a fork having a negative trail value (22B) and a fork having a positive trail value (22C). [Figure 23] A diagram illustrating trail values ​​is shown. [Figure 24] A diagram illustrating the movement of the rotation angle of the device wheel is shown. [Figure 25] The diagrams show different ranges of motion of the cargo add-on device's wheels within the rigid frame 13 of the cargo add-on device. [Figure 26]This shows a self-aligning mechanism that is positioned along the steering axis of the cargo add-on device wheels, or connected to the steering axis via a mechanical connection such as a belt. [Figure 27] A diagram of the wheel lockout mechanism is shown. [Figure 28] A side view of a cargo vehicle including a parent motorcycle 1, a cargo add-on device 11, and a wireless PAS sensor 281 is shown. [Figure 29] This shows several examples of cargo add-on device configurations. [Figure 30] This shows a cargo add-on device stably positioned on a surface in its storage location. [Figure 31] A diagram illustrating a cargo vehicle including a flexible mounting point 311 between the cargo device and the parent bike seatpost is shown. [Figure 32] A diagram illustrating a cargo vehicle is shown, including a rigid mounting point 321 for attachment to the parent vehicle's seatpost and a compliance swingarm 322. [Figure 33] The diagram illustrates a cargo frame having caster wheels that can pivot around the back of the device frame. [Figure 34] This diagram illustrates a top view of a device wheel that can pivot around its own central axis. [Figure 35] This diagram illustrates a mechanism that can pivot around the seatpost of a motorcycle. [Figure 36] The diagram illustrates a device wheel mounted via a single-sided "left-side" hub. [Figure 37] The diagram illustrates a device wheel mounted with hub-center steering implemented, where the pivot point has moved to the center of the wheel or hub motor. [Figure 38] The diagram illustrates a trailer mounted on a seatpost equipped with a spring-loaded bias pivot mechanism. [Figure 39] The diagram illustrates a spring mechanism attached to the frame of a towing vehicle. [Figure 40]The diagram illustrates a compression preload spring mount that utilizes available pannier mounts. [Figure 41] The diagram illustrates the mounting points of the device wheel frame at different locations. [Figure 42] The diagram illustrates a smaller wheel positioned closer to the rear wheel of the parent motorcycle. [Figure 43] The diagram illustrates a motorcycle mounted on a cargo add-on device that includes two swivel wheels. [Figure 44] This diagram illustrates a cargo add-on device that can accommodate multiple wheel sizes. [Figure 45] This diagram illustrates a cargo add-on device that, when detached from its parent motorcycle, can function as an electric hand trolley. [Figure 46] A diagram illustrating a cargo add-on device including a kickstand leg with a configurable foot or wheel is shown. [Figure 47] A diagram illustrating a cargo add-on device including a kickstand leg and angled hinge is shown. [Figure 48] A diagram illustrating a cargo add-on device, including another example of a kickstand leg, is shown. [Figure 49] This diagram illustrates a cargo add-on device that includes a kickstand featuring a locking mechanism that can be easily released by the rider when getting into a cargo vehicle. [Figure 50] The diagram illustrates a cargo add-on device that includes UI buttons housed near the seatpost clamp. [Figure 51] A diagram illustrating a cargo add-on device, including strain gauges integrated into a cargo add-on device frame or fork, is shown.

[0024] An implementation embodiment of the present invention is a cargo add-on device called a CONVOY, or a cargo add-on device, or a cargo device.

[0025] The Convoy is a zero-emission mode of transport tailored for short distances to meet family needs. The Convoy is a longtail electric cargo add-on configured to upcycle unused motorcycles by converting them into a lightweight, flexible, zero-emission utility vehicle. The Convoy allows riders to carry up to two children or a maximum of 50 kg. Alternatively, the Convoy can allow riders to carry up to 80 kg.

[0026] It attaches to and detaches from the main motorcycle in seconds, making it easy to store inside the home or alongside the current motorcycle.

[0027] A cargo add-on device can be configured to convert a parent vehicle into a cargo vehicle or an electric cargo device.

[0028] The cargo add-on device may include wireless pedal sensors for seamless device installation, 250W electric assist, a built-in battery, and regenerative braking. Riders can ride with peace of mind, no matter what they are carrying. Overall, this device promotes a healthier and more environmentally friendly lifestyle for the home.

[0029] The cargo add-on device may include a camera recognition system (as an alternative to a pedal assist system). This can be driven by state-of-the-art AI that provides smart power assist that adapts to the rider and terrain, seamlessly enhancing the riding experience.

[0030] Examples of advantages include one or more of the following: • Affordable price: (<£1,500) vs. existing electric cargo bikes (£2,000-£5,000) • Ease of use: 80% of households use motorcycles. • Lightweight and compact: 30% of the weight and 20% of the size of a typical electric cargo bike. • Convenient utility: Carry up to two children or a week's worth of groceries. • Highly maneuverable steering, • Smart and safe power assist, • Use quiet modes of transport to minimize noise. • A fully integrated device that can be installed independently on the parent vehicle, requiring minimal modification to the original parent bike or no modifications that would void the manufacturer's warranty.

[0031] The provided example states that the solution is mounted on the rear of a parent motorcycle having front and rear wheels. However, this solution can generally be applied to other types of parent vehicles, such as tricycles, motorcycles, motorbikes, or any other vehicle to which a cargo load can be attached.

[0032] Figure 1 shows a side view of the parent bike 1, with the cargo add-on device 11 attached to the parent bike. When the cargo add-on device is attached to the parent bike, the parent bike is converted into a cargo bike. The parent bike has a front wheel 2 and a rear wheel 3. The cargo add-on device has a device wheel 12 and a frame 13 that attaches to the parent bike to convert it into a cargo bike.

[0033] Figure 2 shows a perspective view of a cargo add-on device removed from a parent motorcycle. The cargo add-on device includes a device wheel 12, a frame 13, and a cargo platform or utility rack 14. A fork 15 is connected to the frame 13. The cargo add-on device is easily attachable to and / or detachable from the parent motorcycle. The cargo add-on device includes one or more attachment or quick-release mechanisms to facilitate attachment and detachment from the parent vehicle.

[0034] The first engagement mechanism 16 may be configured to easily clip onto or near the rear axle of the parent bike, and the second mounting mechanism 17 may be configured to engage with or near the seat post of the parent bike.

[0035] The triangle formed by the three mounting points (two points on the device frame 16 or wheel axle and one seatpost mount 17) provides a rigid connection on a single plane, thereby adding cargo to the device and extending the rigidity of the bike frame. The seatpost connection conforms to ensure that the cargo frame pivots, ensuring that the device wheels are always in contact with the ground. This also ensures a normal bike ride feel when riding a cargo vehicle with the cargo add-on device attached.

[0036] The cargo add-on device may also include an electronic module 18. Furthermore, a camera PAS module 19 may be mounted on the frame of the cargo add-on device.

[0037] Furthermore, the second mounting mechanism 17 near the seatpost is easily accessible from a standing position, providing a level of security and peace of mind that the cargo add-on device and the bike are securely connected. It can also be easily adjusted to accommodate any geometric variations of the parent vehicle.

[0038] Figure 3 shows the cargo add-on device with the platform / utility rack 14 removed from the device.

[0039] Figure 4 shows a perspective view of another example of a cargo add-on device removed from the parent bike. The cargo add-on device may include a compliant linkage and a preload spring fixed to the parent bike's seatpost. This also ensures that the add-on cargo device attached to the parent bike maintains three points of contact, enhancing stability.

[0040] The compliant linkage to the seatpost also determines the maximum vertical movement angle of the device from the horizontal plane around the bike's rear axle. This angle or tilt can be based on several factors, such as cargo load, terrain, or obstacles.

[0041] The preload spring force required for optimal function can be approximately 50-150 N.

[0042] In addition, the reaction force required for the device wheel contacts can be approximately 10 to 100 N (1 kg to 10 kg).

[0043] The compliant linkage allows the device to be mounted on different vehicles, including suspension bikes, and accommodates dynamic movement to the rear of the bike while it is in motion.

[0044] Figures 5-7 show a perspective view of the cargo add-on device removed from the parent motorcycle, with the kickstand 21 folded (Figure 5) and extended (Figures 6 and 7).

[0045] Figure 8 shows a top view of the cargo add-on device removed from the parent bike with the kickstand 21 extended.

[0046] Figure 9 shows a rear view of the cargo add-on device detached from the parent bike with the kickstand 21 extended. The cargo add-on device may include a locking mechanism 91 to prevent the cargo frame from detaching from the parent bike. The cargo frame still rotates freely around its axis, allowing the entire cargo add-on device to articulate and flex (as shown in Figure 17).

[0047] The cargo add-on device can be attached to the parent bike via a custom rear axle cap on the parent bike's rear wheel, allowing it to snap into place. Using a modified rear axle cap allows the cargo add-on device to be quickly attached to or removed from the bike.

[0048] By mounting the parent bike via the rear axle, a strong connection is provided that does not rely on the rigidity or availability of conventional bike frame mounting points such as mudguards or pannier mounts.

[0049] The rear axle locking mechanism provides a robust connection between the cargo add-on device and the motorcycle, while the cargo add-on device is configured to pivot around the rear wheel of the motorcycle, maintaining contact between all three wheels and the ground.

[0050] Figure 10 shows a front view of the cargo add-on device 11 after it has been removed from the parent motorcycle.

[0051] Figure 11 shows a bottom view of the cargo add-on device 11 after it has been removed from the parent motorcycle.

[0052] Figure 12 shows a rear view of the cargo add-on device 11 after it has been removed from the parent motorcycle, with the wheel 12 rotated clockwise.

[0053] Figure 13 shows a bottom view of the cargo add-on device 11 after it has been removed from the parent motorcycle, with the wheel 12 rotated clockwise.

[0054] Figure 14 shows a rear view of the cargo add-on device 11 after it has been removed from the parent motorcycle, with the wheel 12 rotated counterclockwise.

[0055] Figure 15 shows a bottom view of the cargo add-on device 11 after it has been removed from the parent motorcycle, with the wheel 12 rotated counterclockwise.

[0056] Figures 16–18 show side views of a cargo vehicle including a parent motorcycle 1 and a cargo add-on device 11. The cargo vehicle is shown on a planar surface (Figure 16) and on an uneven surface (Figures 17 and 18). The cargo add-on device wheels are configured to maintain contact with the ground thanks to a single pivot between the parent motorcycle and the rigid frame of the cargo add-on device. The rigid frame is pivotable around a single axis parallel to the rear wheel axle of the parent vehicle. When the cargo vehicle crosses a bump or other feature in the floor, the rigid frame pivots up and down around the single pivot axis, maintaining alignment with a plane perpendicular to the rear wheel axle of the parent motorcycle.

[0057] The cargo add-on device is also configured to provide an end stop at the pivot angle to prevent the cargo add-on device from colliding with the bike frame if the device wheel hits an upward pivoting bulge.

[0058] In comparison, as shown in Figure 19, when the parent motorcycle is attached to a conventional trailer, the pivot point is at the linkage point between the trailer and the parent vehicle. Therefore, the trailer moves not only up and down relative to the parent motorcycle, but also left and right relative to the parent motorcycle.

[0059] Active rear steering A typical motorcycle with two wheels has two points of contact with the ground, namely the front and rear wheels, which provide stability and support. When a device wheel is attached to the main motorcycle, it provides a third point of contact, which helps distribute the cargo load. In addition, the turning trajectory of a cargo vehicle with a cargo add-on device attached is maintained so that the attached cargo add-on device does not significantly alter the ride quality of the main motorcycle. In comparison, conventional cargo motorcycles with a longer wheelbase have a wider turning trajectory and a less comfortable ride than a regular motorcycle.

[0060] The wheels 12 are mounted on the frame and can pivot relative to the frame. When the cargo add-on device is attached to the parent bike, the cargo vehicle performs active rear steering, and the wheels 12 of the cargo add-on device enable steering, maintaining drivability at low speeds and increasing stability and traction at high speeds.

[0061] In addition, at higher speeds, the motorcycle may also rotate via the sculpture. In this configuration, the device wheel may include a mechanism to prevent steering action at higher speeds.

[0062] Figure 20 shows a side view of the cargo add-on device 11 removed from the parent bike, illustrating the reclining angle of the fork 15. The reclining angle of the fork with respect to the direction of movement of the cargo vehicle is illustrated. This can also be called positive caster. The reclining angle is defined as the angle at which the fork 15 reclines relative to the parent bike frame, and ranges from approximately 0° to a maximum of 60°.

[0063] Figure 21 shows a top view of a cargo add-on device mounted on a parent motorcycle, illustrating active rear steering. The cargo vehicle is shown in a straight line (21A), and the motorcycle's front wheel / handlebars are shown rotating counterclockwise (21B). The rigid frame 13 is configured to remain substantially parallel to a plane perpendicular to the parent vehicle's rear axle, even when the motorcycle is rotating. The cargo add-on device wheels steer dynamically (left or right) within the rigid frame. The device wheel steering 12 is configured to be in the opposite direction to the front wheel 2 steering. Therefore, when the direction of movement of the front wheel 2 is counterclockwise, the direction of movement of the device wheel 12 is clockwise.

[0064] When the motorcycle steers, the point where the axle of the front wheel 2 and the axle of the rear wheel 3 intersect becomes the instantaneous center of rotation. Device wheel 12 also rotates so that its axle substantially aligns with the instantaneous center, and for example, because this alignment is correct in the X and Y coordinates but not in the Z coordinate, the rotation trajectory of the unmodified parent vehicle is maintained with the cargo add-on attached.

[0065] Figure 22 shows a top view of a cargo add-on device mounted on a parent bike, with the bike moving in a straight line (22A) and the handlebars rotating clockwise (22B and 22C). Figure 22B shows the front wheel rotated clockwise and the device wheel also rotated clockwise. This is a non-working scheme caused by a negative trail, illustrated here with a 0 offset and a reclined fork angle of the device wheel (towards the bike). Figure 22C shows the front wheel rotated clockwise and the device wheel rotated counterclockwise. This is a working scheme caused by a positive trail value, illustrated here with a 0 offset and reclined at an angle (away from the bike).

[0066] The steering geometry of the cargo add-on device is also characterized by a positive trail value of approximately 1 to 100 mm, such that the passive steering action of the cargo add-on forks / wheels is opposite to the direction of the steering input of the parent vehicle. The trail value is defined as the distance from which the cargo add-on wheels contact the ground and the steering axis intersects the ground, as illustrated in Figure 23. The trail value can be achieved with both negative and positive caster. However, a positive caster angle is preferred because it results in a smaller scrub radius and better handling at speeds. Further combining active rear steering with positive trail results in a more balanced, easier-to-drive, and stable cargo vehicle.

[0067] Therefore, the cargo add-on device wheel 12 is configured to rotate in the opposite direction to the parent bike steering due to its steering shape (positive trail).

[0068] Active steering can be achieved using several solutions, including but not limited to the following: • Mechanical steering: Active steering is achieved using mechanical components such as springs and / or damping devices. • Active damping. Active steering is achieved using steering geometry combined with a dynamic mechanical system. For example, a motor that constantly attempts to return the wheels of a cargo add-on device to the center with variable force and speed depending on the vehicle's speed or the cargo load. • Wire-driven steering: The steering input of the motorcycle is evaluated by an electronic system, which updates the wheel position of the cargo add-on device via mechanical actuators such as motors. • Assist steering features: Evaluated steering inputs are filtered by a smart algorithm, allowing the system to recognize "wobble" and position the cargo add-on device wheels to counteract the rider's undesirable steering inputs and deliver assist steering features.

[0069] Figure 24 illustrates the rotational angle of the device wheel. In this implementation, the entire rotational motion of the device wheel is configured to remain within the constraints of the maximum width of the device frame.

[0070] Figure 25 shows different views of the range of motion of the cargo add-on device's wheels within the rigid frame 13 of the cargo add-on device. It is shown that the cargo add-on device's wheels rotate approximately 26 degrees CW and approximately 26 degrees CCW. The cargo add-on device's wheels 12 are configured to rotate freely without extending from the rigid frame 13 of the cargo add-on device.

[0071] The rigid frame 13 may be tapered to increase the width of the frame base in order to maximize wheel clearance, and may be narrower at the top, for example, to accommodate a standard rack-mounted child seat.

[0072] As described above, the cargo add-on device wheels 12 of the cargo add-on device are configured to automatically counteract steering. In addition, the cargo add-on device wheels 12 are also configured to self-align. Figure 26 shows a self-aligning mechanism 261 connected to the fork of the cargo add-on device and configured to allow the device wheels 12 to remain aligned along the center when the rider is following in a straight line. The self-aligning mechanism 261 is configured to maintain the device wheels in a biased position. Optionally, the bias force can be dynamically adjusted based on riding characteristics.

[0073] A self-aligning mechanism may utilize cam profiles and a spring mechanism. The lower cam profile may remain stationary and not move with the wheel, while the upper cam profile is attached to the wheel and may rotate as the wheel rotates. As the wheel rotates, the relative movement between the upper and lower cam profiles can compress the spring between them, and the compressed spring generates a force that attempts to return the cam profiles to their original position, thus centering the wheel. By adjusting these profiles, the force that initiates rotation and the amount of rotation achieved can also be adjusted.

[0074] The self-aligning mechanism may include a fluid damping mechanism to prevent abrupt changes in wheel direction when the motorcycle is tracking at speed.

[0075] The self-centering mechanism may include sensors such as the Hall effect or any other sensors to monitor when the device wheels are rotated and correct the motor profile accordingly, such as turning off when the steering angle is greater than X. This angle may be predefined by the user, selected according to the user profile, or dynamically adjusted.

[0076] The self-aligning mechanism 261 may be connected to the fork via a mechanical drive such as a belt, as shown in Figures 26 and 27. Alternatively, the self-aligning mechanism may be directly integrated into the headset stack, such as bearings supporting the fork.

[0077] Therefore, the device wheels of the cargo add-on device enable automatic counter-steering and simultaneously provide a self-aligning mechanism. The range of movement and force required to bring the wheels closer together is influenced by many factors, including the design parameters of the parent bike, maximum load capacity, detected load, and the design specifications of the cargo add-on device.

[0078] To its advantage, the cargo add-on device offers the following: • The optimal turning trajectory, comparable to that of the parent motorcycle, ensures smooth operation at low speeds. • High-speed stability. The device wheel maintains alignment with the bike's rear wheel, and steering adjustment is achieved through sculpting rather than direct rotation.

[0079] The cargo add-on device may also include a (mechanical or actuated) wheel lockout mechanism 271 that locks the device wheels in a forward position when a speed threshold is exceeded, as shown in Figure 27. The speed threshold can be selected or programmed by the user, and it can also be adjusted dynamically.

[0080] The lockout mechanism can also be used when the cargo add-on device is in trolley mode, which disengages the counter-steering action and allows the cargo add-on device to function like a wheelbarrow (as illustrated in Figure 45B).

[0081] Figure 28 shows a side view of the cargo vehicle, including the parent bike 1 and the cargo add-on device 11. The parent vehicle is shown to be equipped with a wireless pedal assist system (PAS) sensor 281 that can track the direction and speed of the rider's pedaling. The wireless PAS sensor can also assess the slope so that more power is delivered when climbing.

[0082] A cargo add-on device may be equipped with multiple cargo platform or cargo frame designs. Furthermore, a cargo add-on device may include a dual-frame design having a lower frame containing a drive mechanism and an upper frame supporting different loads and / or configurations.

[0083] Figure 29 shows examples of multiple configurations of the cargo add-on device, including one with two child seats (29A), a side pannier (29B), and one with a single child seat and a weatherproof canopy (29C).

[0084] Advantageously, the cargo add-on device is configured to be easily detachable from the parent vehicle using a rapid release mechanism. The cargo add-on device is also configured to have a compact form for easy storage when not in use. The frame of the cargo add-on device may also include a flat section, which allows the cargo add-on device to be then stably positioned on a surface of the storage location, as shown in Figure 30.

[0085] Further alternatives to cargo add-on devices are listed.

[0086] Figure 31 illustrates a cargo vehicle that includes a flexible mounting point 311 between the cargo device and the parent bike seatpost, thus allowing the cargo add-on device to pivot around the parent bike's rear wheel. The cargo vehicle is shown in both planar and convex surfaces.

[0087] Figure 32 illustrates a cargo vehicle that includes a rigid mounting point 321 and a compliance swing arm 322 for attachment to the parent vehicle seatpost, thereby allowing the cargo add-on device wheels to move independently in the vertical plane.

[0088] Figure 33 illustrates a cargo frame equipped with caster wheels 12 that can pivot around the rear of the device frame, with the frame remaining aligned with the rear wheel of the parent bike.

[0089] Figure 34 illustrates a top view of a device wheel 12 that can pivot about its own central axis, including two arc-shaped linear bearings positioned concentrically with the desired wheel movement. The frame also remains aligned with the rear wheel of the parent bike.

[0090] Figure 35 illustrates a mechanism that allows the entire frame to pivot around the seatpost of the parent bike, enabling the entire frame to pivot around the rear of the bike.

[0091] Figure 36 illustrates a device wheel mounted via a single "left-side" hub. This allows for the description of the range of counter-steering movement requiring a single pivot. The pivot may also include a self-aligning mechanism as described above.

[0092] Figure 37 illustrates a device wheel mounted via a single "left-side" hub, where the pivot point has been moved to the center of the wheel or hub motor. This may be referred to as hub-centered steering.

[0093] Cargo add-on devices may also include alternatives to the spring-loaded compliance force mounted on the seatpost as described above. Figure 38 illustrates a seatpost-mounted trailer with a spring-loaded bias pivot mechanism.

[0094] Alternatively, the preload spring may be mounted on the upper tube, rear stay, or near the seat tube, rather than on the seatpost. Figure 39 illustrates a spring mechanism mounted on the rear stay of a bike. Figure 40 illustrates a compliant linkage utilizing available pannier mounts.

[0095] Figure 41 illustrates the mounting points of the device wheel frame at different positions. When the device axle is lower than the device pivot, the moment at the center of the device pivot axis helps drive the device wheel below the motorcycle's rear wheel, increasing traction. When the device wheel axle rises above the pivot, its moment drives the wheel above the motorcycle's rear wheel, causing the wheel to "skip / jump." This requires greater preload to ensure traction.

[0096] In addition, cargo add-on device wheels with a smaller diameter also allow for a lower cargo rack surface, lowering the center of gravity and improving ride stability. Furthermore, smaller wheels may allow for a wider range of counter-steering motion within the device frame's width.

[0097] Smaller wheels driven by a hub motor of approximately 40 Nm have greater effective torque than the same motor mounted in larger wheels, thus resulting in improved weight carrying and improved gradient climbing.

[0098] Figure 42 illustrates a smaller wheel positioned closer to the rear wheel of the parent motorcycle. As the device wheel approaches the rear wheel of the parent motorcycle, the amount of movement from the active rear wheel steering mechanism decreases, and as a result, its axis converges substantially to the instantaneous center of steering of the parent motorcycle. In other words, a wheel positioned closer to the rear wheel of the motorcycle requires less rotation to coincide with the instantaneous center of steering of the motorcycle.

[0099] Cargo add-on devices can be configured to allow the attachment of various types of wheels or other rotating elements. Figure 43 illustrates a motorcycle fitted with a cargo add-on device that includes two wheels. The linkage mechanism is located between the two wheels, causing both wheels to simultaneously produce counter-steering.

[0100] Figure 44 illustrates a cargo add-on device that can accommodate multiple wheel sizes (700c, 29-inch, 27.5-inch, and 26-inch). For example, a movable rear axle lock mount or an angle-adjustable rack top surface may be used.

[0101] Figure 45 illustrates a cargo add-on device that, when detached from the parent motorcycle, can function as an electric hand trolley.

[0102] Cargo add-on devices may also include optional "quick-mount" luggage mounts that enable the best possible user experience through customized cargo.

[0103] Furthermore, cargo add-on devices may incorporate integrated footrests for larger passengers, and these would also support pannier bases for the safest cargo transport.

[0104] Furthermore, the cargo add-on device may feature an integrated kickstand that provides self-stabilization while loaded.

[0105] Figure 46 illustrates a cargo add-on device including a kickstand leg with a configurable foot or wheel. The user can easily configure the kickstand leg via a simple mechanism to enable stability or off-bike maneuverability.

[0106] Figure 47 illustrates a cargo add-on device, including a kickstand leg and angled hinge, to achieve the widest possible footprint for the deployed kickstand leg.

[0107] Figure 48 illustrates a cargo add-on device that includes a kickstand leg coupled to a rear axle locking mechanism so that the rear axle locking mechanism locks when folded to prevent the device and the bike from accidentally detaching. The kickstand further acts to lock the cargo add-on device to the parent bike when folded and to unlock when unfolded.

[0108] Figure 49 illustrates a cargo add-on device that includes a kickstand featuring a locking mechanism that can be easily released by the rider when getting into a cargo vehicle.

[0109] Figure 50 illustrates a cargo add-on device that includes a UI button housed near the seatpost clamp. An example of a UI button might include a power on / off switch. Advantageously, the cargo add-on device is fully integrated and requires no additional electronic components or wires / cables attached to the parent bike.

[0110] Figure 51 illustrates a cargo add-on device that includes strain gauges integrated into a cargo add-on device frame or fork.

[0111] Main features Below, we outline some of CONVOY's features and list various optional sub-features for each feature. Note that any feature can be combined with one or more other features, any feature can be combined with any one or more sub-features (whether or not they are attributable to that feature), and all sub-features can be combined with one or more other sub-features.

[0112] Feature A: A removable cargo add-on device that attaches to the parent vehicle to convert it into a cargo vehicle. This is a cargo add-on device for attachment to a parent vehicle, which has front and rear wheels, and the cargo add-on device is attached to the parent vehicle. (c) A frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (d) comprising a device wheel that can pivot relative to the frame, The cargo add-on device is configured to convert the parent vehicle into a cargo vehicle.

[0113] A cargo vehicle comprising a parent vehicle having front and rear wheels, and a cargo add-on device for attachment to the parent vehicle, wherein the cargo add-on device is (a) A device frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (b) A device wheel that can pivot relative to the frame, and is provided.

[0114] A method for steering a cargo vehicle and riding in a cargo vehicle, wherein the cargo vehicle comprises a parent vehicle having front and rear wheels, and a cargo add-on device for attachment to the parent vehicle, and the cargo add-on device is (a) A device frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (b) comprising a device wheel that can pivot relative to the frame.

[0115] Feature B: A removable and attachable cargo add-on device for mounting to a parent vehicle, which converts the parent vehicle into a powered cargo vehicle. This is a cargo add-on device for attachment to a parent vehicle, where the parent vehicle has front and rear wheels, and the cargo add-on device is attached to the parent vehicle. (d) A frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (e) A device wheel that can pivot relative to the frame, (f) an electronic module including a battery, a motor, and control electronics for the motor, The cargo add-on device is configured to convert the parent vehicle into an electric cargo vehicle.

[0116] Feature C: A removable and attachable cargo add-on device for mounting to a parent vehicle, which converts the parent vehicle into a cargo vehicle equipped with active damping and / or assist steering. This is a cargo add-on device for attachment to a parent vehicle, where the parent vehicle has front and rear wheels, and the cargo add-on device is attached to the parent vehicle. (c) A frame configured to be substantially parallel to or aligned with a plane perpendicular to the rear axle of the parent vehicle when in use, (d) an independent device wheel that can pivot relative to the frame, the movement or positioning of the device wheel being controlled by an actuator such as a motor, The cargo add-on device is configured to convert the parent vehicle into a cargo vehicle or an electric vehicle.

[0117] Feature D: Active rear steering In a typical trailer bike with an attached trailer, the trailer's rotation is delayed, and because of this, the rider needs to assess the positioning of both the bike and the trailer, making it difficult to ride. The pivot point at the linkage point between the trailer and the bike allows for pivoting of the center of the two axes (e.g., using a ball joint), so that there is relative movement in the up, down, left, and right directions between the parent vehicle and the trailer frame.

[0118] In comparison, cargo add-on devices implement active rear steering. A cargo add-on device has a rigid frame constrained to pivot vertically relative to a plane perpendicular to the parent vehicle's rear axle. The cargo add-on device wheels steer dynamically (left or right) within the rigid frame. Advantageously, when the cargo add-on device is rigidly mounted to the bike, the impact on the parent bike's stability is minimal, even when carrying heavy loads. Therefore, riding a converted cargo bike provides very similar stability and handling to riding an unconverted parent vehicle. As a result, rider confidence is improved even with the added frame length.

[0119] In addition, the cargo add-on active rear steering includes a mechanism for managing the rate of change of the steering angle, such as a fluid damper that filters the steering movement, or a motor, which allows the active damping to be configured to match the vehicle speed or load, or to provide an active wheel position for assist steering.

[0120] A fork is connected to the frame of the cargo add-on device. The device fork holds the device wheel, allowing the device wheel to rotate freely. The relationship between the device fork and the device wheel is important for performing active rear steering and for the overall performance and handling of the converted or electric cargo vehicle.

[0121] The device steering geometry is characterized by a positive trail value of 1 to 100 mm, such that the passive steering action of the cargo add-on forks / wheels is opposite to the direction of the steering input of the parent vehicle.

[0122] This can be generalized as follows: It is a cargo add-on device for attachment to a parent vehicle, and the cargo add-on device is equipped with device wheels and a frame. The cargo add-on device is configured to convert a parent vehicle into a cargo vehicle, the parent vehicle having front and rear wheels, and during rotation, (i) the frame is configured to remain substantially parallel to a plane perpendicular to the rear axle of the parent vehicle, and (ii) the steering direction of the device wheels is determined to be opposite to the steering direction of the front wheels.

[0123] Feature E: Rotation angle of the cargo add-on device A typical motorcycle, with two wheels, has two points of contact with the ground, namely the front and rear wheels, providing stability and support. Using an add-on cargo device attached to the parent motorcycle, the rear wheel device can provide a third point of contact with the ground. When the motorcycle is steered, the point where the front and rear axles converge becomes the instantaneous center of rotation. The device wheels also rotate so that their axes also converge with the instantaneous center, so the rotational trajectory of the unmodified parent vehicle is maintained with the cargo add-on attached.

[0124] This can be generalized as follows: A cargo add-on device for attachment to a parent vehicle, comprising a frame and wheels mounted or attached to the frame, The device is configured to convert a parent vehicle into a cargo vehicle, and the device wheels are configured to rotate so that their axles are substantially aligned with the instantaneous steering center of the parent vehicle.

[0125] Feature F: Self-centered alignment control In many cases, the rider travels at low speeds when attempting to turn, such as a 90-degree turn when approaching an intersection. At higher speeds, the device wheels need to remain aligned without abruptly changing direction while the rider is following a straight line. Therefore, to ensure stability and a comfortable ride, the mechanism needs to maintain alignment along the center of the device wheels. One example involves a spring-like mechanism that guides the device wheels to a biased position. The required bias force (1-10 kg or 10-100 Newtons) can be automatically adjusted based on riding characteristics.

[0126] This can be generalized as follows: A cargo add-on device for attachment to a parent vehicle, comprising a frame and wheels mounted or attached to the frame, The device is configured to convert a parent vehicle into a cargo vehicle, and when the cargo vehicle is following in a straight line, the device's wheels are configured to remain substantially aligned with the parent vehicle's rear wheels with a forward load force of approximately 10N to 100N.

[0127] Feature G: The cargo add-on device can be attached to the parent vehicle using two simple quick-release mechanisms, such as a press / snap and a click mechanism, while the cargo add-on device is self-supporting on an integrated kickstand. It is a cargo add-on device for mounting on a parent vehicle, and the cargo add-on device comprises wheels, a frame, and a cargo platform. The device is configured to convert a parent vehicle into a cargo vehicle, and the cargo add-on device is attachable to or detachable from the parent vehicle using one or more rapid release mechanisms, such as a press / snap and click mechanism.

[0128] Feature H: A cargo add-on device that can be mounted on a parent vehicle, in which the device wheels are held to contact the ground by a single pivot between the parent vehicle and the rigid frame of the cargo add-on. The device wheels are configured to maintain contact with the ground at all times, even when cargo load is added to or removed from the device, and even when the ground surface is uneven or includes bumps. As an example, the engagement mechanism with the parent bike's seatpost may be flexible and may include a preload spring that provides a contact force of 1–10 kg or (10–100 N) measured on the cargo device's wheels.

[0129] This can be generalized as follows: This is a cargo add-on device for mounting on a parent vehicle, comprising wheels, a frame, and a cargo platform, configured to convert the parent vehicle into a cargo vehicle, and the device wheels are configured to maintain minimal contact force to ensure traction on the ground when mounted on the cargo vehicle.

[0130] Feature I: Small rear wheels with the axle always lower than the device's pivot (low center of gravity COG and drive below the rear bike axle) This is a cargo add-on device for mounting on a parent vehicle, comprising wheels, a frame, and a cargo platform, configured to convert the parent vehicle into a cargo vehicle, with the device's wheel axle height always lower than the axis of rotation between the parent vehicle and the device's rigid frame.

[0131] Feature J: Cargo add-on device wheel brake The cargo add-on device is configured to enhance rider safety by allowing the cargo wheels to brake in accordance with the parent vehicle's braking events. Braking of the cargo wheels can be performed via a mechanical system such as disc brakes or regenerative braking via a hub motor. The parent vehicle's braking events can be evaluated by a bike sensor or smart algorithm that compares the vehicle's deceleration with a calculated natural decay of the vehicle's speed.

[0132] A cargo add-on device for mounting on a parent vehicle, the device comprising wheels, a frame, and a cargo platform, the device configured to convert the parent vehicle into a cargo vehicle, and the cargo add-on device further comprising a brake actuator subsystem configured to control the device wheel brakes based on detected brake events of the parent vehicle.

[0133] Feature K: Voice-based pedal assist This is a pedal assist system (PAS) for controlling the electric motor of an electric vehicle, and the PAS is equipped with an audio sensor that determines when the rider is not pressing the pedal.

[0134] Characteristics of generally applicable options: The frame is essentially rigid. The frame is pivotable around a single axle parallel to the rear axle of the parent vehicle. The device wheels are configured to pivot within a rigid frame. The device is fixed or attached to the rear axle of the parent vehicle. • Additional cargo capacity can be up to approximately 50 kg. • Additional cargo capacity can be up to approximately 80 kg. • Additional cargo capacity can be up to approximately 100 kg. The cargo vehicle is configured to carry up to two children. When mounted on the parent vehicle, the cargo add-on device protrudes less than approximately 650 mm from the rear of the vehicle. The maximum cargo rack height for the device is approximately 600mm. The device provides the parent vehicle with an elongated frame that protrudes from the rear of the parent vehicle. When mounted on the parent vehicle, the device protrudes less than approximately 1000mm from the rear of the vehicle. When mounted on the parent vehicle, the device protrudes less than approximately 1500mm from the rear of the vehicle. The distance between the contact point of the rear wheel and the ground and the contact point of the device's wheel and the ground is less than approximately 1000 mm. The device weighs less than approximately 15 kg. The device is designed to fit easily into the boot of a train, taxi, or car. • The device is configured to be easily interchangeable between different vehicles. The device is configured to be easily mounted on vehicles of any type or size.

[0135] Electric Cargo Add-on Device The electric cargo vehicles are configured to have a charging interval of approximately 30 miles. The electronic module includes a motor driver, battery, battery management system, accelerometer, and UI. The electronic module includes a battery, motor, and control electronics for the motor. The motor drives the device wheels, propelling the electric cargo vehicle forward. The electronic module includes a rechargeable battery. • The rechargeable battery is easily replaceable, providing an unlimited range. The electronic modules are configured to fit within a single housing. The housing includes contacts that are mounted near or located near the housing and communicate with the device wheels. The housing is configured to have a box-shaped structure that can be easily attached to or removed from the device frame. The housing includes LEDs or lights that provide rearward-facing lights for electric cargo vehicles. • Motor and drive electronic module for enabling regenerative braking.

[0136] Active rear steering The device wheel steering angle is determined as a function of the handlebar movement. The sensor determines the steering angle of the front wheel based on the movement of the handlebars. The steering angle of the device's wheels is determined as a function of the steering angle of the front wheels. The device wheel steering angle is further a function of one or more of the following: vehicle and cargo add-on device speed, weight or shape, wheel dimensions, wheel stiffness, etc. The device is configured to dynamically follow the steering trajectory intended by the rider. The device includes a fork that holds the device wheels, and the fork reclines at an angle ranging from 0° to a maximum of 60° from the frame of the parent vehicle. • The recline angle is less than 90°.

[0137] Movement of rotation angle or rotation angle The maximum width of the device frame is approximately 300-500 mm. The frame is tapered, with a minimum width of approximately 100-150mm and a maximum width of approximately 300-500mm. The rotation angle of the device wheels is + / - 10-40 degrees.

[0138] Bias mechanism and contact force The device includes a bias mechanism for maintaining the device wheels in the biased position. The contact force is 1-10 kg or 10-100 N.

[0139] Self-regulating alignment control The steering response of the device wheels, such as the steering ratio, is dynamically adjusted based on the speed of the cargo vehicle. The sensor module can detect "wobble" or unwanted steering input, and the feedback subsystem then positions the device wheels based on the measurements from the sensor module. The steering response of the device wheels, such as the steering ratio, is dynamically adjusted based on input from the rider. For example, a low steering ratio is provided at high speeds, and a high steering ratio is provided at low speeds. User input is required to change the steering ratio in one of these statistics. The device includes a bias mechanism, such as a compression spring, to maintain the device wheels in a biased position. The device includes sensors that measure or estimate the speed of the parent vehicle, and when the measured speed exceeds a predetermined threshold, the device's wheels automatically maintain a position substantially aligned with the parent vehicle's rear wheels. A device that includes a sensor that measures the fork's rotation angle beyond a threshold and limits the power being delivered to the motor. The force of the bias being delivered depends on the movement of the handlebars or the steering angle of the front wheel. When the speed is higher than a predefined threshold, the vehicle's steering is achieved by sculpting.

[0140] Engagement mechanism The first engagement mechanism engages with or near the rear axle of the parent vehicle using one or more of a hook, snap, or clip. The second engagement mechanism engages with or near the seatpost of the parent vehicle using one or more of the following: a hook, snap, or clip mechanism. The first engagement mechanism is configured to accommodate any shaft type, such as threaded, quick-release, or through-shaft. • Audible or visual feedback verifies that the cargo add-on is properly installed. The first mechanism engages with a skewer cap located on the rear axle of the parent vehicle. The parent vehicle includes a modified skewer cap and a seatpost mount.

[0141] The device wheels maintain contact with the ground. The triangle formed by the three mounting points (two points on the device frame or wheel axle and one seatpost mount) provides a rigid connection to a single plane. • The engagement point with the parent vehicle near the seatpost is flexible and configured to maintain dynamic contact between the device wheel and the ground. The engagement point with the parent vehicle near the seatpost is rigid, while the device wheel is flexibly mounted to the device frame, and the contact between the device wheel and the ground is dynamically maintained. The device includes a suspension subsystem to stabilize it when riding on different types of terrain. The cargo vehicle is configured to overcome bumps or depressions of various sizes, such as bumps / depressions of + / - 100 mm or + / - 300 mm. The device frame is configured to automatically tilt or rotate in response to the vertical displacement of the device wheels, thus enabling the cargo vehicle to maintain stability while navigating bumps or depressions. The suspension subsystem is configured to allow the device to return to its normal position after passing over a bump or depression.

[0142] Brake actuator subsystem The sensor module is configured to detect brake events of the parent vehicle based on the activation of one or more brakes of the parent vehicle. The sensor module is configured to measure the deceleration of the cargo vehicle and determine the parent vehicle's braking event based on the measured vehicle deceleration. • The measured vehicle deceleration is compared to a baseline, such as the calculated natural decay of the vehicle speed.

[0143] PAS • Cargo add-on devices include the PAS mentioned above. The PAS includes additional sensors that track the rotation of either the vehicle's cassette or additional components attached to the vehicle's cassette. • Additional sensors are magnetic or inductive proximity sensors. PAS is a wireless sensor that can track the direction and speed of pedaling. • The PAS (Power Assist System) is configured to assess the slope so that more power is delivered when climbing.

[0144] UI The device further includes a user interface (UI) that communicates with an electronic module, enabling the rider to provide input for controlling the electric motor. The UI allows users to select a rider's profile, enabling the rider to adjust or customize their preferences. • Preferences include one or more of the following: (torque or power output, top speed, acceleration). • Rider profiles can be selected from a list of pre-programmed profiles, such as a first-time rider profile or a profile of an experienced rider. • The initial rider profile is designed to enhance riding confidence, including, for example, a reduced top speed and slower acceleration. • The profile of a skilled rider includes higher speeds and greater acceleration. • Multiple rider profiles are saved, and the UI automatically selects a rider profile based on the installed vehicle, the detected rider, or the detected load capacity. The UI includes a start button configured to initiate vehicle movement before the motor starts. • The UI is easily accessible to users riding in the vehicle. The UI is located near the seatpost engagement point.

[0145] Load capacity detection • The device includes a sensor that detects the load. The device is configured to automatically adjust the power delivered from the motor based on the measured load. The device is configured to automatically adjust the rider profile based on the measured load. The device is configured to automatically adjust the steering damping based on the measured load. The device includes sensors or control systems for monitoring and regulating the movement of cargo add-on devices, such as pivoting motion.

[0146] Direction sensor The device features orientation sensors, such as a 3-axis gyroscope sensor, and provides push notification alerts if the cargo vehicle is vandalized while parked. The device includes orientation sensors, such as a 3-axis gyroscope sensor, which automatically increases motor assistance when a gradient is detected.

[0147] Camera Assist System The device includes a computer vision subsystem configured to determine one or more of the following: whether the user is pedaling, the gear used, the speed at which the pedals are being pedaled, and the type of terrain being traversed. The device is configured to automatically adjust the power delivered from the motor based on the output from the computer vision subsystem. The device is configured to automatically adjust the lidar profile based on the output from the computer vision subsystem. • The device is configured to have virtually no latency from the pedal input and asset output. The computer vision subsystem is mounted on the device frame.

[0148] Engine-powered trolley When detached from the parent vehicle, the cargo add-on device is configured to be converted into an engine-powered trolley.

[0149] Note It should be understood that the above configuration is merely an illustrative example of the principles of the present invention. Numerous modifications and alternative configurations can be devised without departing from the spirit and scope of the present invention. Although the present invention is shown in the drawings and fully described above in particular and in detail in relation to what is currently considered to be the most practical and preferred example of the present invention, it will be apparent to those skilled in the art that numerous modifications can be made without departing from the principles and concepts of the present invention described herein.

Claims

1. A cargo add-on device for attachment to a parent vehicle, wherein the parent vehicle has front and rear wheels, and the cargo add-on device is (a) A device frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (b) comprising a device wheel that can pivot relative to the frame, A cargo add-on device configured to convert the parent vehicle into a cargo vehicle.

2. The device according to claim 1, wherein the device frame is substantially rigid.

3. The device according to claim 1 or 2, wherein the device frame is pivotable about a single axis parallel to the rear axle of the parent vehicle.

4. The device according to any one of the prior claims, wherein the device wheel is configured to pivot within the rigid frame.

5. The device according to any one of the prior claims, wherein the device wheel is configured to rotate such that its axle substantially aligns with the instantaneous steering center of the parent vehicle.

6. The device according to any one of the prior claims, wherein the steering direction of the device wheels is determined to be in the opposite direction to the steering direction of the front wheels.

7. The device according to any one of the prior claims, wherein the device includes a sensor module for detecting steering movements of the parent vehicle, such as the movement of the handlebars, and the device wheel steering angle is determined as a function of the detected movement of the handlebars.

8. The device according to any one of the prior claims, wherein the device wheel steering angle is configured to be a function of one or more of the speed, weight, or shape of the vehicle and cargo add-on device, the dimensions of the wheel, and the stiffness of the wheel.

9. The device according to any one of the prior claims, wherein the device includes a fork that holds the device wheel, and the fork is reclined at an angle ranging from 0° to a maximum of 60° from the frame of the parent vehicle.

10. The device according to any one of the prior claims, wherein the device wheels are configured to remain substantially aligned with the rear wheels of the parent vehicle when the cargo vehicle is following in a straight line.

11. The device according to any one of the prior claims, wherein the device includes a bias mechanism for maintaining the device wheels in a biased position with a preloaded force of about 10 to 100 N.

12. The device according to any one of the prior claims, wherein the device includes a sensor module configured to measure the speed of the cargo vehicle, and the steering response of the device wheels is dynamically adjusted based on the speed of the cargo vehicle.

13. The device according to any one of the prior claims, comprising a sensor module capable of sensing "wobble" or unwanted steering input, and a feedback subsystem including an actuator, wherein the device subsequently positions the device wheel based on measurements taken by the sensor module.

14. The device according to any one of the prior claims, wherein the device includes a sensor module for measuring or estimating the speed of the parent vehicle, and is automatically configured to maintain a state where the device wheels are substantially aligned with the rear wheels of the parent vehicle when the measured speed exceeds a predetermined threshold.

15. The device according to any one of the prior claims, wherein the device is attachable to or detachable from the parent vehicle by using one or more rapid release mechanisms such as a press / snap and a click mechanism.

16. The device according to any one of the prior claims, wherein the device includes a first engagement mechanism that engages with or near the rear axle of the parent vehicle using one or more of a hook, snap, or clip.

17. The device according to any one of the prior claims, wherein the device includes a second engagement mechanism that engages with or near the seat post of the parent vehicle using one or more of a hook, snap, or clip mechanism.

18. The device according to claim 17, wherein the second engagement mechanism is flexible and configured to dynamically hold the device wheel in contact with the ground.

19. The device according to claim 17, wherein the second engagement mechanism is rigid, and the device wheel is flexibly mounted on the device frame to dynamically hold the device wheel in contact with the ground.

20. The device according to any one of the prior claims, wherein audible or visual feedback confirms that the device is properly mounted on the parent vehicle.

21. The device according to any one of the prior claims, wherein the device wheels are configured to maintain a minimum contact force to ensure traction on the ground when the cargo vehicle is on it.

22. The device according to any one of the prior claims, wherein the device frame is configured to automatically tilt or rotate in response to the vertical displacement of the device wheels, thereby enabling the cargo vehicle to maintain stability while guiding ups and downs.

23. The device according to any one of the prior claims, wherein the height of the device axle is always lower than the axis of rotation between the parent vehicle and the device rigid frame.

24. The device according to any one of the prior claims, wherein the device includes an electronic module comprising a battery, a motor, and control electronics for the motor, and the cargo add-on device is configured to convert the parent vehicle into an electric cargo or powered vehicle.

25. The device according to any one of the prior claims, wherein the device wheel is an independent device wheel, and the device includes an actuator such as a motor that controls the movement or positioning of the device wheel, which is evaluated by a sensor module.

26. The device according to claim 25, wherein the device wheel is an independent device wheel, and the actuator is also configured to function as a mechanical damper or a self-aligning mechanism.

27. The device according to any one of the prior claims, further comprising a brake actuator subsystem configured to control the brakes on the device wheels based on a detected brake event of the parent vehicle.

28. The device according to any one of the prior claims, wherein the sensor module is configured to detect a brake event of the parent vehicle based on the operation of one or more brakes of the parent vehicle.

29. The device according to any one of the prior claims, wherein the sensor module is configured to measure the deceleration of the cargo vehicle and to determine a brake event of the parent vehicle based on the measured deceleration of the parent vehicle.

30. The device according to any one of the prior claims, wherein the measured deceleration of the vehicle is compared to a baseline such as a calculated natural decay of the vehicle speed.

31. The device according to any one of the prior claims, wherein the device includes a pedal assist system (PAS) for controlling the electric motor of an electronic vehicle, and the PAS includes an audio sensor for determining when the rider is not pressing the pedal.

32. The device according to claim 31, wherein the PAS system comprises an additional sensor for tracking the rotation of either the cassette of the parent vehicle or an additional component attached to the cassette of the parent vehicle.

33. The device according to claim 32, wherein the additional sensor is a magnetic or inductive proximity sensor.

34. The device according to claim 32 or 33, wherein the PAS is a wireless PAS capable of tracking the direction and speed of pedal depression.

35. The device according to any one of claims 32 to 34, wherein the PAS is configured to evaluate the slope so that more power is delivered when climbing.

36. The device according to any one of the prior claims, wherein the additional cargo load capacity is up to approximately 50 kg.

37. The device according to any one of the prior claims, wherein the device provides the parent vehicle with an elongated frame that protrudes from the rear of the parent vehicle.

38. The device according to any one of the prior claims, wherein the device protrudes by less than approximately 650 mm from the rear of the parent vehicle.

39. The device according to any one of the prior claims, wherein the device has a maximum cargo rack height of approximately 600 mm.

40. The device according to any one of the prior claims, wherein the distance between the point of contact between the rear wheel of the parent vehicle and the ground and the point of contact between the wheel of the device and the ground is less than approximately 1000 mm.

41. The device according to any one of the prior claims, wherein the weight of the device is less than approximately 15 kg.

42. The device according to any one of the prior claims, further comprising a user interface (UI) that communicates with an electronic module, enabling the rider to provide input for controlling the electric motor.

43. The device according to claim 42, wherein the UI allows the user to select a rider profile that enables the rider to adjust or customize the rider's preferences, including one or more of the amount of torque or power output, maximum speed, and acceleration.

44. The device according to prior claim 42 or 43, wherein the UI allows the user to select a rider profile from a list of pre-programmed profiles, such as a first-time rider profile or an experienced rider profile.

45. The device according to any one of claims 42 to 44, wherein multiple rider profiles are stored, and the UI automatically selects a rider profile based on one or more of the parent vehicle on which it is installed, the detected rider, or based on the detected load.

46. The device according to any one of claims 42 to 45, wherein the UI includes a start button configured to initiate the movement of the vehicle before the motor starts.

47. The device according to any one of the prior art claims 42 to 46, wherein the UI is easily accessible to a user riding in the vehicle.

48. The device according to any one of the prior claims 42 to 47, wherein the UI is located near the seatpost engagement point.

49. The device according to any one of the prior claims, wherein the device includes a sensor module for sensing and measuring the load of the device.

50. The device according to claim 49, wherein the device is configured to automatically adjust the power delivered from the motor based on the measured load.

51. The device according to prior claim 49 or 50, wherein the device is configured to automatically adjust the steering dipping based on the measured load.

52. The device according to any one of the prior claims, wherein the device includes a sensor or control system for monitoring and adjusting the movement of the cargo add-on device, including pivoting motion.

53. The device according to any one of the prior claims, comprising a compass sensor such as a three-axis gyroscope sensor, which provides a push notification warning if the cargo vehicle is being vandalized while parked.

54. The device according to any one of the prior claims, comprising an orientation sensor such as a three-axis gyroscope sensor that automatically increases motor assistance when a gradient is detected.

55. The device according to any one of the prior claims, comprising a computer vision subsystem configured to determine whether the user is pressing down on the pedals, the gear being used, the speed at which the pedals are being pressed, and the type of terrain being traversed.

56. The device according to any one of the prior claims, wherein the device is configured to automatically adjust the power delivered from the motor based on the output from the computer vision subsystem.

57. The device according to any one of the prior claims, wherein the computer vision subsystem is mounted on the frame of the device.

58. The device according to any one of the prior claims, wherein the cargo add-on device is configured to be repurposed as an engine-powered trolley when it is removed from the parent vehicle.

59. A cargo vehicle comprising a main vehicle having front and rear wheels, and a cargo add-on device for attachment to the main vehicle, wherein the cargo add-on device is (c) A device frame configured to maintain a state substantially parallel to a plane perpendicular to the rear axle of the parent vehicle when in use, (d) A cargo vehicle comprising a device wheel that can pivot relative to the frame.

60. The cargo vehicle according to claim 59, wherein the cargo add-on device includes any of the features defined in claims 2 to 58.

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