# US 10,611,261 B2 · Vehicle controlled by remote controller and posture > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,611,261 B2 - Document ID: US10611261B2 - Status: Granted - Kind: B2 - Application number: 15/982,600 - Filed: 2018-05-17 - Published: 2018-09-20 - Granted: 2020-04-07 - Earliest claimed: 2016-04-19 - Assignees: Walnut Technology Limited - Applicants: Walnut Technology Limited - Inventors: Yik Hang Pang - Web page: https://patentgrep.com/patent/US10611261B2 ## CPC - B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles} - A63C 17/011: {with steering mechanisms} - A63C 17/02: with wheels arranged in two pairs {(for skateboards A63C17/015)} - A63C 17/12: with driving mechanisms - A63C 17/012: {with a truck, i.e. with steering mechanism comprising an inclined geometrical axis to convert lateral tilting of the board in steering of the wheel axis} - A63C 17/015: {with wheels arranged in two pairs} - A63C 2203/12: Electrically powered or heated - B60L 2200/24: Personal mobility vehicles - B60L 2240/12: Speed - B60L 2240/14: Acceleration - B60L 2240/32: Driving direction - B60L 2240/423: Torque - B60L 2250/00: Driver interactions - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - A63C: SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE (water skis B63B32/00, B63B34/00) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract Embodiments of the disclosure provide an electric vehicle and a method for controlling the electric vehicle. The electric vehicle includes at least one electric motorized wheel to drive the electric vehicle; a pressure sensor module configured to detect pressure on the electric vehicle; a communication interface configured to receive remote instructions from a remote controller; and a central controller configured to operate the at least one electric motorized wheel in a control mode based on at least one of the received remote instructions and the pressure. ## Claims ### Claim 1 An electric vehicle, comprising: at least one electric motorized wheel to drive the electric vehicle; a pressure sensor module configured to detect pressure on the electric vehicle; a communication interface configured to receive remote instructions from a remote controller, wherein the remote controller comprises a gyroscope configured to detect an attitude of the remote controller; and a central controller configured to operate the at least one electric motorized wheel in a control mode based on at least one of the received remote instructions and the pressure, wherein the control mode includes at least one of a posture control mode and a remote control mode, and in the remote control mode, the central controller is further configured to: determine whether a heartbeat signal is received from the remote controller within a predetermined period; and in response to failing to receive the heartbeat signal within the predetermined period, switch from the remote control mode to the posture control mode. ### Claim 2 (depends on 1) The electric vehicle of claim 1, wherein the central controller is further configured to: in response to the detected pressure being greater than a predetermined value, determine a type of the pressure, wherein the type of the pressure includes at least one of a foot type, a feet type, and a cargo type. ### Claim 3 (depends on 2) The electric vehicle of claim 2, wherein, the central controller is further configured to: determine a distribution of the pressure on the electric vehicle; in response to the distribution being uneven across a first set of areas on the electric vehicle, determine the type of the pressure as the foot type; in response to the distribution being non-continuous and uneven across a second set of areas on the electric vehicle, determine the type of the pressure as the feet type; and in response to the distribution being continuous and even across a third set of areas on the electric vehicle, determine the type of the pressure as the cargo type. ### Claim 4 (depends on 3) The electric vehicle of claim 3, wherein the remote instructions include an instruction for selecting the posture control mode and an instruction for selecting the remote control mode, and the central controller is further configured to: in response to receiving the instruction for selecting the posture control mode, operate the at least one electric motorized wheel in the posture control mode; and in response to receiving the instruction for selecting the remote control mode, operate the at least one electric motorized wheel in the remote control mode. ### Claim 5 (depends on 3) The electric vehicle of claim 3, wherein, in the posture control mode, the central controller is further configured to: determine pressure indication of a user based on the detected pressure, wherein the pressure indication includes at least one of forward, backward, left, and right; accelerate the at least one electric motorized wheel to move the electric vehicle forward, in response to the pressure indication being forward; decelerate the at least one electric motorized wheel to slow down the electric vehicle, in response to the pressure indication being backward; adjust speed of the at least one electric motorized wheel to cause the electric vehicle to turn left, in response to the pressure indication being left; and adjust speed of the at least one electric motorized wheel to cause the electric vehicle to turn right, in response to the pressure indication being right. ### Claim 6 (depends on 5) The electric vehicle of claim 5, wherein the central controller is further configured to: when the electric vehicle is switched from the remote control mode to the posture control mode, determine a current posture as a reference; and determine the pressure indication of a user based on the detected pressure and the reference in the posture control mode. ### Claim 7 (depends on 5) The electric vehicle of claim 5, wherein the at least one electric motorized wheel includes a left wheel and a right wheel, and the central controller is further configured to: in response to the pressure indication being left, cause speed of the left wheel to be faster than speed of the right wheel; and in response to the pressure indication being right, cause the speed of the right wheel to be faster than the speed of the left wheel. ### Claim 8 (depends on 3) The electric vehicle of claim 3, wherein, in the remote control mode, the central controller is further configured to: in response to the type of pressure being the feet type or the cargo type, activate the at least one electric motorized wheel to operate according to the received remote instructions. ### Claim 9 (depends on 8) The electric vehicle of claim 8, wherein the central controller is further configured to: in response to the type of pressure being the feet type, slow down and stop the electric vehicle according to a remote instruction for moving back the electric vehicle; and in response to the type of the pressure being the cargo type, allow the electric vehicle to move backward according to the remote instruction for moving back the electric vehicle. ### Claim 10 (depends on 8) The electric vehicle of claim 8, wherein, in the remote control mode, the central controller is further configured to: in response to the pressure becoming lower than the predetermined value, slow down and stop the electric vehicle. ### Claim 11 (depends on 1) The electric vehicle of claim 1, wherein, in the remote control mode, the central controller is further configured to: accelerate the at least one electric motorized wheel to move the electric vehicle forward, in response to the attitude being leaning forward; decelerate the at least one electric motorized wheel to slow down the electric vehicle, in response to the attitude being leaning backward; adjust speed of the at least one electric motorized wheel to cause the electric vehicle to turn left, in response to the attitude being leaning left; and adjust speed of the at least one electric motorized wheel to cause the electric vehicle to turn right, in response to the attitude being leaning right. ### Claim 12 (depends on 1) The electric vehicle of claim 1, wherein the remote controller comprises a display interface, wherein the display interface includes a slide bar for adjusting a maximum speed of the electric vehicle. ### Claim 13 A method for controlling an electric vehicle including at least one electric motorized wheel, comprising: detecting pressure on the electric vehicle; receiving remote instructions from a remote controller, wherein the remote controller comprises a gyroscope configured to detect an attitude of the remote controller; and operating the at least one electric motorized wheel in a control mode based on at least one of the received remote instructions and the pressure, wherein the control mode includes at least one of a posture control mode and a remote control mode, and in the remote control mode, the method further comprises: determining whether a heartbeat signal is received from the remote controller within a predetermined period; and in response to failing to receive the heartbeat signal within the predetermined period, switching from the remote control mode to the posture control mode. ### Claim 14 (depends on 13) The method of claim 13, further comprising: in response to the detected pressure being greater than a predetermined value, determining a type of the pressure, wherein the type of the pressure is at least one of a foot type, a feet type, and a cargo type. ### Claim 15 (depends on 14) The method of claim 14, further comprising: determining a distribution of the pressure on the electric vehicle; in response to the distribution being uneven across a first set of areas on the electric vehicle, determining the type of the pressure as the foot type; in response to the distribution being non-continuous and uneven across a second set of areas on the electric vehicle, determining the type of the pressure as the feet type; and in response to the distribution being continuous and even across a third of areas on the electric vehicle, determining the type of the pressure as the cargo type. ### Claim 16 (depends on 15) The method of claim 15, wherein the remote instructions include an instruction for selecting the posture control mode and an instruction for selecting the remote control mode, and the method further comprises: in response to receiving the instruction for selecting the posture control mode, operating the at least one electric motorized wheel in the posture control mode; and in response to receiving the instruction for selecting the remote control mode, operating the at least one electric motorized wheel in the remote control mode. ### Claim 17 (depends on 15) The method of claim 15, wherein, in the posture control mode, the method further comprises: determining pressure indication of a user based on the detected pressure, wherein the pressure indication includes at least one of forward, backward, left, and right; accelerating the at least one electric motorized wheel to move the electric vehicle forward, in response to the pressure indication being forward; decelerating the at least one electric motorized wheel to slow down the electric vehicle, in response to the pressure indication being backward; adjusting speed of the at least one electric motorized wheel to cause the electric vehicle to turn left, in response to the pressure indication being left; and adjusting speed of the at least one electric motorized wheel to cause the electric vehicle to turn right, in response to the pressure indication being right. ### Claim 18 (depends on 17) The method of claim 17, further comprising: when the electric vehicle is switched from the remote control mode to the posture control mode, determining a current posture as a reference; and determining the pressure indication of a user based on the detected pressure and the reference in the posture control mode. ### Claim 19 (depends on 17) The method of claim 17, wherein the at least one electric motorized wheel includes a left wheel and a right wheel, and the method further comprises: in response to the pressure indication being left, causing the speed of the left wheel to be faster than the speed of the right wheel; and in response to the pressure indication being right, causing the speed of the right wheel to be faster than the speed of the left wheel. ### Claim 20 (depends on 15) The method of claim 15, further comprising: detecting an attitude of the remote controller. ### Claim 21 (depends on 20) The method of claim 20, wherein, in the remote control mode, the method further comprises: accelerating the at least one electric motorized wheel to move the electric vehicle forward, in response to the attitude being leaning forward; decelerating the at least one electric motorized wheel to slow down the electric vehicle, in response to the attitude being leaning backward; adjusting speed of the at least one electric motorized wheel to cause the electric vehicle to turn left, in response to the attitude being leaning left; and adjusting speed of the at least one electric motorized wheel to cause the electric vehicle to turn right, in response to the attitude being leaning right. ### Claim 22 (depends on 15) The method of claim 15, wherein, in the remote control mode, the method further comprises: in response to both feet of the user being on the electric vehicle, activating the at least one electric motorized wheel to operate according to the received remote instructions. ### Claim 23 (depends on 22) The method of claim 22, further comprising: in response to the type of pressure being the foot type, slowing down and stopping the electric vehicle according to a remote instruction for moving back the electric vehicle; and in response to the type of pressure being the cargo type, allowing the electric vehicle to move backward according to the remote instruction for moving back the electric vehicle. ### Claim 24 (depends on 22) The method of claim 22, wherein, in the remote control mode, the method further comprises: in response to the pressure becoming lower than the predetermined value, slowing down and stopping the electric vehicle. ### Claim 25 A non-transitory computer-readable medium that stores a set of instructions, when executed by at least one processor of an electronic device, cause the electronic device to perform a method for controlling an electric vehicle including at least one electric motorized wheel, the method comprising: detecting pressure on the electric vehicle; receiving remote instructions from a remote controller, wherein the remote controller comprises a gyroscope configured to detect an attitude of the remote controller; and operating the at least one electric motorized wheel in a control mode based on at least one of the received remote instructions and the pressure, wherein the control mode includes at least one of a posture control mode and a remote control mode, and in the remote control mode, the method further comprises: determining whether a heartbeat signal is received from the remote controller within a predetermined period; and in response to failing to receive the heartbeat signal within the predetermined period, switching from the remote control mode to the posture control mode.