# US 10,870,359 B2 · Auto-balancing vehicle with independent wheel control

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,870,359 B2
- Document ID: US10870359B2
- Status: Granted
- Kind: B2
- Application number: 15/902,380
- Filed: 2018-02-22
- Published: 2018-09-13
- Granted: 2020-12-22
- Earliest claimed: 2017-03-09
- Applicants: Shane Chen
- Inventors: Shane Chen
- Web page: https://patentgrep.com/patent/US10870359B2

## CPC

- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles}
- B62J 25/04: Floor-type foot rests
- B60L 2200/16: Single-axle vehicles
- B60L 2220/42: with use of more than one motor
- B60L 2220/44: Wheel Hub motors, i.e. integrated in the wheel hub
- B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel
- B60L 2240/16: longitudinal
- B60L 2240/20: angular
- B60L 2240/461: Speed
- B62K 2015/003: {having a foldable crank or pedal}
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- 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
- B62J: CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

An auto-balancing transportation device having first and second wheels that are independently drivable. The device includes foot platforms, a control circuit and sensors. Device control is preferably achieved through the position or weight distribution of a rider's feet. The wheels may be arranged in parallel or non-parallel and the foot platforms may be located on the interior are exterior side of the wheels. The wheels may be coupled to one another in a manner that affords tilting, thereby increasing stability when executing a turn, among other benefits. Various embodiments and features are disclosed.

## Claims

### Claim 1

An auto-balancing transportation device comprising:
a first wheel, a first foot platform associated with the first wheel, a first sensor, and a first drive motor that drives the first wheel;
a second wheel, a second foot platform associated with the second wheel, a second sensor, and a second drive motor that drives the second wheel;
a control circuit that drives the first drive motor towards auto-balancing the first foot platform based on data from the first sensor and that drives the second drive motor towards auto-balancing the second foot platform based on data from the second sensor; and
a coupling structure that couples the first wheel to the second wheel in such a manner that the first and second foot platforms rotate in fore-aft relative to one another;
wherein the first foot platform is located laterally exterior of the first wheel and the second foot platform is located laterally exterior of the second wheel, such that the first and second wheels are centrally located and the first and second foot platforms are distally located;
wherein the coupling structure affords lateral tilting of the first and second wheels while the first and second wheels each maintain contact with a horizontal surface; and
wherein the coupling structure includes support members coupled between the first and second wheels that are sufficiently flexible to afford fore-aft rotational movement of the foot platforms relative to one another.

### Claim 2 (depends on 1)

The device of claim 1, wherein at least one of the first and second sensors is a position sensor.

### Claim 3 (depends on 2)

The device of claim 2, wherein the first sensor is a fore-aft position sensor associated with the first foot platform and the second sensor is a fore-aft position sensor associated with the second foot platform.

### Claim 4 (depends on 1)

The device of claim 1, wherein at least one of the first and second sensors is a pressure sensor.

### Claim 5 (depends on 1)

The device of claim 1, wherein at least one of the first and second sensors is a torsion sensor.

### Claim 6 (depends on 1)

The device of claim 1, wherein the coupling structure includes support members that couple to each wheel in a manner that affords fore-aft pivotal movement of the first and second foot platforms relative to one another.

### Claim 7 (depends on 6)

The device of claim 6, wherein the coupling structure include support members that are sufficiently flexible to allow lateral tilting of the wheels during use.

### Claim 8 (depends on 1)

The device of claim 1, wherein the coupling structure affords fore-aft rotational movement of the first and second foot platforms +/−20 degrees or less from vertical.

### Claim 9 (depends on 1)

The device of claim 1, wherein the coupling structure affords fore-aft rotational movement of the first and second foot platforms +/−10 degrees or less from vertical.

### Claim 10

An auto-balancing transportation device comprising:
a first wheel, a first foot platform associated with the first wheel, a first drive motor that drives the first wheel, and a first sensor associated with the first foot platform;
a second wheel, a second foot platform associated with the second wheel, a second drive motor that drives the second wheel, and a second sensor associated with the second foot platform;
a control circuit that drives the first drive motor towards auto-balancing the first foot platform based on data from the first sensor and that drives the second drive motor towards auto-balancing the second foot platform based on data from the second sensor; and
a coupling structure that couples the first wheel to the second wheel in such a manner that the first and second foot platforms rotate in fore-aft relative to one another;
wherein the first and second wheels are capable of being driven in opposite directions;
wherein the coupling structure affords lateral tilting of the first and second wheels during use, and is configured such that during a lateral tilt on a horizontal surface the axis of rotation of the first wheel is non-collinear with the axis of rotation of the second wheel; and
wherein the coupling structure includes support members coupled between the first and second wheels that are sufficiently flexible to afford fore-aft rotational movement of the foot platforms relative to one another.

### Claim 11 (depends on 10)

The device of claim 10, wherein the first and second foot platforms are respectively located on a lateral exterior side of the first and second wheels.

### Claim 12 (depends on 10)

The device of claim 10, wherein in the absence of a lateral tilt and on a horizontal surface the axes of rotation of the first and second wheels are collinear.

### Claim 13 (depends on 10)

The device of claim 10, wherein the first and second sensors include at least one of the group of sensors including a position sensor and a pressure sensor.

### Claim 14 (depends on 10)

The device of claim 10, wherein the first and second wheels are maintained substantially in parallel, in the absence or presence of a lateral tilt.

### Claim 15

An auto-balancing transportation device comprising:
a first wheel, a first foot platform associated with the first wheel, a first sensor, and a first drive motor that drives the first wheel;
a second wheel, a second foot platform associated with the second wheel, a second sensor, and a second drive motor that drives the second wheel;
a control circuit that drives the first drive motor towards auto-balancing the first foot platform based on data from the first sensor and that drives the second drive motor towards auto-balancing the second foot platform based on data from the second sensor; and
a coupling structure that couples the first wheel to the second wheel, the coupling structure affording fore-aft rotational movement of the first and second foot platforms relative to one another;
wherein the first foot platform is located laterally exterior of the first wheel and the second foot platform is located laterally exterior of the second wheel;
wherein the coupling structure affords lateral tilting of the first and second wheel during use, and is configured such that during a lateral tilt on a horizontal surface the axis of rotation of the first wheel is non-collinear with the axis of rotation of the second wheel; and
wherein at least one of the first and second sensors is a torsion sensor.

### Claim 16 (depends on 15)

The device of claim 15, wherein the first and second wheels are capable of being driven in opposite directions.

### Claim 17 (depends on 15)

The device of claim 15, wherein the other of the first and second sensors is a position sensor.

### Claim 18 (depends on 15)

The device of claim 15, wherein the coupling structure includes support members that couple to each wheel in a manner that affords fore-aft pivotal movement of the first and second foot platforms relative to one another.

### Claim 19 (depends on 15)

The device of claim 15, wherein the coupling structure includes support members coupled between the first and second wheels that are sufficiently flexible to afford fore-aft rotational movement of the foot platforms relative to one another.