Suspension system for electric skateboards

Abstract

The self-propelled unicycle may include a suspension system configured to damp vertical movement of the board relative to the axle of the central wheel assembly when the vehicle encounters obstacles and bumps on the riding surface. Exemplary suspension systems include shock absorbers, rockers, push rods, bell cranks, and / or swing arms connecting the axle to the board. The suspension system may be located entirely below the foot deck of the vehicle.

Description

[Technical Field]

[0001] cross reference The following applications and materials are incorporated herein in their entirety for all purposes: U.S. Patent No. 9,101,817, U.S. Patent No. 9,452,345, U.S. Patent No. 9,598,141, and U.S. Provisional Patent Application No. 63 / 088,192, filed October 6, 2020.

[0002] The present disclosure relates to systems and methods for isolating a vehicle frame from some of the effects of uneven terrain. More particularly, embodiments of the present disclosure relate to suspension systems for unicycles. Summary of the Invention

[0003] The present disclosure provides systems, apparatus, and methods relating to suspension systems for self-propelled unicycles.

[0004] In some embodiments, a self-balancing electric vehicle includes: a board including wheels having axles of rotation and a frame having openings to accommodate the wheels, such that the board is tiltable about the wheels, and a first deck portion and a second deck portion of the board are each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; an electric hub motor configured to drive the wheels; a motor controller configured to receive attitude information indicative of the attitude of the board and to cause the hub motor to propel the board based on the attitude information; and a suspension system including: a swing arm connecting an axle of the wheels to the frame of the board such that the board is configured to move up and down relative to the axle; and shock absorbers oriented transverse to the direction of travel of the board and coupled to the swing arm by a respective bell crank at each end, such that the shock absorbers are configured to damp up and down movement of the board relative to the axle, the shock absorbers being disposed entirely below the first deck portion.

[0005] In some embodiments, a self-balancing electric vehicle includes a board including a frame, a first deck portion disposed at a first end of the frame, and a second deck portion disposed at a second end of the frame, the first and second deck portions each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; a wheel assembly including a single wheel rotatable about an axle, the wheel being disposed between and extending above and below the first and second deck portions; a motor assembly configured to rotate the wheel about the axle to propel the vehicle; a motor controller configured to receive board attitude information measured by the at least one sensor and cause the motor assembly to propel the vehicle based on the board attitude information; and a wheel assembly configured to rotate the wheel about the axle to propel the vehicle such that the board is configured to move up and down relative to the axle. and a suspension system coupling the wheel assembly to the board, the suspension system including: a swing arm pivotable about a fulcrum coupled to the board, the swing arm including at least one leg coupled to an axle; and a first bell crank positioned across the width of the board from a second bell crank, each of the bell cranks (a) coupled to the board at a respective fixed pivot joint, (b) coupled to a shock absorber at a first moving pivot joint, and (c) coupled to a respective push rod at a second moving pivot joint, such that each of the bell cranks is connected to the swing arm by a respective push rod and the shock absorber is oriented transverse to the direction of travel; and the swing arm coupled to the axle on an opposite side of the fulcrum to the push rod, forming a first type of lever.

[0006] In some embodiments, a self-balancing electric vehicle includes: a board including wheels driven by hub motors about axes of rotation and a frame having openings to accommodate the wheels, such that the board is tiltable about the wheels, and a first deck portion and a second deck portion of the board are each configured to receive a rider's left or right foot oriented generally perpendicular to the direction of travel of the board; a motor controller configured to cause the hub motor to propel the board based on board attitude information; and a suspension system including: a swing arm connecting an axle of the wheels to the frame of the board so that the board can move up and down relative to the axle; and shock absorbers oriented transverse to the direction of travel of the board and coupled at each end to the swing arm by a respective bell crank, such that the shock absorbers are configured to damp up and down movement of the board relative to the axle, the shock absorbers being disposed entirely below the first deck portion.

[0007] The features, functions, and advantages may be achieved individually in various embodiments of the present disclosure or may be combined in yet other embodiments, further details of which can be seen with reference to the following description and drawings. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an isometric view of a unicycle according to aspects of the present disclosure. [Figure 2] FIG. 2 is an isometric view of the unicycle of FIG. 1 having a first exemplary suspension system. [Figure 3] FIG. 3 is an isometric view of the suspension system of FIG. 2. [Figure 4] FIG. 3 is another isometric view of the suspension system of FIG. 2. [Figure 5] FIG. 3 is another isometric view of the suspension system of FIG. 2. [Figure 6] FIG. 3 is a side view of the suspension system of FIG. 2. [Figure 7] FIG. 3 is a plan view of the suspension system of FIG. 2. [Figure 8] FIG. 1 is an isometric view of a unicycle according to aspects of the present disclosure. [Figure 9] FIG. 9 is an isometric view of the unicycle of FIG. 8 with a second exemplary suspension system. [Figure 10] FIG. 10 is an isometric view of the suspension system of FIG. [Figure 11] FIG. 10 is another isometric view of the suspension system of FIG. [Figure 12] FIG. 10 is a side view of the suspension system of FIG. [Figure 13] FIG. 10 is a plan view of the suspension system of FIG. [Figure 14] FIG. 1 is a schematic diagram illustrating an exemplary electrical control system suitable for use with a vehicle according to aspects of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Various aspects and examples of swing arm suspension systems for unicycles and related methods are described below and illustrated in the associated drawings. Unless otherwise specified, a unicycle having a swing arm suspension system and / or its various components may, but need not, include at least one of the structures, components, functions, and / or variations described, illustrated, and / or incorporated herein. Furthermore, unless specifically excluded, process steps, structures, components, functions, and / or variations described, illustrated, and / or incorporated herein may be included in other similar devices and methods, including those that are interchangeable among the disclosed embodiments. The following description of various examples is merely exemplary in nature and is not intended to limit the disclosure, its application, or uses. Furthermore, the advantages provided by the examples and embodiments described below are exemplary in nature, and not all examples and embodiments provide the same advantages or advantages to the same extent.

[0010] This detailed description includes the following sections, which immediately follow: (1) Definitions, (2) Overview, (3) Examples, Components, and Alternatives, (4) Advantages, Features, and Benefits, and (5) Conclusion. The Examples, Components, and Alternatives sections are further divided into subsections, each categorized accordingly.

[0011] definition The following definitions apply herein unless otherwise indicated.

[0012] "Comprise," "include," and "have" (and conjugations thereof) are used interchangeably to indicate including, but not necessarily limiting, and are open-ended terms that are not intended to exclude additional, unrecited elements or method steps.

[0013] Terms such as "first," "second," and "third" are used to distinguish or identify various members of a group, etc., and are not intended to denote a sequential or numerical limitation.

[0014] "AKA" means "also known as" and may be used to indicate alternative or corresponding terms for a given element or elements.

[0015] "Elongated" or "long" refers to an object or opening that has a length that is greater than its width, but the width need not be uniform. For example, an elongated slot may be oval or stadium-shaped, and an elongated candlestick may have a height that is greater than its tapered diameter. As a negative example, a circular opening would not be considered an elongated opening.

[0016] Terms such as "inboard," "outboard," "forward," and "aft" are intended to be understood in the context of a host vehicle, such as a skateboard, to which a system described herein may be mounted or otherwise attached. For example, "outboard" may indicate a relative position laterally farther away from the centerline of the vehicle or a direction away from the centerline of the vehicle. Conversely, "inboard" may indicate a relative position toward the centerline or a direction closer to the centerline. Similarly, "forward" means a direction toward the front of the vehicle, and "aft" means a direction toward the rear of the vehicle. When a host vehicle is not present, the same terms may be used to indicate the same directions as when a vehicle is present. For example, even when viewed alone, a component may have a "forward" edge because the component is installed with that edge facing toward the front of the host vehicle.

[0017] "Coupled" means permanently or releasably connected directly or indirectly through intervening elements.

[0018] "Resilient" describes a material or structure that is configured to respond to normal operating loads (e.g., under compression) by elastically deforming and returning to its original shape or position when unloaded.

[0019] "Rigid" refers to a material or structure that is constructed to be rigid, non-deformable, or substantially inflexible under normal operating conditions.

[0020] "Elastic" describes a material or structure that is configured to spontaneously recover its original shape after being stretched or expanded.

[0021] Directional terms such as "up," "down," "vertical," and "horizontal" should be understood in the context of the particular object of interest. For example, an object may be oriented about defined X, Y, and Z axes. In these examples, the XY plane defines the horizontal direction, with up being defined as the positive Z direction and down being defined as the negative Z direction.

[0022] A "controller" or "electronic controller" includes processing logic programmed with instructions to perform control functions on control elements. For example, an electronic controller may be configured to receive an input signal, compare the input signal to a selected control value or set point, and determine an output signal to a control element (e.g., a motor or actuator) that provides corrective action based on the comparison. In another example, an electronic controller may be configured to interface between a host device (e.g., a desktop computer, mainframe, etc.) and a peripheral device (e.g., a memory device, an input / output device, etc.) to control and / or monitor input and output signals to and from the peripheral device.

[0023] "Providing" in the context of a method may include receiving, obtaining, purchasing, manufacturing, producing, processing, preprocessing, etc., so that the provided object or material is in a state and configuration for other steps to be performed.

[0024] In this disclosure, one or more publications, patents, and / or patent applications may be incorporated by reference. However, such materials are incorporated only to the extent that there is no conflict between the incorporated materials and the description and drawings set forth herein. In the event of such a conflict, including a conflict of terminology, the present disclosure will control.

[0025] overview Generally, the suspension system of the present teachings is configured for use with an electric unicycle. The electric unicycle of the present disclosure is a self-stabilizing skateboard substantially similar in non-suspended aspects to the electric vehicle described in U.S. Patent No. 9,101,817 (the '817 patent). Accordingly, the unicycle of the present disclosure includes a board defining a riding plane and a frame supporting a first deck portion and a second deck portion (collectively referred to as a foot deck). Each deck portion is configured to receive a rider's left or right foot oriented generally perpendicular to the direction of travel of the board.

[0026] The unicycle of the present disclosure includes a wheel assembly having a rotatable ground-contacting element (e.g., a tire, wheel, or track) disposed between and extending above the first and second deck portions, and further includes a hub motor configured to rotate the ground-contacting element to propel the vehicle.

[0027] As described in the '817 patent, the unicycle includes at least one sensor configured to measure attitude information of the board and a motor controller configured to receive the attitude information measured by the sensor and cause the hub motor to propel the vehicle based on the attitude information.

[0028] The frame may include any suitable structure configured to rigidly support the deck portion and to be coupled to the axles of the wheel assemblies so that the rider's weight can be supported on the tiltable board with a fulcrum at the wheel assembly axles. The frame may include one or more frame members onto which the deck portion is mounted. The frame may support one or more additional elements and features of the vehicle, such as, for example, a charging port, end bumpers, lighting assemblies, a battery and electrical system, electronics, a controller, etc.

[0029] The deck portion may include any suitable structure configured to support the rider's feet, such as a non-skid surface, and vehicle control features, such as a rider detection system. Exemplary deck portions including suitable rider detection systems are described in the '817 patent and U.S. Pat. No. 9,352,245.

[0030] The shaft of the hub motor is coupled to the frame by a suspension system, which is a swing arm suspension having a swing arm damped by a damper or shock absorber (e.g., a gas spring).

[0031] As described above, the hub motors are controlled by a motor controller configured to receive attitude information about the board. Aspects of the electrical control systems (e.g., motor controllers) described herein may be embodied as computer methods, computer systems, or computer program products. Accordingly, aspects of the control systems may include processing logic and may take the form of entirely hardware embodiments, entirely software embodiments (including firmware, resident software, microcode, etc.), or embodiments combining software and hardware aspects, all of which may be generally referred to herein as "circuits," "modules," or "systems." Furthermore, aspects of the control systems may take the form of a computer program product embodied in computer-readable medium(s) having computer-readable program code / instructions embodied therein.

[0032] Any combination of computer-readable media may be utilized. The computer-readable medium may be a computer-readable signal medium and / or a computer-readable storage medium. The computer-readable storage medium may include an electronic, magnetic, optical, electromagnetic, infrared, and / or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples of computer-readable storage media may include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, and / or any suitable combination thereof. In the context of this disclosure, a computer-readable storage medium may include any suitable non-transitory tangible medium that contains or can store a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0033] A computer-readable signal medium may include a propagated data signal in which computer-readable program code is embodied, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electromagnetic signals, optical signals, and / or any suitable combination thereof. A computer-readable signal medium is not a computer-readable storage medium, but may include any computer-readable medium capable of communicating, propagating, or transporting a program for use by or in connection with an instruction execution system, apparatus, or device.

[0034] The program code embodied on the computer readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, etc., and / or any suitable combination thereof.

[0035] Computer program code for carrying out operations for aspects of the present control system may be written in one or any combination of programming languages, including object-oriented programming languages ​​such as Java, C++, and traditional procedural programming languages ​​such as C. Mobile apps may be developed using any suitable language, including the above languages, as well as Objective-C, Swift, C#, HTML5, and the like. The program code may run entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), and / or may be connected to an external computer (e.g., via the Internet using an Internet Service Provider).

[0036] Aspects of the present control system are described below with reference to flowchart illustrations and / or block diagrams of methods, apparatus, systems, and / or computer program products. Each block and / or combination of blocks in the flowchart illustrations and / or block diagrams may be implemented by computer program instructions. The computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to create a machine, such that the instructions, executing via the processor of the computer or other programmable data processing apparatus, create means for implementing the function(s) / act(s) specified in the flowchart illustrations and / or block diagram block(s). In some examples, the machine-readable instructions may be programmed onto a programmable logic device, such as a field-programmable gate array (FPGA).

[0037] These computer program instructions may also be stored on a computer-readable medium that can direct a computer, other programmable data processing apparatus, and / or other device to function in a particular manner, thereby creating an article of manufacture containing instructions that implement the function(s) / act(s) specified in the flowchart and / or block diagram block(s).

[0038] The computer program instructions may also be loaded into a computer, other programmable data processing apparatus, and / or other device to generate a computer-implemented process into a series of operational steps to be performed on the device, whereby the instructions executing on the computer or other programmable apparatus provide a process for implementing the function(s) / act(s) specified in the flowchart and / or block diagram block(s).

[0039] Any flowcharts and / or block diagrams in the drawings are intended to illustrate the architecture, functionality, and / or operation of possible implementations of systems, methods, and computer program products according to aspects of the present control system. In this regard, each block may represent a module, segment, or portion of code, including one or more executable instructions for implementing the specified logical function(s). In some implementations, the functions shown in the blocks may occur out of the order shown in the drawings. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may be executed in the reverse order, depending on the functionality involved. Each block and / or combination of blocks may be implemented by a dedicated hardware-based system (or a combination of dedicated hardware and computer instructions) that performs the specified functions or operations, as described in more detail below.

[0040] Examples, Components, and Alternatives The following sections describe selected aspects of example suspension systems for unicycles, as well as related systems and / or methods. The examples in these sections are intended to be illustrative and should not be construed as limiting the overall scope of the disclosure. Each section may include one or more separate inventions and / or contextual or related information, functionality, and / or structure.

[0041] A. Unicycle with First Exemplary Suspension System 1-7, this section describes a unicycle 100 having a suspension system 150, which is an example of such a suspension system.

[0042] Vehicle 100 is a single-wheel, self-stabilizing skateboard that includes a board 102 (also known as a tiltable portion of the vehicle, a platform, or a foot deck) having a frame 104 that supports first and second deck portions 106 and 108 that define an opening 120 therebetween. Board 102 may define a generally flat surface. Each deck portion 106, 108 (e.g., including a foot pad) is configured to receive and support a rider's left or right foot oriented generally perpendicular to the direction of travel of the board.

[0043] The vehicle 100 also includes a wheel assembly 122. The wheel assembly 122 includes a rotatable ground-contacting element 124 (e.g., a tire, wheel, or track) disposed between and extending above the first and second deck portions 106, 108, and a motor assembly 126 configured to rotate the ground-contacting element 124 to propel the vehicle. As shown in FIG. 1 and elsewhere, the vehicle 100 may include only one ground-contacting element disposed between the first and second deck portions. In some examples, the vehicle 100 may include multiple (e.g., coaxial) ground-contacting elements.

[0044] The wheel assembly 122 is disposed between the first deck portion 106 and the second deck portion 108. The ground-contacting element 124 is coupled to a motor assembly 126. An axle 128 (also known as a shaft) of the motor assembly 126 is coupled to the board 102 via a suspension system 150. The motor assembly 126 is configured to rotate the ground-contacting element 124 about (or around) the axle 128 to propel the vehicle 100. For example, the motor assembly 126 may include an electric motor, e.g., a hub motor, configured to rotate the ground-contacting element 124 about the axle 128 to propel the vehicle 100 along the ground. For convenience, the ground-contacting element 124 will be referred to hereinafter as a tire or wheel, although other suitable embodiments may be provided.

[0045] The first and second deck portions 106, 108 are disposed on either side of the wheel assembly 122, and the board 102 is sized to approximate a skateboard. In other embodiments, the board may be sized to approximate a longboard skateboard, snowboard, surfboard, or other desired dimensions. In some examples, the deck portions 106, 108 of the board 102 are at least partially covered with a non-slip material (e.g., grip tape or other textured material) to aid in rider control.

[0046] Frame 104 may include any suitable structure configured to rigidly support the deck portions and be coupled by a suspension system to the axles of the wheel assemblies so that the weight of a rider can be supported on tiltable board 102. Frame 104 generally has a fulcrum at the wheel assembly axles. Frame 104 includes one or more frame members 130 onto which deck portions 106 and 108 are mounted, and which may further support additional vehicle elements and features, such as a charging port 132 and a power switch 134. Additionally, end bumpers, lighting assemblies, and other physical or electrical systems may be supported by frame member(s) 130.

[0047] The vehicle 100 includes an electrical control system 136. The electrical control system 136 is an example of the electrical control system 300 described below with respect to Figure 14. Embodiments of the electrical control system 136 may be incorporated into the first and / or second deck sections 106, 108. The electrical control system is further described below in Section C.

[0048] The wheels 124 are configured to be sufficiently wide in the heel-toe direction so that the rider can balance the vehicle in the heel-toe direction manually, i.e., by shifting their weight, without automated assistance from the vehicle. The ground-contacting members 124 may be tubeless or may be used with an inner tube. In some examples, the ground-contacting members 124 are non-pneumatic tires. For example, the ground-contacting members 124 may be "airless," solid, and / or may include foam. The ground-contacting members 124 may have a profile that allows the rider to lean the vehicle 100 over the edge of the ground-contacting members with heel and / or toe pressure to facilitate cornering of the vehicle 100.

[0049] The motor assembly 126 may include any suitable driver for the ground contacting member 124, such as a hub motor mounted within the ground contacting portion 124. The hub motor may be geared or direct drive. The use of a hub motor facilitates the elimination of chains and belts and allows for a form factor that significantly improves maneuverability, weight distribution, and aesthetics. Attachment of the ground contacting portion 124 to the motor assembly 126 may be achieved by a split rim design (e.g., using a hub adapter) that may be bolted to the motor assembly 126, by casting or otherwise providing the hub motor housing with a mounting flange for a tire bead directly on the hub motor housing, or by any other suitable method.

[0050] As shown in FIGS. 2 and 3, the motor assembly 126, and therefore the ground contact member 124, is coupled to the frame 104 by a suspension system 150.

[0051] Suspension system 150, as described above, includes swing arm 152 and shock absorber 154. Swing arm 152 is a rigid, substantially U-shaped structure having a pair of rigid, spaced apart arms 156, 158. Arms 156 and 158 extend longitudinally (relative to the board) from a lateral pivoting cross member 159 (also called a connecting member) and span motor assembly 126 and ground contact member 124.

[0052] More specifically, the distal ends of each of the arms 156 and 158 are coupled to opposite ends of the axle 128. The arms 156 and 158 are fixed to the axle 128 such that the swing arm and axle rotate together (i.e., the swing arm does not rotate relative to the axle). As shown in FIG. 2 and elsewhere, the ends of the arms 156 and 158 are each attached to a respective end of the axle 128 using a pair of spaced axle mounting members 160 and 162. In the example shown in FIG. 2, the axle mounting members 160 and 162 are removable fasteners. The use of two mounting members at each end of the axle allows the board to tilt / rotate without risking the mounting members coming loose or otherwise loosening from the axle, for example, during riding. Furthermore, the two mounting members rigidly connect the swing arm to the axle so that the swing arm cannot pivot or otherwise rotate relative to the axle.

[0053] At the proximal end of arms 156, 158, swing arm 152 is pivotally attached to vehicle 100 at cross member 159 by support member 164. Support member 164 is fixed (e.g., bolted) to frame member 130 of board 102 and configured to pivotally retain an end of cross member 159. In some examples, the support member is integral with frame member 130 (e.g., the frame member and support member are formed as a single piece).

[0054] Thus, swing arm 152 is pivotable about support member 164 relative to board 102 and frame 104. This pivotable arrangement facilitates swinging, generally vertical movement of motor assembly 126 (and thus wheel assembly 122) relative to the board. In other words, the wheel can move up and down relative to the board through an arc corresponding to the radius defined by extension arms 156 and 158 (i.e., arcuate motion, also referred to as arcuately vertical). The arcuate motion is illustrated in FIG. 6 by dashed curve 167.

[0055] However, this movement of the wheels is generally only desirable to accommodate needs such as riding the vehicle over bumps or uneven terrain. Furthermore, this movement should be controlled or damped to allow for rider control and comfort. Accordingly, the suspension system 150 includes a shock absorber 154 (e.g., a gas spring) configured to bias the swing arm and board toward a desired riding configuration (e.g., board height and attitude relative to the axle), including when a rider is riding. The shock absorber 154 is pivotally coupled to the swing arm 152 at a first end 163 and to a rocker 166 at a second end 165. The shock absorber 154 may include any suitable damping device. In this example, the shock absorber 154 includes an air shock absorber. The damping characteristics of the shock may be adjustable or selectable. In some examples, the shock may include a lockout feature.

[0056] As shown in FIGS. 6 and 7, the pivotable connection of shock absorber 154 at first end 163 and the pivotable connection of swing arm 152 at support member 164 share a common axis of rotation through cross member 159.

[0057] Swing arm 152 includes a vertical extension 168 that extends generally downwardly from the proximal end of extension arm 156, below cross member 159 (see FIGS. 5 and 6). A push rod 170 is pivotally attached at a first end to vertical extension 168 of swing arm 152 and at a second end to rocker 166. Rocker 166 is pivotally attached to at least frame member 130 by support member 172.

[0058] In operation, upward arcing of wheel assembly 122 about support member 164, as shown in FIG. 6, causes a corresponding rotation of vertical extension 168. This rotation pulls push rod 170 generally toward wheel assembly 122, thereby causing rotation of rocker 166 about support member 172. Rotation of rocker 166 therefore causes compression of shock absorber 154, as shown by dotted line 171 in FIG. 7.

[0059] 1 and 2 , the arcuate motion of wheel assembly 126 corresponds to the rotation of arms 156, 158 relative to frame member 130. Accordingly, bumpers 174, 176 are disposed on the upper lip of frame member 130, each bumper corresponding to one of arms 156, 158. If the rider experiences a sufficiently large bump during a ride, wheel assembly 122 will move generally upward relative to board 102 as described above, causing arms 156, 158 to contact or abut against bumpers 174, 176, thereby stopping them. This configuration prevents arms 156, 158 from directly hitting frame member 130. Bumpers 174, 176 may comprise any suitable shock-absorbing material, such as rubber or other elastomer.

[0060] B. Unicycle with Second Exemplary Suspension System 8-13, this section describes a unicycle 200 having a suspension system 250, which is an example of such a suspension system.

[0061] Vehicle 200 is a single-wheel, self-stabilizing skateboard that includes a board 202 (also known as a tiltable portion of the vehicle, a platform, or a foot deck) having a frame 204 that supports first and second deck portions 206 and 208 that define an opening 220 therebetween. Board 202 may define a generally flat surface. Each deck portion 206, 208 (e.g., including a foot pad) is configured to receive and support a rider's left or right foot oriented generally perpendicular to the direction of travel of the board.

[0062] The vehicle 200 also includes a wheel assembly 222. The wheel assembly 222 includes a rotatable ground-contacting element 224 (e.g., a tire, wheel, or track) disposed between and extending above the first and second deck portions 206, 208, and a motor assembly 226 configured to rotate the ground-contacting element 224 to propel the vehicle. As shown in FIG. 8 and elsewhere, the vehicle 200 may include only one ground-contacting element disposed between the first and second deck portions. In some examples, the vehicle 200 may include multiple (e.g., coaxial) ground-contacting elements.

[0063] The wheel assembly 222 is disposed between the first deck portion 206 and the second deck portion 208. The ground-contacting element 224 is coupled to a motor assembly 226. An axle 228 (also known as a shaft) of the motor assembly 226 is coupled to the board 202 via a suspension system 250. The motor assembly 226 is configured to rotate the ground-contacting element 224 about (or around) the axle 228 to propel the vehicle 200. For example, the motor assembly 226 may include an electric motor, e.g., a hub motor, configured to rotate the ground-contacting element 224 about the axle 228 to propel the vehicle 200 along the ground. For convenience, the ground-contacting element 224 will be referred to hereinafter as a tire or wheel, although other suitable embodiments may be provided.

[0064] The first and second deck portions 206, 208 are disposed on either side of the wheel assembly 222, and the board 202 is sized to approximate a skateboard. In other embodiments, the board may be sized to approximate a longboard skateboard, snowboard, surfboard, or other desired dimensions. In some examples, the deck portions 206, 208 of the board 202 are at least partially covered with a non-slip material (e.g., grip tape or other textured material) to aid in rider control.

[0065] Frame 204 may include any suitable structure configured to rigidly support the deck portions and be coupled by a suspension system to the axles of the wheel assemblies so that the weight of a rider can be supported on tiltable board 202. Frame 104 generally has a fulcrum at the wheel assembly axles. Frame 204 includes one or more frame members 230 onto which deck portions 206 and 208 are mounted, and which may further support additional vehicle elements and features, such as a charging port 232 and a power switch 234. Additionally, end bumpers, lighting assemblies, and other physical or electrical systems may be supported by frame member(s) 230.

[0066] Vehicle 200 includes an electrical control system 236. Electrical control system 236 is an example of electrical control system 300, described below with respect to Figure 14. Embodiments of electrical control system 236 may be incorporated into first and / or second deck sections 206, 208. Electrical control systems are further described below in Section C.

[0067] The ground contacting member 224 is configured to be sufficiently wide in the heel-toe direction so that the rider can balance the vehicle in the heel-to-toe direction manually, i.e., by shifting their weight, without automated assistance from the vehicle. The ground contacting member 224 may be tubeless or may be used with an inner tube. In some examples, the ground contacting member 224 is a non-pneumatic tire. For example, the ground contacting member 224 may be "airless," solid, and / or may include foam. The ground contacting member 224 may have a profile that allows the rider to lean the vehicle 200 over the edge of the ground contacting member with heel and / or toe pressure to facilitate cornering of the vehicle 200.

[0068] The motor assembly 226 may include any suitable driver for the ground contact member 224, such as a hub motor mounted within the ground contact portion 224. The hub motor may be geared or direct drive. The use of a hub motor facilitates the elimination of chains and belts and allows for a form factor that significantly improves maneuverability, weight distribution, and aesthetics. Attachment of the ground contact portion 224 to the motor assembly 226 may be achieved by a split rim design (e.g., using a hub adapter) that may be bolted to the motor assembly 226, by casting or otherwise providing the hub motor housing with a mounting flange for a tire bead directly on the hub motor housing, or by any other suitable method.

[0069] 9, motor assembly 226, and therefore ground contact member 224, is coupled to frame 204 by suspension system 250. Suspension system 250 includes a swing arm 252 and a laterally mounted shock absorber 254 configured to damp movement of the swing arm. Swing arm 252 is a substantially U-shaped structure having a pair of rigid, spaced apart arms 256, 258. Arms 256 and 258 extend longitudinally (with respect to the board) from a lateral pivoting cross member 259 (also referred to as a connecting member) and span motor assembly 226 and ground contact member 224.

[0070] More specifically, the distal ends of each of arms 256 and 258 are coupled to opposite ends of axle 228. Arms 256 and 258 are fixed to axle 228 such that the swing arm and axle rotate together (i.e., the swing arm does not rotate relative to the axle). As shown in FIG. 9 , the ends of arms 256 and 258 are each attached to a respective end of axle 228 using a pair of axle mounting members 260 and 262. In this example, axle mounting members 260 and 262 are removable fasteners. The use of two mounting members allows the board to tilt / rotate without risking the mounting members coming off or otherwise loosening from the axle, for example, during riding. Furthermore, the two mounting members rigidly connect the swing arm to the axle so that the swing arm cannot pivot or otherwise rotate relative to the axle.

[0071] At the proximal end of arm 258, swing arm 252 is pivotally coupled to vehicle 200 at fulcrum 273 (see FIGS. 10 and 11). Fulcrum 273 is formed by a suitable rotary fastener (e.g., a bearing bolt, etc.) coupled to frame member 230 of board 202 and configured to pivotally hold swing arm 252.

[0072] Thus, swing arm 252 is pivotable at one end relative to board 202 and frame 204 about fulcrum 273. This pivotable arrangement facilitates swinging, generally vertical movement of motor assembly 226 (and thus wheel assembly 222) relative to the board. In other words, the wheel can move up and down relative to the board through an arc corresponding to the radius defined by extension arms 256 and 258 (i.e., arcuate motion, also referred to as arcuately vertical). The arcuate motion is illustrated in FIG. 12 by dashed curve 267.

[0073] However, this movement of the wheels is generally only desirable to accommodate needs such as riding the vehicle over bumps in the road or uneven terrain. Furthermore, this movement should be controlled or damped to allow for rider control and comfort. Accordingly, the suspension system 250 includes a shock absorber 254 (e.g., a gas spring) configured to bias the swing arm and board toward a desired riding configuration (e.g., board height and attitude relative to the axle), including when a rider is aboard. The shock absorber 254 may include any suitable damping device. In this example, the shock absorber 254 includes an air shock absorber. The damping characteristics of the shock may be adjustable or selectable. In some examples, the shock may include a lockout feature.

[0074] A first end of shock absorber 254 is pivotally attached to a first bell crank 266 at a first pivot joint 268 (also known as a moving pivot joint). Shock absorber 254 is pivotally attached at a second end to a second bell crank 270 at a second pivot joint 272. Bell cranks 266, 270 each include pivotable support members 274, 276 that define a fixed pivot joint. The support members are configured to be attached to a support structure below board 202. Support members 274, 276 pivotally hold the bell cranks in rotationally fixed positions and oppose each other across the width of board 202.

[0075] 8 and 9, the shock absorber 254 and the bell cranks 266, 270 are positioned below the plane of the board 202. In other words, the entire shock absorber 254 and the bell cranks 266, 270 are positioned below the deck portion 206 and do not extend above the foot deck.

[0076] A first push rod 278 couples a third pivot joint 280 (moving pivot joint) of the first bell crank 266 to the cross member 259 at a pivot load member 275. Similarly, a second push rod 282 couples a fourth pivot joint 284 (moving pivot joint) of the second bell crank 270 to the cross member 259 at a pivot load member 277. The first and second push rods 278, 282 are coupled to the cross member 259 at their respective slots at the pivot load members 275, 277, as best shown in FIG. 13 . In other words, the push rods are at least partially embedded in the cross member 259.

[0077] 12 and 13, the first and second push rods 278, 282 are pivotable in a first rotational direction relative to the cross member 259 at load members 275, 277 and in a second, orthogonal rotational direction relative to the bell cranks at pivot joints 280, 284. In other words, the push rods 278, 282 have two degrees of freedom and are configured to translate generally vertical movement of the swing arm 252 into generally horizontal rotation of the bell cranks 266, 270 about the support members 274, 276.

[0078] As shown in FIGS. 11 and 12, swing arm 252 forms a lever that rotates about fulcrum 273, with a force applied at its connection to axle 228 and a load on load members 275, 277. Because the relative horizontal position of the fulcrum is generally between the applied force and the load, swing arm 252 forms a first-class lever. This configuration advantageously provides a distinct mechanical advantage. Furthermore, this configuration allows for greater control of the shock absorption characteristics of the suspension system because the load (i.e., load members 275, 277) has a greater travel distance in the first-class lever configuration (compared to the second-class lever configuration). In other words, the first-class lever configuration allows the suspension system to have a greater compression distance than other configurations.

[0079] In operation, upward movement of motor assembly 226 (and thus wheel assembly 222) applies a force to the distal end of swing arm 252, causing it to rotate about fulcrum 273. This rotation transfers energy to load members 275, 277, which push push rods 278, 282 longitudinally, generally away from motor assembly 226. As a result, the push rods rotate bell cranks 266, 270 generally inward about support members 274, 276, compressing shock absorber 254, as shown by dotted line 271 in FIG. 13 .

[0080] C. Electrical Control System 14 shows a block diagram of an electrical control system 300, which is one example of the electrical control systems 136 and 236 briefly described above, including various exemplary electrical components of the vehicles 100, 200. The electrical components may include a power management system 302, a direct current-to-direct current (DC / DC) converter 304, a brushless direct current (BLDC) drive logic 306, a power stage 308, one or more dual-axis accelerometers 310, one or more Hall sensors 312, and / or a motor temperature sensor 314. The DC / DC converter 304, the BLDC drive logic 306, and the power stage 308 may be included in and / or connected to a motor controller 316. The accelerometer(s) 310 may be included in one or more attitude or tilt sensors 318 described above.

[0081] Active balancing (or self-stabilization) of the electric vehicle may be achieved through the use of a feedback control loop or mechanism. The feedback control mechanism may include a sensor 320, which may be electrically coupled to and / or included in the motor controller 316. Preferably, the feedback control mechanism includes a proportional-integral-derivative (PID) control scheme using one or more gyros 322 and one or more accelerometers (e.g., accelerometer(s) 310). The gyros 322 may be configured to measure the pivoting of the board about its pitch axis (also called the fulcrum axis). The gyros 322 and accelerometers 310 may collectively be configured to estimate (or measure, or sense) the lean angle of the board, such as the attitude of the foot deck about the pitch, roll, and / or yaw axes. In some embodiments, the gyros 322 and accelerometers 310 may collectively be configured to sense sufficient attitude information to estimate the lean angle of the frame, including pivoting about the pitch, roll, and / or yaw axes.

[0082] As described above, attitude information of the board may be measured (or sensed) by the gyro 322 and the accelerometer 310. The respective measurements (or sensed signals) from the gyro 322 and the accelerometer 310 may be combined using a complementary filter or a Kalman filter to estimate the lean angle of the board (e.g., pivoting of the board about the pitch axis corresponding to the pitch angle, pivoting about the roll axis corresponding to the roll angle or heel-toe angle, and pivoting about the yaw axis corresponding to the left-right yaw angle) while removing the effects of disturbances due to bumps, road texture, and steering inputs. For example, the gyro 322 and the accelerometer 310 may be connected to a microcontroller 324, which may be configured to measure the motion of the board about and along the pitch axis, roll axis, and / or yaw axis, respectively.

[0083] Alternatively, the electric vehicle may include any suitable sensors and feedback control loops configured to self-stabilize the vehicle, such as a single-axis gyro configured to measure the pivoting of the board about its pitch axis, a single-axis accelerometer configured to measure the gravity vector, and / or any other suitable feedback control loop, such as a closed-loop transfer function. Additional accelerometer and gyro axes may enable improved performance and functionality, such as detecting whether the board has flipped or whether the rider is turning.

[0084] The feedback control loop can be configured to drive the motor to decrease the angle of the board with respect to the ground. For example, when the rider leans the board downward so that the first deck portion is "below" the second deck portion (e.g., when the rider pivots the board in a first rotational direction), the feedback loop can drive the motor to rotate the tires about the pitch axis in the first rotational direction, thereby inducing a second, counter-rotational force on the board.

[0085] Thus, movement of the electric vehicle can be achieved by the rider leaning their weight toward a selected (e.g., "front") foot. Similarly, deceleration can be achieved by the rider leaning toward the other (e.g., "back") foot. Regenerative braking can be used to slow the vehicle. Sustained motion can be achieved in either direction by the rider maintaining lean toward either selected foot.

[0086] 15, the microcontroller 324 may be configured to send signals to the brushless DC (BLDC) drive logic 306, which may communicate information regarding the attitude and movement of the board. The BLDC drive logic 306 may then interpret the signals and communicate with the power stage 308 to drive the motor accordingly. The Hall sensors 312 may send signals to the BLDC drive logic to provide feedback regarding the substantially instantaneous rotational speed of the motor's rotor. The motor temperature sensor 314 may be configured to measure the motor's temperature and send this measured temperature to the logic 306. The logic 306 may limit the amount of power supplied to the motor based on the measured motor temperature to prevent the motor from overheating.

[0087] To improve the performance and safety of electric vehicles, certain modifications to the PID loop or other suitable feedback control loop may be incorporated. For example, integral windup may be prevented by limiting the maximum integral value, and an exponential function may be applied to the pitch error angle (e.g., the measured or estimated pitch angle of the board).

[0088] Alternatively or additionally, some embodiments may include neural network control, fuzzy control, genetic algorithm control, linear quadratic regulator control, state-dependent Riccati equation control, and / or other control algorithms. In some embodiments, absolute or relative encoders may be incorporated to provide feedback regarding motor position.

[0089] During a turn, the pitch angle can be adjusted by the heel-toe angle (e.g., pivoting the board about the roll axis), which can improve performance and prevent the front inside edge of the board from contacting the ground. In some embodiments, the feedback loop can be configured to increase, decrease, or otherwise adjust the rotational speed of the tires when the board is pivoted about the roll and / or yaw axes. This adjustment in the rotational speed of the tires can increase the normal force between portions of the board and the rider, providing the rider with a "carving" sensation when turning, similar to the carving sensation of a snowboard in snow or a surfboard in water.

[0090] Once the rider has properly positioned themselves on the board, the control loop may be configured to not activate until the rider places the board in a predetermined orientation. For example, an algorithm may be incorporated into the feedback control loop such that the control loop is not active (e.g., does not drive the motor) until the rider uses their weight to place the board in a nearly horizontal orientation (e.g., 0 degree pitch angle). Once this predetermined orientation is detected, the feedback control loop may be enabled (or activated) to balance the electric vehicle and facilitate the transition of the electric vehicle from a stationary mode (or configuration, or state, or orientation) to a mobile mode (or configuration, or state, or orientation).

[0091] 14 , various electrical components may be configured to manage the power source 326. For example, the power management system 302 may be a battery management system configured to protect the batteries of the power source 326 from being overcharged, over-discharged, and / or short-circuited. The system 302 may monitor the health of the batteries, monitor the state of charge of the power source 326, and / or enhance the safety of the vehicle. The power management system 302 may be connected between the vehicle's charging plug and the power source 326. A rider (or other user) can couple a charger to the plug and recharge the power source 326 via the system 302.

[0092] In operation, power switch 328 may be activated (e.g., by the rider). Activation of switch 328 may send a power-on signal to converter 304. In response to the power-on signal, converter 304 may convert the direct current from a first voltage level supplied by power source 326 to one or more other voltage levels. The other voltage levels may be different from the first voltage level. Converter 304 may be connected to other electrical components via one or more electrical connections to supply suitable voltages to those electrical components.

[0093] The converter 304 (or other suitable circuitry) may send a power-on signal to the microcontroller 324. In response to the power-on signal, the microcontroller may initialize the sensor 320 and the rider detection device 330.

[0094] The electric vehicle may include one or more safety mechanisms to ensure that a rider is on the board before engaging the feedback control loop, such as a power switch 328 and / or a rider detection device 330. In some embodiments, the rider detection device 330 may be configured to determine whether the rider's feet are placed on the foot deck and to send a signal to activate the motor when it is determined that the rider's feet are placed on the foot deck.

[0095] The rider detection device 330 may include any suitable mechanism, structure, or apparatus for determining whether a rider is on the electric vehicle. For example, the device 330 may include one or more mechanical buttons, one or more capacitive sensors, one or more inductive sensors, one or more optical switches, one or more force-resistive sensors, and / or one or more strain gauges. The rider detection device 330 may be located above or below one or both of the first and second deck portions. In some examples, one or more mechanical buttons or other devices may be pressed directly (e.g., if above the deck portion) or indirectly (e.g., if below the deck portion) to sense whether a rider is on the board.

[0096] In some examples, one or more capacitive sensors and / or one or more inductive sensors may be disposed on or near one or both surfaces of the deck portion and may detect whether a rider is on the board from a corresponding change in capacitance or inductance. In some examples, one or more optical switches may be disposed on or near one or both surfaces of the deck portion. The one or more optical switches may detect whether a rider is on the board based on an optical signal. In some examples, one or more strain gauges may be configured to measure flexion of the board or axle imparted by the rider's feet to detect whether a rider is on the board. In some embodiments, the rider detection device 330 may include a handheld "dead man's" switch.

[0097] If device 330 detects that a rider is properly positioned on the electric vehicle, it may send a rider-present signal to microcontroller 324. The rider-present signal may be a signal that activates the motor. In response to the rider-present signal (and / or, for example, the board being moved to a horizontal position), microcontroller 324 may activate a feedback control loop to drive the motor. For example, in response to the rider-present signal, microcontroller 324 may send board attitude information (or measurement data) from sensor 320 to logic 306 to power the motor via power stage 308.

[0098] In some embodiments, device 338 may send a rider-absent signal to microcontroller 324 if it detects that a rider is no longer suitably positioned or present on the electric vehicle. In response to the rider-absent signal, the vehicle's circuitry (e.g., microcontroller 324, logic 306, and / or power stage 308) may be configured to reduce the rotational speed of the rotor relative to the stator to stop the vehicle. For example, the rotor's electrical coils may be selectively powered to reduce the rotor's rotational speed. In some embodiments, in response to the rider-absent signal, the circuitry may be configured to energize the electrical coils with a relatively strong and / or substantially continuous constant voltage to lock the rotor relative to the stator, prevent the rotor from rotating relative to the stator, and / or bring the rotor to an abrupt stop.

[0099] In some embodiments, the vehicle may be configured to actively drive the motor even when the rider is (e.g., temporarily) not present on the vehicle, thereby allowing the rider to perform various tricks. For example, the rider detection device 330 may be configured to delay sending a no-rider signal to the microcontroller for a predetermined time, and / or the microcontroller may be configured to delay sending a signal to the logic 306 to cut power to the motor for a predetermined time.

[0100] D. Illustrative Combinations and Additional Examples This section describes additional aspects and features of the suspension systems described herein, presented in a non-limiting manner as a series of headings, some or all of which may be designated alphanumeric for clarity and efficiency. Each of these headings may be combined in any suitable manner with one or more of the other headings and / or with disclosure from elsewhere in this application, including cross-referenced material. Some of the following headings may explicitly refer to other headings and further limit other headings, providing some non-limiting examples of suitable combinations.

[0101] A0. A self-balancing electric vehicle, a board including a frame, a first deck portion disposed at a first end of the frame, and a second deck portion disposed at a second end of the frame, the first and second deck portions each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; a wheel rotatable about an axle, the wheel being disposed between and extending above and below the first and second deck portions; a motor assembly configured to rotate wheels about axles to propel the vehicle; at least one sensor configured to measure attitude information of the board; a motor controller configured to receive attitude information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the attitude information; a suspension system coupling a wheel axle to the board so that the board can move up and down relative to the axle, the suspension system comprising: a swingarm having a first end pivotally coupled to the frame at a fulcrum and a second end fixed to the axle, the swingarm including a first moving pivot joint spaced from the fulcrum; a rocker coupled to the board at a fixed pivot joint and including a second moving pivot joint spaced apart from a third moving pivot joint; a push rod connecting the second moving pivot joint of the rocker to the first moving pivot joint of the swing arm; a shock absorber connected between the fulcrum and the second moving pivot joint of the rocker; a suspension system including: A vehicle comprising: The vehicle, wherein a shock absorber is disposed beneath the first deck portion and configured to damp movement of the board relative to the axle.

[0102] A1. The vehicle of item A0, wherein the frame is coupled to the wheel assemblies only by the suspension system.

[0103] A2. The vehicle of item A0, wherein the swing arm includes a cross member and at least one leg extending from the cross member.

[0104] A3. 10. The vehicle of claim A2, wherein the swingarm is U-shaped.

[0105] A4. The vehicle of item A0, wherein the second moving pivot joint of the rocker is disposed between the third moving pivot joint and the fixed pivot joint.

[0106] A5. The vehicle of item A4, wherein the first moving pivot joint of the swing arm is positioned at a height lower than the fulcrum.

[0107] A6. The vehicle of item A0, wherein the shock absorber is a gas shock absorber.

[0108] B0. A self-balancing electric vehicle, a wheel having a rotation axis; a board including a frame having openings for receiving wheels such that the board is tiltable about the wheels, the first and second deck portions of the board being configured to receive a rider's left or right foot, respectively, oriented generally perpendicular to the direction of travel of the board; an electric hub motor configured to drive the wheel; a motor controller configured to receive attitude information indicative of an attitude of the board and cause the hub motor to propel the board based on the attitude information; 1. A suspension system comprising: a swing arm connecting the wheel axle to the frame of the board so that the board can move up and down relative to the axle; shock absorbers oriented transverse to the direction of travel of the board and coupled to the swing arm at each end by respective bell cranks, such that the shock absorbers are configured to damp up and down movement of the board relative to the axle; a suspension system including: A vehicle comprising: A vehicle in which the shock absorber is positioned entirely below the first deck portion.

[0109] B1. The vehicle of B0, wherein the bell cranks are each coupled to the swing arm by a respective push rod.

[0110] B2. The vehicle of B0 or ​​B1, wherein the cross member of the swing arm is pivotally connected to the frame.

[0111] B3. The vehicle of any one of items B0-B2, wherein the legs of the swing arm are fixed at their distal ends to respective ends of the axle.

[0112] B4. The vehicle described in B3, wherein each leg of the swing arm forms a first class lever with a force applied at the axle and a load located on a push rod connecting the swing arm to a shock absorber.

[0113] B5. The vehicle described in B4, wherein the cross member of the swing arm is pivotally coupled to the frame and forms a fulcrum of the first type lever.

[0114] B6. The vehicle of any one of items B0 to B5, wherein the bell crank is positioned entirely below the first deck portion.

[0115] B7. The vehicle of any one of items B0-B6, wherein the frame is coupled to the axle only by the suspension system.

[0116] B8. The vehicle of any one of items B0-B7, wherein each of the bell cranks is coupled to the board at a respective fixed pivot joint.

[0117] B9. The vehicle described in B8, wherein each of the bell cranks has a first moving pivot joint rotatably coupled to a respective end of the shock absorber and a second moving pivot joint rotatably coupled to a respective push rod, each push rod connecting a respective bell crank to a swing arm.

[0118] C0. A self-balancing electric vehicle, a board including a frame, a first deck portion disposed at a first end of the frame, and a second deck portion disposed at a second end of the frame, the first and second deck portions each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; a wheel assembly including a single wheel rotatable about an axle, the wheel being disposed between and extending above and below the first and second deck portions; a motor assembly configured to rotate wheels about axles to propel the vehicle; a motor controller configured to receive board attitude information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the board attitude information; a suspension system coupling the wheel assemblies to the board such that the board is configured to move up and down relative to an axle, the suspension system comprising: a swing arm pivotable about a fulcrum connected to the board, the swing arm including at least one leg connected to the axle; first bell cranks positioned across the width of the board from the second bell cranks, each of the bell cranks (a) coupled to the board at a respective fixed pivot joint, (b) coupled to a shock absorber at a first moving pivot joint, and (c) coupled to a respective push rod at a second moving pivot joint, such that each of the bell cranks is connected to a swing arm by a respective push rod and the shock absorbers are oriented transverse to the direction of travel; Including, The swing arm is connected to the axle on the opposite side of the fulcrum to the push rod, forming a first-class lever. A suspension system; A vehicle equipped with:

[0119] C1. The vehicle according to C0, wherein the shock absorber is positioned entirely below the first deck portion.

[0120] C2. The vehicle of any one of C0 to C1, wherein the fulcrum includes a cross member of a swing arm pivotally connected to the frame.

[0121] C3. The vehicle of any one of items C0 to C2, wherein at least one leg of the swing arm includes a first leg and a second leg, and the first and second legs are fixed at distal ends to respective ends of the axle.

[0122] C4. The vehicle of any one of items C0-C3, wherein the bell crank is positioned entirely below the first deck portion.

[0123] C5. The vehicle of any one of items C0-C4, wherein the frame is coupled to the axle only by the suspension system.

[0124] D0. A self-balancing electric vehicle, a wheel driven about a rotation axis by a hub motor; a board including a frame having openings for receiving wheels such that the board is tiltable about the wheels, the first and second deck portions of the board being configured to receive a rider's left or right foot, respectively, oriented generally perpendicular to the direction of travel of the board; a motor controller configured to cause the hub motor to propel the board based on the board attitude information; 1. A suspension system comprising: a swing arm that connects the wheel axle to the board frame so that the board can move up and down relative to the axle; shock absorbers oriented transverse to the direction of travel of the board and coupled to the swing arm at each end by respective bell cranks, such that the shock absorbers are configured to damp up and down movement of the board relative to the axle; a suspension system including: A vehicle comprising: A vehicle in which the shock absorber is positioned entirely below the first deck portion.

[0125] D1. The vehicle described in D0, wherein the bell cranks are each coupled to a swing arm by a respective push rod, the cross member of the swing arm is pivotally connected to the frame, and the legs of the swing arm are fixed to the ends of the axle.

[0126] D2. The vehicle of D1, wherein the swing arm forms a first type lever having a fulcrum at the cross member, and the push rod is located on the opposite side of the fulcrum from the axle.

[0127] D3. The vehicle of any one of items D0-D2, wherein the frame is coupled to the axle only by the suspension system.

[0128] E0. A self-balancing electric vehicle, a board including a frame, a first deck portion disposed at a first end of the frame, and a second deck portion disposed at a second end of the frame, the first and second deck portions each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; a wheel assembly including a wheel rotatable about an axle, the wheel being disposed between and extending above and below the first and second deck portions; a motor assembly configured to rotate wheels about axles to propel the vehicle; a motor controller configured to receive attitude information of the board measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the attitude information; a suspension system coupling a wheel axle to the board so that the board can move up and down relative to the axle, the suspension system comprising: a swingarm having a first end pivotally coupled to the frame at a fulcrum and a second end fixed to the axle, the swingarm including a first moving pivot joint spaced from the fulcrum; a rocker coupled to the board at a fixed pivot joint and including a second moving pivot joint spaced apart from a third moving pivot joint; a push rod connecting the second moving pivot joint of the rocker to the first moving pivot joint of the swing arm; a shock absorber connected between the fulcrum and the third moving pivot joint of the rocker; a suspension system including: A vehicle comprising: The vehicle, wherein a shock absorber is disposed beneath the first deck portion and configured to damp movement of the board relative to the axle.

[0129] E1. The vehicle of item E0, wherein the frame is coupled to the wheel assemblies only by the suspension system.

[0130] E2. The vehicle of E0 or E1, wherein the swing arm includes a cross member and at least one leg extending from the cross member.

[0131] E3. The vehicle of paragraph E2, wherein the swing arm is U-shaped.

[0132] E4. The vehicle of any one of items E0-E3, wherein the second moving pivot joint of the rocker is disposed between the third moving pivot joint and the fixed pivot joint.

[0133] E5. The vehicle of item E4, wherein the first moving pivot joint of the swing arm is positioned at a height lower than the fulcrum.

[0134] E6. The vehicle of any one of items E0 to E5, wherein the shock absorber is a gas shock absorber.

[0135] F0. A self-balancing electric vehicle, a wheel assembly including a wheel having an axle; a board including a frame having openings for receiving wheels, such that the board is tiltable about the wheels, and a first deck portion and a second deck portion of the board are each configured to receive a rider's left or right foot oriented generally parallel to the axis of rotation of the wheels; an electric hub motor configured to drive the wheel; a motor controller configured to receive attitude information indicative of an attitude of the board and cause the hub motor to propel the board based on the attitude information; a suspension system coupling an axle of the wheel assembly to the board such that the board can move up and down relative to the axle, the suspension system comprising: a swing arm forming a first type lever connected to the frame at a fulcrum; a rocker coupled to the board at a fixed pivot joint and including a first moving pivot joint spaced apart from a second moving pivot joint; a push rod connecting a first moving pivot joint of the rocker to the swing arm; a shock absorber connected between the fulcrum and the second moving pivot joint of the rocker; Including, a shock absorber disposed entirely beneath the first deck portion and configured to damp movement of the board relative to the axle; A suspension system; A vehicle equipped with:

[0136] F1. The vehicle of item F0, wherein the frame is coupled to the wheel assemblies only by the suspension system.

[0137] F2. The vehicle of any one of items F0 to F1, wherein the swing arm includes a cross member and at least one leg extending from the cross member.

[0138] F3. The vehicle of paragraph F2, wherein the swingarm is U-shaped.

[0139] F4. The vehicle of any one of items F0 to F3, wherein the first moving pivot joint of the rocker is disposed between the second moving pivot joint and the fixed pivot joint.

[0140] F5. The vehicle of item F4, wherein the push rod connects to the swingarm at a third moving pivot joint located at a height lower than the fulcrum.

[0141] F6. The vehicle according to any one of items F0 to F5, wherein the shock absorber is a gas shock absorber.

[0142] G0. A self-balancing electric vehicle, a wheel assembly including a wheel driven about an axle by a hub motor; a board including a frame having openings for receiving wheels such that the board is tiltable about the wheels, the first and second deck portions of the board being configured to receive a rider's left or right foot, respectively, oriented generally parallel to the axle; a motor controller configured to cause the hub motor to propel the board based on the board attitude information; 1. A suspension system comprising: a swing arm having a first end pivotally connected to the frame at a fulcrum and a second end fixed to the axle so that the board can move up and down relative to the axle; a rocker coupled to the board by a fixed pivot joint; A push rod that connects the rocker to the swingarm; a shock absorber configured to damp movement of the swing arm; a suspension system comprising: The entire shock absorber is disposed below the first deck portion. A suspension system; A vehicle equipped with:

[0143] G1. The vehicle of item G0, wherein the frame is coupled to the wheel assemblies only by the suspension system.

[0144] G2. The vehicle of any one of items G0 to G1, wherein the swing arm includes a cross member and at least one leg extending from the cross member.

[0145] G3. 10. The vehicle of claim G2, wherein the swingarm is U-shaped.

[0146] G4. the swing arm includes a first moving pivot joint; the rocker includes a second moving pivot joint spaced apart from the third moving pivot joint such that the second moving pivot joint of the rocker is disposed between the third moving pivot joint and the fixed pivot joint; The push rod is connected between the second moving pivot joint of the rocker and the first moving pivot joint of the swing arm, The shock absorber is connected between the fulcrum and the third moving pivot joint of the rocker, A vehicle described in any one of items G0 to G3.

[0147] G5. The vehicle of item G4, wherein the first moving pivot joint of the swing arm is positioned at a height lower than the fulcrum.

[0148] Advantages, Features, and Benefits The different embodiments and examples of suspension systems described herein offer several advantages over known solutions for providing suspension for unicycles. For example, the exemplary embodiments and examples described herein allow for finer adjustment of shock absorption characteristics.

[0149] Additionally, the illustrative embodiments and examples described herein enable a more robust load-bearing connection between the suspension system and the wheel assembly.

[0150] Additionally, the exemplary embodiments and examples described herein allow for full utilization of the footpad / deck without interference from portions of the suspension system that extend above or are located on the top surface of the board.

[0151] There are no known systems or devices that can perform these functions, however, not all embodiments and examples described herein provide the same or the same degree of benefits.

[0152] conclusion The above disclosure may encompass multiple separate examples having independent utility. While each of these is disclosed in its preferred form(s), the specific embodiments thereof as disclosed and illustrated herein are susceptible to numerous variations and should not be construed in a limiting sense. Section headings, to the extent used within this disclosure, are for organizational purposes only. The subject matter of this disclosure includes all novel and non-obvious combinations and combinations of the various elements, features, functions, and / or properties disclosed herein. The following claims particularly point out certain combinations and combinations that are deemed novel and non-obvious. Other combinations and combinations of features, functions, elements, and / or properties may be claimed in applications claiming priority from this or a related application. Such claims, whether broader, narrower, equal, or different than the scope of the original claims, are also deemed to be within the scope of the subject matter of this disclosure.

Claims

1. A self-balancing electric vehicle, a wheel having a rotation axis; a board including a frame having openings for receiving the wheels, such that the board is tiltable about the wheels, and a first deck portion and a second deck portion of the board are each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; an electric hub motor configured to drive the wheel; a motor controller configured to receive attitude information indicative of an attitude of the board and to cause the hub motor to propel the board based on the attitude information; 1. A suspension system comprising: a swing arm formed as a single piece, the swing arm connecting the wheel axle to the frame of the board such that the board is configured to move up and down relative to the axle; shock absorbers oriented transverse to the direction of travel of the board and coupled to the swing arm at each end by respective bell cranks, such that the shock absorbers are configured to damp up and down movement of the board relative to the axle; a suspension system including: A vehicle comprising: The shock absorber is disposed entirely below the first deck portion.

2. 2. The vehicle of claim 1, wherein the bell cranks are each coupled to the swing arm by a respective push rod.

3. The vehicle of claim 1 , wherein the swingarm cross member is pivotally connected to the frame.

4. 2. The vehicle of claim 1, wherein the swing arm legs are secured at their distal ends to respective ends of the axle.

5. 5. The vehicle of claim 4, wherein each leg of the swing arm forms a first class lever with a force applied at the axle and a load located on a push rod connecting the swing arm to the shock absorber.

6. 6. The vehicle of claim 5, wherein a cross member of the swing arm is pivotally coupled to the frame and forms a fulcrum of the first type of lever.

7. The vehicle of claim 1 , wherein the bell crank is disposed entirely below the first deck portion.

8. The vehicle of claim 1 , wherein the frame is coupled to the axle only by the suspension system.

9. 10. The vehicle of claim 1, wherein each of the bell cranks is coupled to the board at a respective fixed pivot joint.

10. 10. The vehicle of claim 9, wherein each of the bell cranks has a first moving pivot joint rotatably coupled to a respective end of the shock absorber and a second moving pivot joint rotatably coupled to a respective push rod, each push rod connecting the respective bell crank to the swing arm.

11. A self-balancing electric vehicle, a board including a frame, a first deck portion disposed at a first end of the frame, and a second deck portion disposed at a second end of the frame, the first and second deck portions each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; a wheel assembly including a single wheel rotatable about an axle, said wheel being disposed between and extending above and below said first and second deck portions; a motor assembly configured to rotate the wheels about the axles to propel the vehicle; a motor controller configured to receive board attitude information measured by at least one sensor and to cause the motor assembly to propel the vehicle based on the board attitude information; a suspension system coupling the wheel assembly to the board such that the board is configured to move up and down relative to the axle, the suspension system comprising: a swing arm pivotable about a fulcrum connected to the board, the swing arm including at least one leg connected to the axle; first bell cranks disposed across the width of the board from second bell cranks, each of the bell cranks (a) coupled to the board at a respective fixed pivot joint, (b) coupled to a shock absorber at a first moving pivot joint, and (c) coupled to a respective push rod at a second moving pivot joint, such that each of the bell cranks is connected to the swing arm by its respective push rod and the shock absorber is oriented transverse to the direction of travel; Including, the swing arm is coupled to the axle on an opposite side of the fulcrum for each of the respective push rods so that the swing arm forms a first type lever; A suspension system; A vehicle equipped with:

12. 12. The vehicle of claim 11, wherein the shock absorber is disposed entirely below the first deck portion.

13. 12. The vehicle of claim 11, wherein the fulcrum includes a cross member of the swing arm pivotally connected to the frame.

14. 12. The vehicle of claim 11, wherein the at least one leg of the swing arm includes a first leg and a second leg, the first and second legs being fixed at distal ends to respective ends of the axle.

15. 12. The vehicle of claim 11, wherein the bell crank is disposed entirely below the first deck portion.

16. 12. The vehicle of claim 11, wherein the frame is coupled to the axle only by the suspension system.

17. A self-balancing electric vehicle, a wheel driven about a rotation axis by a hub motor; a board including a frame having openings for receiving the wheels, such that the board is tiltable about the wheels, and a first deck portion and a second deck portion of the board are each configured to receive a rider's left or right foot oriented generally perpendicular to a direction of travel of the board; a motor controller configured to cause the hub motor to propel the board based on board attitude information; and 1. A suspension system comprising: a swing arm formed as a single piece, the swing arm connecting the wheel axle to the board frame so that the board can move up and down relative to the axle; shock absorbers oriented transverse to the direction of travel of the board and coupled to the swing arm at each end by respective bell cranks, such that the shock absorbers are configured to damp up and down movement of the board relative to the axle; a suspension system including: A vehicle comprising: The shock absorber is disposed entirely below the first deck portion.

18. 18. The vehicle of claim 17, wherein the bell cranks are each coupled to the swing arm by a respective push rod, a cross member of the swing arm is pivotally connected to the frame, and legs of the swing arm are fixed to ends of the axle.

19. 19. The vehicle of claim 18, wherein the swing arm forms a first type lever having a fulcrum at the cross member, and the push rod is located on the opposite side of the fulcrum from the axle.

20. 18. The vehicle of claim 17, wherein the frame is coupled to the axle only by the suspension system.

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