Ski controller device and method

Abstract

Drivetrain methods and devices. The method includes receiving, using a controller in operable connectivity with a pole structure, an input regarding operation of at least one of a first drivetrain or a second drivetrain, wherein each drivetrain is configured with a separate ski device; and directing, using the controller and based on the received input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.

Description

SKI CONTROLLER DEVICE AND METHODCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of and priority to co-pending United States provisional application, nos. 63 / 633,787 and 63 / 710,085, filed on April 14, 2024 and October 22, 2024, respectively, the entire disclosure of each of which is incorporated by reference as if set forth in their entirety herein.TECHNICAL FIELD

[0002] Embodiments described herein generally relate to transportation equipment and, more particularly but not exclusively, to ski devices and other devices for maneuvering in snowy or icy environments.BACKGROUND

[0003] Traditional ski devices tend to be bulky and otherwise awkward to transport or use over long distances. Their use requires a great deal of physical effort, which limits the number of people who can use them over long or flat distances.

[0004] Motorized skis have been developed in which traditional skis are fitted with a so- called “ski tow.” These devices are generally mounted to a portion of the ski and include a motor-driven belt attached to the ski. A track engages with snow for transporting the skier, and the skier’ s weight packs the snow or other type of ground surface so the track engages the snow and provides a forward thrust. However, these existing devices are large, complex, and bulky.

[0005] A need exists, therefore, for devices that overcome the disadvantages of existing motorized skis and techniques.SUMMARY

[0006] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description section. This summary is not intended to identify or exclude key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0007] In one aspect, embodiments relate to a motorized ski system. The system includes a first drivetrain configured with a first ski device; a second drivetrain configured with a second ski device; and q controller operably connectable with a pole structure and configured to receive an input regarding operation of at least one of the first drivetrain or the second drivetrainand direct, based on the input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.

[0008] In some embodiments, the controller directs the drivetrains to operate at identical or near-identical speeds.

[0009] In some embodiments, the input is from a single throttle.

[0010] In some embodiments, the controller is further configured to receive metrics data from the first drivetrain and from the second drivetrain, and determine, based on the metrics data, that at least one drivetrain is operating outside a specified use case, wherein the controller directs at least one of the drivetrains based on the determination that the at least one drivetrain is operating outside the specified use case. In some embodiments, the specified use case comprises at least one of a difference in speed between the drivetrains being within a first threshold, a difference in acceleration between the drivetrains being within a second threshold, or the at least one drivetrain being non-responsive to user input.

[0011] In some embodiments, wherein the input indicates that the first ski device and the second ski device are making a turning motion, and the controller is further configured to control output to the at least one of the drivetrains to control power output to their respective ski device such that the power output to the first drivetrain is greater than the power output to the second drivetrain.

[0012] In some embodiments, the input comprises a user input indicating a drive mode for the first drivetrain and the second drivetrain.

[0013] In some embodiments, the system further includes a display portion in operable connectivity with the controller and configured to display user data associated with the first drivetrain and the second drivetrain. In some embodiments, the user data comprises at least one of an expected battery range, a selected drive mode, a pairing status, or a current speed.

[0014] In some embodiments, the system further includes a force detection device or an orientation detection device in operable connectivity with at least one of the first drivetrain or the second drivetrain and configured to transmit a signal to at least one of the drivetrains based on a detected force or a detected orientation of associated with at least one of the drivetrains. In some embodiments, the at least one drivetrain is configured to deliver power to their respective ski device based on the signal. In some embodiments, the power delivery based on the signal occurs simultaneously or at least approximately simultaneously with the application of force or change in orientation.

[0015] According to another aspect, embodiments relate to a controller. The controller includes an interface configured to receive an input from at least one of a plurality of drivetrains, wherein each drivetrain is configured with a ski device; and at least one processor executing instructions stored on memory to direct, based on the input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.

[0016] In some embodiments, the at least one processor directs the drivetrains to operate at identical or near-identical speeds.

[0017] In some embodiments, the input is from a single throttle.

[0018] In some embodiments, the at least one processor is further configured to: receive metrics data from the drivetrains; and determine, based on the metrics data, that at least one drivetrain is operating outside a specified use case; wherein the at least one processor directs at least one of the drivetrains based on the determination that the at least one drivetrain is operating outside the specified use case.

[0019] In some embodiments, the input indicates that the first ski device and the second ski device are making a turning motion, and the controller is further configured to control output to the at least one of the drivetrains to control power output to their respective ski device such that the power output to the first drivetrain is greater than the power output to the second drivetrain.

[0020] In some embodiments, the interface is further configured to receive an input from user, wherein the user input indicates a drive mode for the drivetrains.

[0021] According to yet another aspect, embodiments relate to a method. The method includes receiving, using a controller in operable connectivity with a pole structure, an input regarding operation of at least one of a first drivetrain or a second drivetrain, wherein each drivetrain is configured with a separate ski device, and directing, using the controller and based on the received input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.BRIEF DESCRIPTION OF DRAWINGS

[0022] Non-limiting and non-exhaustive embodiments of this disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified.

[0023] FIG. 1 illustrates a system for operating a ski device in accordance with one embodiment;

[0024] FIG. 2 illustrates a pole in accordance with one embodiment;

[0025] FIG. 3 illustrates a cross-sectional view of the pole of FIG. 2 in accordance with one embodiment;

[0026] FIG. 4 illustrates a method of operating drivetrains in accordance with one embodiment; and

[0027] FIG. 5 depicts a flowchart of a method for operating a ski device in accordance with one embodiment.DETAILED DESCRIPTION

[0028] Various embodiments are described more fully below with reference to the accompanying drawings, which form a part hereof, and which show specific exemplary embodiments. However, the concepts of the present disclosure may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided as part of a thorough and complete disclosure, to fully convey the scope of the concepts, techniques and implementations of the present disclosure to those skilled in the art. Embodiments may be practiced as methods, systems or devices. Accordingly, embodiments may take the form of a hardware implementation, an entirely software implementation or an implementation combining software and hardware aspects. The following detailed description is, therefore, not to be taken in a limiting sense.

[0029] Reference in the specification to “one embodiment” or to “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiments is included in at least one example implementation or technique in accordance with the present disclosure. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment. The appearances of the phrase “in some embodiments” in various places in the specification are not necessarily all referring to the same embodiments.

[0030] Some portions of the description that follow are presented in terms of symbolic representations of operations on non-transient signals stored within a computer memory. These descriptions and representations are used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. Such operationstypically require physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical, magnetic or optical signals capable of being stored, transferred, combined, compared and otherwise manipulated. It is convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. Furthermore, it is also convenient at times, to refer to certain arrangements of steps requiring physical manipulations of physical quantities as modules or code devices, without loss of generality.

[0031] However, all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the following discussion, it is appreciated that throughout the description, discussions utilizing terms such as “processing” or “computing” or “calculating” or “determining” or “displaying” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system memories or registers or other such information storage, transmission or display devices. Portions of the present disclosure include processes and instructions that may be embodied in software, firmware or hardware, and when embodied in software, may be downloaded to reside on and be operated from different platforms used by a variety of operating systems.

[0032] The present disclosure also relates to an apparatus for performing the operations herein. This apparatus may be specially constructed for the required purposes, or it may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a computer readable storage medium, such as, but is not limited to, any type of disk including floppy disks, optical disks, CD-ROMs, magnetic-optical disks, read-only memories (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic or optical cards, application specific integrated circuits (ASICs), or any type of media suitable for storing electronic instructions, and each may be coupled to a computer system bus. Furthermore, the computers referred to in the specification may include a single processor or may be architectures employing multiple processor designs for increased computing capability.

[0033] The processes and displays presented herein are not inherently related to any particular computer or other apparatus. Various general-purpose systems may also be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform one or more method steps. The structure for a varietyof these systems is discussed in the description below. In addition, any particular programming language that is sufficient for achieving the techniques and implementations of the present disclosure may be used. A variety of programming languages may be used to implement the present disclosure as discussed herein.

[0034] In addition, the language used in the specification has been principally selected for readability and instructional purposes and may not have been selected to delineate or circumscribe the disclosed subject matter. Accordingly, the present disclosure is intended to be illustrative, and not limiting, of the scope of the concepts discussed herein.

[0035] The embodiments herein provide novel techniques and devices for controlling ski devices. In the context of the present application, “ski device” and variations thereof may refer to a ski of various sizes and types, such as cross-country skis, touring skis, racing skis, freestyle skis, carving skis, or any other type of ski device whether available now or invented hereafter. “Ski device” may also refer to other types of snow sporting equipment such as snowboards, snow skates, or any other type of device for maneuvering over or in snow-like or icy environments.

[0036] The ski devices described herein may include a drivetrain described herein may include an endless track configured to contact a ground surface below or otherwise adjacent to the ski device, and a propulsion device such as a motor to operate the endless track to at least propel the ski device. The drivetrain may be operational while propelling the ski device, and idle, braking, or regenerating energy to the battery such as during braking, when the ski device is not being propelled.

[0037] The drivetrains described herein may operate in a variety of environments. The surface or ground may be anything from a granular surface such as snow, dirt, mud, or sand, to a more rigid surface such as ice or any other terrain. As such, it has the potential for use on cross-country ski trails or snowmobile trails as well as other pathways.

[0038] The embodiments herein include a controller device, which may be configured with a structure such as a ski pole. The controller allows a user to provide an input regarding operation of the drivetrains such that the drivetrains of each ski device operate in a coordinated manner.

[0039] FIG. 1 illustrates a system 100 for operating a ski device in accordance with one embodiment. The system 100 includes a controller 102 and one or more drivetrains 104a, 104b in operable communication with the controller 102 over one or more networks 106. Eachdrivetrain 104a and 104b may be configured with a ski device to provide power to the respective ski device. For example, drivetrain 104a may be configured with a user’s left ski device, and drivetrain 104b may be configured with a user’s right ski device.

[0040] The controller 102 or components thereof may be configured with a handheld device such as a handle portion of a ski pole. The controller 102 may include components such as batteries or other power sources, microcontrollers, display modules, receivers, antennas, relays, transmitters, etc., which may be integrated into the ski pole.

[0041] One or more processors 108 of the controller 102 may execute instructions stored in memory 110 for analyzing data regarding a drivetrain’s operation. The processor(s) 108 may be any hardware device capable of executing instructions stored on memory 110 to analyze received data and accomplish the features of the described embodiments. The processor 108 may include a microprocessor, a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or other similar devices.

[0042] In some embodiments, such as those relying on one or more ASICs, the functionality described as being provided in part via software may instead be configured into the design of the ASICs and, as such, the associated software may be omitted.

[0043] The memory 110 may be LI, L2, L3 cache, or RAM memory configurations. The memory 110 may include non-volatile memory such as flash memory, EPROM, EEPROM, ROM, PROM, or volatile memory such as static or dynamic RAM. The exact configuration / type of memory 110 may of course vary as long as instructions for operating the drivetrains 104a and 104b can be performed by the controller 102.

[0044] The controller 102 may further include an interface 112 for receiving data such as instructions from a user and data from the drivetrain(s) 104a and 104b. The interface 112 may be configured in a variety of ways, which may depend on the configuration of the network(s) 106. The interface 112 may communicate and receive instructions or data through protocols such as Wi-Fi, Zigbee, BLUETOOTH®, infrared, ultra-wideband (UWB), Sigfox, Z-Wave, other EMF protocols, or any other type of protocol whether available now or invented hereafter.

[0045] An input / output (“I / O”) device 114 may be configured to receive inputs from a user and may provide data to the user. In some embodiments, the I / O device 114 may be configured with a screen portion. Regardless of whether the I / O device 114 includes a screen portion, the I / O device 114 may be configured to present data to the user such as via text, symbols, color- coded messages, haptic-based messages, light-based messages, sound-based messages, orsome combination thereof. These messages may relate to data regarding the drivetrains 104a and 104b such as speed, acceleration, velocity, drive mode, connection status, or the like.

[0046] In some embodiments, the I / O device 114 may comprise one or more lighting portions such as light emitting diodes (“LEDs”). In these embodiments, the LED(s) may provide data such as pairing status (e.g., whether the controller 102 is in wireless communication with the drivetrains 104a and 104b, whether the controller 102 is attempting to establish a connection, etc.), the drive mode, power level of any onboard batteries or power sources, warning messages, or the like. This data may be presented through, for example, lighting or flashing patterns or LEDs, the use of different colored LEDs, or the like.

[0047] In the case of using simple LEDs or a set of LEDs to indicate data, the LEDs may indicate range in some scenarios such as when the poles are idle or if throttle is being applied, and then switch to indicating drive modes by illuminating the LEDs in a different manner or color or activating a different LED for that specific display case. The case of displaying modes may be activated when the user is actively attempting to switch drive modes, and the display may continue to display those characteristics for a set period of time before transitioning to another display case. The transition may be triggered by a time variable or by a user input. The LEDs may also indicate other states for the controller 102 such as when the pairing mode is activated. This may be displayed using the available LEDs illuminating in a different manner such as flashing or sequential illumination or a change in color.

[0048] The I / O device 114 may display other data or states. These may include states of or data regarding calibration; firmware updates; software updates; connection to ski devices; errors or issues in the controller 102, ski devices, sensors, or other components; and / or connection to mobile apps. In the case where this LED group or set of LEDs is replaced with another display device such as an LCD, LED, OLED or other screen, some or all of the modes and states described above may have to be displayed clearly to the user, in which case the I / O device 114 will also have varying outputs depending on the state.

[0049] The I / O device 114 may also include a throttle to provide throttle functionality to the drivetrains 104a and 104b, discussed in more detail in conjunction with FIGS. 2 and 3 below. Pulling the throttle inward may cause the controller 102 to issue an instruction to one or both of the drivetrain(s) 104a and 104b to increase the power output.

[0050] The I / O device 114 may include one or more buttons to receive instructions from a user. For example, a user may press and hold a button for some duration of time (e.g., 10seconds) to initiate a pairing procedure between the controller 102 and the drivetrains 104a and 104b. Similarly, a user may press and hold one or more buttons to enter a particular drive mode. Additionally, an I / O device known as a “dead man switch” may help ensure user safety. In this case, a switch, button, pressure sensor, or other sensory device may be located in the grip of the controller or another location such that when the user inadvertently releases the controller from their hand or loses it in some other way, the sensory device detects that and powers down the system. Preventing a scenario where the drivetrain continues to run without an accessible controller.

[0051] The controller 102 may include or otherwise be in connectivity with sensor(s) 116 for gathering data regarding the environment in which the user is located, data regarding operational parameters of the drivetrains 104a and 104b, or some combination thereof. For example, in some embodiments the sensor(s) 116 may gather environment temperature, which may be suggest environment conditions. If the temperature is low, it may indicate the user is likely traveling on hard or icy surfaces. If the temperature is higher, it may indicate the user is traveling in softer or slushier conditions. These sensors may also be located separately from the controller and transmit data to the drivetrain directly where the system may combine controller data with the sensor data to create an output that combines both inputs.

[0052] The controller 102 may include one or more power sources 118. In some embodiments, the power source 118 may be a battery such as a lithium ion, lithium polymer, or another type of rechargeable battery. However, disposable batteries may also be used. In these embodiments, a charging port or a wireless charging system may be configured to receive energy from another source. Additionally or alternatively, solar panels or another type of charging system could be integrated into a ski pole so that the power source 118 can be charged passively. However, a battery pack may be removable such that it can be charged separate from the controller 102, and reconnected when it is ready for use.

[0053] Alternatively, a tubular section of ski pole may not be used for electronics storage to maximize the compatibility of the controller 102 with different ski poles. This may involve storing all electronics and components in or connected to the controller 102 or otherwise in the handle portion of a ski pole. A battery pack in this case may come in a variety of shapes to conform to the body of the handle portion. An additional feature of this configuration may be that the controller 102 may be modular with respect to the ski pole to allow it to be mounted and dismounted from the pole. This mounting may happen from a mechanical or electrical system. Some options may include magnetic or electromagnetic mounting, solenoids,threading, bolting, a bolt-action type system, a locking latch, slide rail, pin, or many other methods or techniques.

[0054] In some embodiments, cylindrical batteries may be used and may be stored in the pole or a cylindrical part of the handle portion. However, the battery(ies) may be located elsewhere within the handle portion, and other components may be held within the pole.

[0055] The processor(s) 108 may also be in communication with one or more data storages (not shown in FIG. 1). A data storage may also store data regarding, for example, characteristics associated with the user, user tendencies, historical data, MAC addresses or other identifying information of the drivetrains, data regarding the operation of the drivetrains 104a and 104b, or the like.

[0056] Drivetrain 104a may include one or more processors 120 executing instructions stored on memory 122. The processor(s) 120 and memory 122 may be configured similarly to the processor(s) 108 and memory 110, respectively, of the controller 102. The drivetrain 104a may further include an interface 124 for receiving instructions from the controller 102.

[0057] The drivetrain 104a or overall system 100 may further include various sensors such as a tilt detection device 126, a force detection device 128, or both, among others. Although not shown in FIG. 1, the embodiments herein may further include sensors such as accelerometers, potentiometers, gyroscopes, inclinometers, altimeters, magnetometers, pendulum tilt sensors, gravity -based tilt sensors, other tilt sensors or the like.

[0058] The tilt detection device 126 may include one or more gyroscope devices, for example, and may gather data indicating that a user is leaning in a certain way. Leaning may suggest the user is attempting to steer or otherwise shift their weight in a way to adjust the direction of one or more ski devices. Additionally, the tilt detection device 126 may detect forwards and backwards leaning as well as side-to-side leaning if mounted to a location where it can sense this lean of the user. This may allow the drivetrain to associate forwards leaning with a forward acceleration, and associate a backwards lean with braking or acceleration in a rearwards direction. A tilt detection device 126 may be configured with a drivetrain, ski or snowboard boots, clothing, user, battery pack, ski, binding, ski pole, or any combination of these parts. It may be an independent module mounted to one of the locations above with its own transmitter / receiver, power supply, processor, or memory, or make use of the existing capabilities of a drivetrain or controller 102. In some cases, multiple tilt detection devices 126may be placed on the user to collect data from multiple points such as both leg(s), boots, or both.

[0059] The force detection device 128 may include one or more pressure transducers positioned to detect when a user applies a force. For example, a user’s boot may include one or more pressure transducers to detect shifts in a user’s weight, wherein such shift(s) may indicate the user is attempting to steer in a certain direction, decelerate, or stop. The force detection device 128 may convert the sensed pressure into an electrical signal interpretable by the one or more processor(s) 108 or 120, which may communicate an instruction to the motor(s) 130. These additional sensor device(s) may be located anywhere on or around the pole, grip, skis, boots, drivetrain, battery pack, bindings, user, or in another location to allow accurate reading of user force or orientation. They may also be integrated into a standalone module or in a module with another device such as the tilt detection device 126.

[0060] In some embodiments, the motor(s) 130 of the drivetrains may be configured with a Hall effect sensor. Readings from the Hall effect sensor may be indicative of slippage or otherwise how well the track of the drivetrain is engaging the ground surface. If the processor(s) 120 detect slippage, the controller 102 or the processor(s) 120 of the drivetrain 104a or 104b may engage a traction control procedure to, for example, slow the speed of the slipping wheel.

[0061] The controller 102 may allow the drivetrains 104a and 104b to operate in one of multiple drive modes. This allows the drivetrains 104a and 104b to cater to a wider range of audiences from younger users who may want a more thrill-seeking user experience, or more mature users who may prefer using the ski devices for transportation or exercise.

[0062] In some embodiments, the controller 102 may be configured to execute a cruise control function. This function may be implemented to lock in a certain velocity to allow for simpler control of the ski devices while users are preoccupied with other activities such as technical climbing or pole placement.

[0063] The controller 102 may include a button or some type of input to initiate and cancel the usage of the cruise control function, and also a way for the user to set the velocity. For example, the I / O device 114 may allow a user to set the velocity and initiate an instruction regarding the cruise control function. The controller 102 may include a potentiometer to maintain a certain velocity and then either use a separate device from the existing buttons or switches or a different usage of an existing button such as a hold or multiple presses to lock inthe specified velocity. The velocity may then be maintained for a specific duration or until the user triggers the cancellation via the throttle, button, switch, release of the controller (e.g., release of the throttle), or other input.

[0064] There may be a variety of selectable drive modes. For example, a particular drive mode could rely on a sensor or actuation system to sync up the power delivery of the drivetrains 104a and 104b with the movements of the user. As another example, a particular drive mode may use the maximum amount of available power from the 104a and 104b. As yet another example, a particular drive mode may limit the output power of the drivetrains 104a and 104b so that the user can grow accustomed to the experience and reduce the risk of injury to themselves or others. As yet another example, a particular drive mode may use a locking feature to prevent inexperienced users from operating the drivetrains 104a and 104b at maximum power. This locking feature may be triggered based on software, sensors, actuators, or some combination thereof.

[0065] The processor(s) 120 may execute one or more calibration procedures to allow the drivetrain 104a to adapt to the varying characteristics of each user. For example, a calibration procedure may involve detecting how a user naturally pushes ski poles into the ground, and may set a “neutral” setting based on that specific user. A calibration procedure may also adjust the sensitivity of one or more sensor devices, or otherwise allow a user to set how drastic of an input is required to create movement of the drivetrain(s) 104a and b, and the magnitude of such movement. This may be particularly beneficial for uses with a low range of motion in their arms or shoulders, as they may be unable to quickly or drastically shift their weight. The calibration procedure may be performed locally or through an application or remotely- accessed portal.

[0066] Additionally, the controller 102 may be paired with another external sensory device to allow for advanced control of one or more ski devices. For example, the controller 102 may handle some aspects of information display, drive mode switching, emergency shut-off, pairing, and cruise control while the throttle or other functionality is controlled by a secondary sensor located separately from the handle. This could be a pad insertable into any ski boot or a sensor that would connect wirelessly or directly to the drivetrain and / or the pole controller. If done wirelessly, there would be a battery / electronic pack either embedded with the sensors or attached to the user's boot, pants, or other nearby structure.

[0067] Alternatively, the sensor(s) may also attach directly to the bindings, the ski itself, or a part of the user such as their boot. If on the boot, the sensor(s) may be inside of the boot or attached to the exterior. The sensor(s) may also be able to be placed into the user's pocket or clipped onto a strap. This could be a gyroscope or position sensor used to analyze the angle or position of the user relative to the skis, snowboard, sled, or ground beneath them. The goal in this case would be to detect tilt and accelerate in the direction of the tilt so that the user is always in control of the skis in a natural manner. The sensors, if implemented in a layered or single-layer insole pad or any other part that relies on contact, pressure, or applied force, may be piezoelectric sensors, pressure sensors, contact sensors, and / or electromagnetic sensors. The secondary controller may connect wirelessly or via a wired connection to the drivetrains 104a and 104b.

[0068] In the case of the wireless connection, a battery / electronic pack could be directly embedded into the secondary controller or be linked by wiring and attached to the user or ski device. In the case of the wired connection, the secondary controller could be directly connected to the drivetrain of a ski device such that the power is supplied from the power source of the associated drivetrain.

[0069] The processor(s) 108, processor(s) 120, or some combination thereof may communicate control signals to the one or more motors 130 of the drivetrain 104a. For example, a signal may instruct a motor 130 to operate at a higher acceleration or velocity.

[0070] The drivetrain 104b may be configured similarly to and have the same types of components as drivetrain 104a. However, the control outputs provided to the respective motors may be different. In other words, the disclosed embodiments recognize that the output of the respective motors (i.e., their velocity, acceleration, voltage, current, duty cycle, etc.), may at times need to be different in order for the drivetrains 104a and 104b to operate in a coordinated manner. For example, if a user is shifting their weight in a way that suggests they are trying to steer left, it may require that the drivetrain associated with the user’s right ski device operates at a higher acceleration or velocity than the drivetrain associated with the user’s left ski device.

[0071] As another example, the surfaces on which a user’s right ski device and left ski device is traveling may be different. For example, if a left ski device is traveling on a surface that is more slippery than the surface on which the right ski device is traveling, the motor of the drivetrain associated with the left ski device may need to operate slower or in a morecontrolled manner than the motor of the other drivetrain. In other words, a drivetrain may need to operate differently from the other for the drivetrains to operate in a coordinated manner.

[0072] FIG. 2 illustrates a pole 200 such as a ski pole in accordance with one embodiment. The pole 200 may include a shaft portion 202 and a handle portion 204. The shaft portion 202, the handle portion 204, or both, may be at least partially hollow so that the required electronics or other components can be placed therein. The various components described in conjunction with FIG. 1 may be integrated into the interior or exterior of the shaft portion 202, handle portion 204, or some hybrid placement thereof.

[0073] The handle portion 204 may further include a display portion 206, one or more buttons or control dials 208 (for simplicity, “buttons”), and a throttle 210. The handle portion 204 may be ergonomically designed such that a user can engage the grip while leaving their thumb and / or one or more fingers able to operate any dials, buttons, sliders, throttle, etc. Alternatively, electronics or other components may be incorporated into a sleeve or attachment integrated into a traditional pole so that the user can adapt the ski pole into a controller to accomplish the features of the described embodiments.

[0074] The shaft portion 202 may be made from one or more of a variety of materials. These materials may include, but are not limited to, steel, aluminum, brass, titanium, magnesium, some type of alloy, or the like. Alternatively, composites such as fiberglass, carbon fiber-reinforced plastic, or natural fiber composites such as flax may be used.

[0075] In some embodiments, the cylindrical section of the shaft portion 202 may be adjustable in length. Length adjustment may be achieved using a latch system, a ratcheting part, a pin, a telescoping shaft, a screw, or some other mechanisms whether available now or invented hereafter.

[0076] Although not shown in FIG. 2, the lower portion of the pole 200 may include a basket portion. The basket portion may be created in a similar way to the grip portion with a single portion or a combination of several materials. For example, the basket portion may be made of a semi-flexible material such as plastic so that it maintains high impact and abrasion resistance. Alternatively, the basket portion may be made of a composite or metal to maximize structural strength.

[0077] The handle portion 204 may be a single or multi-part component. The handle portion 204 may be made from one or more of a variety of natural or synthetic materials. These materials may include, but are not limited to, wood, cork, rubber, or plastic.

[0078] The display portion 206 may present data to a user and may be configured in a variety of ways. For example, the display portion 206 may refer to an aspect of the I / O device 114 of FIG. 1, and may be configured as or include LEDS, a screen portion, touchpad, buttons, speaker, or some combination thereof. The display portion 206 may be configured to present data to the user regarding power level, operational state, speed, acceleration, pairing status, etc.

[0079] The button(s) 208 may allow a user to adjust one or more parameters regarding operation of the controller or drivetrain(s). For example, the user may use a control dial to control the information presented on the display portion 206, scroll through drive modes, etc.

[0080] The one or more buttons 208 may allow a user to provide an input such as a confirmation. For example, engaging a button 208 may allow a user to enter a particular drive mode in response to the drive mode being proposed on the display portion 206.

[0081] The display portion 206 may be located at the top of the handle portion 204 or any other location such that the user can gauge the presented information or data at a glance. This includes any location on the handle portion 204 body including the sides, back, or bottom. Additionally or alternatively, the information could be displayed on some other external mobile device such as a watch or phone via a direct wired or wireless connection or through a server. A display system may not be required, though.

[0082] In some instances, there may be data, a dataset, modes, states, or other information that should be displayed to the user or to technicians. However, this type of data may not be critical enough to display on the controller 102 itself, so the data may be stored locally on the controller 102, drivetrains, or another local device such as a mobile device or a cloud storage for later viewing. This set of data may then be displayed on a mobile app or external device when the user or technician is reviewing the data. For example, data such as the top speed over a certain period of time, the miles travelled, efficiency, traction, problematic events, errors, software updates, usage time, and / or other sensor-collected data may be displayed to the viewer via an external device on an app, portal, or other software interface.

[0001] Referring back to FIG. 2, the throttle 210 may be configured in a variety of ways. The embodiment of FIG. 2 illustrates the throttle 210 as a scroll wheel. In operation, a user may engage the throttle 210 by rotating the scroll wheel clockwise, and a potentiometer or another internal electronic device may detect the rolling and convert that to instruction to increase output of one or more of the motors of the drivetrains. In some embodiments, the throttle 210 may be configured as a trigger device. Alternatively, the throttle 210 may be areverse actuated trigger where the user extends a finger to provide an instruction. These devices may have springs or other mechanisms to mechanically or electronically reset their position to prevent unwanted acceleration. Alternatively, there may be a secondary device such as a switch or button that detects the release of the throttle and cuts the power output of the drivetrains. In this case, it may not be necessary to add a resetting mechanism to the throttle. In an application in which rapid and smooth acceleration is not required, the throttle may also be a button, set of buttons, a self-resetting or momentary rocker switch, or another similar electronic device to effectively hold that a particular velocity without the user needing to keep their hand on the throttle switch or button.

[0002] FIG. 3 illustrates an interior view of the pole 200 of FIG. 2 in accordance with one embodiment. Specifically, FIG. 3 illustrates the interior of the handle portion 204 in accordance with one embodiment. The throttle 210 may be in operable connectivity with a powertrain modulator 302 in communication with a circuit board 304. The circuit board 304 may store any required electronics such as the processor(s) 108 of FIG. 1, interface 112, or the like. The circuit board 304 or handle portion may include any required batteries, microcontrollers, antennas, relays, or transmitters. For example, FIG. 3 also illustrates a battery 306.

[0003] Activating the throttle 210 sends a communication interpretable by circuit board 304 (or devices thereon such as the processor(s) 108) to increase speed, velocity, acceleration, etc. (for simplicity, “velocity”). As discussed above, an instruction to increase or decrease velocity (such as by at least partially engaging or releasing the throttle) may cause the drivetrains operate in a coordinated manner.

[0004] In some embodiments, “coordinated manner” may refer to operating both drivetrains at the same velocity, RPM, current, voltage, torque, or duty cycle (for simplicity, “velocity"). In other embodiments, however, operating the drivetrains in a “coordinated manner” may refer to operating the drivetrains at approximately the same velocity. This may refer to operating the drivetrains at the same velocity within some threshold difference. This threshold may be expressed in terms of a percentage difference of velocity, an actual difference of velocity, a percentage, ratio, actual, or other difference in revolutions per minute (RPM), current, voltage, duty cycle, power, torque, acceleration of motors of the drivetrains, or the like.

[0005] Accommodating for some threshold difference allows the embodiments herein to account for different operational parameters or requirements of each drivetrain. For example,one of the drivetrains may travel over a surface with a different density, texture, or otherwise with different properties than the surface on which the other drivetrain is traveling. In order for the drivetrains to provide the user with an at least somewhat uniform velocity and experience, the drivetrains may need to operate at somewhat different velocities.

[0006] As discussed previously, steering motions may require one drivetrain to operate at a greater velocity than the other. If the user is attempting to steer left, it may require that the drivetrain associated with the user’s right ski device travels at a slightly faster velocity than the drivetrain associated with the user’s left ski device.

[0007] The tolerated difference between velocities of the drivetrains may depend on the drive mode, the characteristics of the user, the type of terrain on which the user is traveling, or some combination thereof.

[0008] FIG. 4 illustrates a method 400 of operating the drivetrain(s) in accordance with one embodiment. The method 400 involves steps or actions taken with respect to the controller 102 and drivetrains 104a and 104b of FIG. 1.

[0009] Step 402 involves checking safety protocols and reading any user input at the controller 102. This may refer to data provided by a user, such as a desired drive mode. It may also involve checking whether either drivetrain is unresponsive or operating outside of specified thresholds.

[0010] Step 404 involves determining target velocity or rpm for each drivetrain 104a and 104b. This may be based on a current velocity of the user, input from the throttle, set values or inputs from external or internal sensors or devices, as well as the drive mode.

[0011] Step 406 involves providing the input values of the controller 102 to the drivetrains, and checking any applicable safety protocols. For example, these protocols may check or otherwise confirm that neither drivetrain operates out of a specified use case deemed dangerous or at least potentially damaging to one or both of the drivetrains. This step may check whether a drivetrain is exceeding specified threshold velocities, whether the velocity of the two drivetrains differs by an unsafe amount, whether one of the drivetrains continues to operate while only one drivetrain is connected to the controller 104, whether one of the drivetrains continues to operate after a drivetrain has stopped responding, or whether one drivetrain accelerates significantly slower than the other. Depending on the particular case, the controller 102 may need to accelerate or decelerate one drivetrain more than the other, stop bothdrivetrains, continue with operation based on applicable safety limits, etc. Any of the checks done in step 406 may also be performed in step 402 on the controller side.

[0012] Other safety protocols may be implemented on hardware or in software connected to the drivetrains. For example, the drivetrains may include processing hardware connected to electronic stability control (ESC) components through connections such as UART, CAN, I2C, or the like. These controls may include stopping a motor during disconnects, throttling velocity as the maximum velocity is reached, or releasing a brake during coasting. In conjunction with protocols implemented by the controller 102, these protocols implemented by one or both of the drivetrains 104a, b may provide a robust method for the safe and responsive operation of the ski devices.

[0013] If the safety protocols fail, in step 408 a drivetrain may stop or modulate the velocity of the respective motor in accordance with one of the above techniques. If the safety protocols pass, the processor 120 of the drivetrain may in step 410 convert an input into a motor output value for its respective motor. In step 412, the motor of the drivetrain may run at the value specified in step 410.

[0014] Step 414 may involve providing, from the drivetrain(s) 104a and 104b, velocity data to the controller 102. This data may be communicated in at least substantially real time.

[0015] Step 416 involves executing a feedback control protocol at the controller 102. The feedback control protocol may ensure the operational velocities of the drivetrains do not differ by more than a specified range or amount. The processor(s) 108 may execute the feedback control protocol(s), and modulate outputs to each drivetrain. The modulated outputs may relate to or otherwise be based on input provided by the user, requested velocity, reported velocity of each drivetrain, or other data gathered by sensors configured with the controller or the drivetrains. The feedback control protocol may take this data into account before calculating the necessary output to send to each drivetrain 104a, b, to achieve the desired velocity despite environmental or physical changes. The feedback control protocol may therefore allow for two motors - each associated with a drivetrain - to operate at near-identical velocities while being controlled by a single throttle.

[0016] Step 418 involves calculating the inputs for each drivetrain. Although only drivetrain 104a is shown in FIG. 4, the controller may 104b may also be in communication with drivetrain 104b. Accordingly, the controller 102 may control two drivetrains and more particularly, two motors from a single input. This is contrast to existing control systems, whichtypically modulate and coordinate the speed of multiple motors by using two separate throttles - one for each motor or by hardwiring the motors or motor controllers together.

[0017] Additionally, a database 826 may store data regarding user preferences, the user’s equipment, or the like. For example, a user may input via the I / O device 820, a mobile app, or portal, data regarding the type of track they are using, the time and date they last replaced the track, the user’s weight, etc. The processor(s) 806 may leverage this data, along with data regarding the power level of the battery 814, usage level of the ski device 802 and components thereof, expected lifetime of components of the ski device 802, or the like, in controlling the propulsion device 810.

[0018] The methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For instance, in alternative configurations, the methods may be performed in an order different from that described, and that various steps may be added, omitted, or combined. Also, features described with respect to certain configurations may be combined in various other configurations. Different aspects and elements of the configurations may be combined in a similar manner. Also, technology evolves and, thus, many of the elements are examples and do not limit the scope of the disclosure or claims.

[0019] Embodiments of the present disclosure, for example, are described above with reference to block diagrams and / or operational illustrations of methods, systems, and computer program products according to embodiments of the present disclosure. For example, two blocks shown in succession may in fact be executed substantially concurrent or the blocks may sometimes be executed in the reverse order, depending upon the functionality / acts involved. Additionally, or alternatively, not all of the blocks shown in any diagram need to be included and / or executed. For example, if a given flowchart has five blocks containing functions / acts, it may be the case that only three of the five blocks are performed and / or executed. In this example, any of the three of the five blocks may be performed and / or executed.

[0020] A statement that a value exceeds (or is more than) a first threshold value is equivalent to a statement that the value meets or exceeds a second threshold value that is slightly greater than the first threshold value, e.g., the second threshold value being one value higher than the first threshold value in the resolution of a relevant system. A statement that a value is less than (or is within) a first threshold value is equivalent to a statement that the value is less than or equal to a second threshold value that is slightly lower than the first thresholdvalue, e.g., the second threshold value being one value lower than the first threshold value in the resolution of the relevant system.

[0021] Specific details are given in the description to provide a thorough understanding of example configurations (including implementations). However, configurations may be practiced without these specific details. For example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configurations of the claims. Rather, the preceding description of the configurations will provide those skilled in the art with an enabling description for implementing described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.

[0022] Having described several example configurations, various modifications, alternative constructions, and equivalents may be used without departing from the spirit of the disclosure. For example, the above elements may be components of a larger system, wherein other rules may take precedence over or otherwise modify the application of various implementations or techniques of the present disclosure. Also, a number of steps may be undertaken before, during, or after the above elements are considered.

[0023] Having been provided with the description and illustration of the present application, one skilled in the art may envision variations, modifications, and alternate embodiments falling within the general inventive concept discussed in this application that do not depart from the scope of the following claims.

Claims

CLAIMSWhat is claimed is:

1. A motorized ski system comprising: a first drivetrain configured with a first ski device; a second drivetrain configured with a second ski device; and a controller operably connectable with a pole structure and configured to: receive an input regarding operation of at least one of the first drivetrain or the second drivetrain, and direct, based on the input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.

2. The system of claim 1, wherein the controller directs the drivetrains to operate at identical or near-identical speeds.

3. The system of claim 1, wherein the input is from a single throttle.

4. The system of claim 1, wherein the controller is further configured to: receive metrics data from the first drivetrain and from the second drivetrain; and determine, based on the metrics data, that at least one drivetrain is operating outside a specified use case; wherein the controller directs at least one of the drivetrains based on the determination that the at least one drivetrain is operating outside the specified use case.

5. The system of claim 4, wherein the specified use case comprises at least one of a difference in speed between the drivetrains being within a first threshold, a difference in acceleration between the drivetrains being within a second threshold, or the at least one drivetrain being non-responsive to user input.

6. The system of claim 1, wherein the input indicates that the first ski device and the second ski device are making a turning motion, and the controller is further configured to control output to the at least one of the drivetrains to control power output to their respectiveski device such that the power output to the first drivetrain is greater than the power output to the second drivetrain.

7. The system of claim 1, wherein the input comprises a user input indicating a drive mode for the first drivetrain and the second drivetrain.

8. The system of claim 1, further comprising a display portion in operable connectivity with the controller and configured to display user data associated with the first drivetrain and the second drivetrain.

9. The system of claim 8, wherein the user data comprises at least one of an expected battery range, a selected drive mode, a pairing status, or a current speed.

10. The system of claim 1, further comprising a force detection device or an orientation detection device in operable connectivity with at least one of the first drivetrain or the second drivetrain and configured to: transmit a signal to at least one of the drivetrains based on a detected force or a detected orientation of associated with at least one of the drivetrains.

11. The system of claim 10, wherein the at least one drivetrain is configured to deliver power to their respective ski device based on the signal.

12. The system of claim 11, wherein the power delivery based on the signal occurs simultaneously or at least approximately simultaneously with the application of force or change in orientation.

13. A controller comprising: an interface configured to receive an input from at least one of a plurality of drivetrains, wherein each drivetrain is configured with a ski device; and at least one processor executing instructions stored on memory to direct, based on the input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.

14. The controller of claim 13, wherein the at least one processor directs the drivetrains to operate at identical or near-identical speeds.

15. The controller of claim 13, wherein the input is from a single throttle.

16. The controller of claim 13, wherein the at least one processor is further configured to: receive metrics data from the drivetrains; and determine, based on the metrics data, that at least one drivetrain is operating outside a specified use case; wherein the at least one processor directs at least one of the drivetrains based on the determination that the at least one drivetrain is operating outside the specified use case.

17. The controller of claim 13, wherein the input indicates that the first ski device and the second ski device are making a turning motion, and the controller is further configured to control output to the at least one of the drivetrains to control power output to their respective ski device such that the power output to the first drivetrain is greater than the power output to the second drivetrain.

18. The controller of claim 13, wherein the interface is further configured to receive an input from user, wherein the user input indicates a drive mode for the drivetrains.

19. A method comprising: receiving, using a controller in operable connectivity with a pole structure, an input regarding operation of at least one of a first drivetrain or a second drivetrain, wherein each drivetrain is configured with a separate ski device; and directing, using the controller and based on the received input, at least one of the drivetrains to control power output to their respective ski device to operate the drivetrains in a coordinated manner.

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