Patent ID: 12227254

DETAILED DESCRIPTION

The following description refers to the accompanying drawings, which illustrate specific embodiments of the present disclosure. Other embodiments having different structures and operation do not depart from the scope of the present disclosure.

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. It may be evident, however, that such aspect(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more aspects. Further, it is to be understood that functionality that is described as being carried out by certain system components may be performed by multiple components. Similarly, for instance, a component may be configured to perform functionality that is described as being carried out by multiple components.

As described herein, when one or more components are described as being connected, joined, affixed, coupled, attached, or otherwise interconnected, such interconnection may be direct as between the components or may be indirect such as through the use of one or more intermediary components. Also as described herein, reference to a “member,” “component,” or “portion” shall not be limited to a single structural member, component, or element but can include an assembly of components, members, or elements. Additionally, as used herein, the term “exemplary” is intended to mean serving as an illustration or example of something and is not intended to indicate a preference.

Moreover, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless specified otherwise, or clear from the context, the phrase “X employs A or B” is intended to mean any of the natural inclusive permutations. That is, the phrase “X employs A or B” is satisfied by any of the following instances: X employs A; X employs B; and X employs both A and B. In addition, the articles “a” and “an” as used in this application and the appended claims should generally be construed to mean “one or more” unless specified otherwise or clear from the context to be directed to a singular form.

Numerical values or ranges stated herein are understood to encompass values at or near the stated value and/or above or below the stated range. For this application, the stated value can encompass plus or minus 5% of the value and the stated range can encompass plus or minus 5% of the extent of the range. In addition, the stated value or range can include a margin of error for the value or range typical in the art for the property being measured. The stated value or range can also encompass those values and ranges that would be considered equivalent to the stated value or range by one of ordinary skill in the art. As an example, a voltage expressed as a range of 10 volts to 100 volts is understood to include durations above and below the ends of the range by 5% of the extent of the 90-volt range—e.g., 6.5 volts to 104.5 volts. As another example, the size of an object expressed as a value of 2 inches includes values above and below 2 inches that are within the margin of error of a tool typically used to measure objects of that size. As yet another example, an angle between two components expressed as a value of 20 degrees includes values above and below 20 degrees that would be considered equivalent by one of ordinary skill in the art.

Further, as used herein, the terms “component” and “system” are intended to encompass computer-readable data storage that is configured with computer-executable instructions that cause certain functionality to be performed when executed by a processor. The computer-executable instructions may include a routine, a function, or the like. It is also to be understood that a component or system may be localized on a single device or distributed across several devices.

Moreover, the acts described herein may be computer-executable instructions that can be implemented by one or more processors and/or stored on a computer-readable medium or media. The computer-executable instructions can include a routine, a sub-routine, programs, a thread of execution, and/or the like. Still further, results of acts of the methodologies can be stored in a computer-readable medium, displayed on a display device, and/or the like.

Since their introduction in the early 1960s, skateboards have garnered a strong following and culture unique from other forms of personal transportation. While a typical skateboard that has four wheels on two axels attached to the bottom of the board or deck can be used for transportation, the maneuverability of the four-wheel layout is limited in that the four wheels discourage sharp turns. Riders get around this limitation by performing various tricks that lift one or more wheels off of the ground. Learning how to perform these maneuvers requires an amount of practice and possibility of injury that dissuades the average pedestrian from using a skateboard for a daily commute.

While skateboards and other small, manually powered vehicles such as scooters, skates, and bicycles allow a pedestrian to avoid the traffic of the main roadway, the physical exertion required by these devices can dissuade one from using such a device to commute to work or to travel between errands. Reducing the physical exertion required to ride, for example a skateboard, can be done by the addition of a motor to drive one or more of the wheels of the skateboard. The small, hard wheels and shorter wheelbase of the skateboard, however, results in reduced stability as the rider increases in speed and limits the use of the skateboard to paved surfaces. The powered two-wheel vehicle described herein provides improved maneuverability—riding more like a surfboard or snowboard—and better stability at higher speeds than a typical skateboard. An example of a powered two-wheel vehicle described herein has a tighter turning radius than a typical skateboard at low speeds, is stable at higher speeds, and can traverse unpaved paths, lawns, and other rough terrain. Importantly, the stability of the powered two-wheel vehicles described herein helps new riders quickly learn how to control the vehicle, thereby facilitating increased adoption in the marketplace. An optional training post can also be added to the powered two-wheel vehicle described herein to provide a new rider with an added sense of security when first stepping onto the powered two-wheel vehicle.

Referring now toFIGS.1-10, an example of a powered two-wheel vehicle100is shown. The powered two-wheel vehicle100includes a chassis102that extends between a rotatable front fork104and a fixed rear fork106. A front wheel108is rotatably attached to the rotatable front fork104and a rear wheel110is rotatably attached to the fixed rear fork106. The front wheel108and the rear wheel110are arranged inline and each have a diameter ranging from 5 inches to 17 inches, or from 6 inches to 15 inches, or from 7 inches to 13 inches, or from 8 inches to 11 inches, or 9.5 inches. In some powered two-wheel vehicles, the front and rear wheels108,110have the same diameter such that a rotational center of each wheel108,110is the same height above the ground. In some powered two-wheel vehicles, the front wheel108and the rear wheel110have different diameters—i.e., the front wheel108can have a larger diameter than the rear wheel, and vice versa.

The inline arrangement of the wheels108,110allows the rider to turn with a tighter turning radius than a vehicle with four wheels, providing enhanced maneuverability for the powered two-wheel vehicle100that is helpful in urban and other crowded environments. The powered two-wheel vehicle100is steered by the rider leaning forwards and backwards to shift their weight to either side of a centerline of the powered two-wheel vehicle100. As the rider shifts their weight to one side or the other of the centerline, the front wheel108is pivoted in the direction that the rider leans to facilitate turning. In this way, the powered two-wheel vehicle100can be steered only by the rider shifting their weight. Applicant notes that at lower speeds, when the rider leans to one side the front fork104and front wheel108turn to facilitate steering of the powered two-wheel vehicle100. As speed increases, gyroscopic forces of the rotation of front wheel108dominate such that the lean of the rider causes the powered two-wheel vehicle100to lean to one side so that the point where the ground contacts the front and rear wheels108,110is moved away from the center and towards the side of the front and rear wheels108,110. Thus, the rider can “carve” when steering the powered two-wheel skateboard100like a snowboard or surfboard.

The front wheel108and the rear wheel110each include tires178that have a rounded profile to facilitate the carving turning behavior. The rounded profile of the tire178provides a sufficient contact area with the ground while the wheel108,110leans during a turn so that the tire178does not slip laterally. The tires178can be formed from any suitable material and can be solid, inflated, or take on any other suitable form. The exemplary powered two-wheel vehicle100described herein includes tires178that are inflated to act as a suspension absorbs impacts with the ground surface to provide a smoother ride for the rider.

The chassis102extending between the rotatable front fork104and a fixed rear fork106provides support for a first foothold112and a second foothold114on which the rider can stand. The chassis102also provides a rigid connection between the front wheel108and the rear wheel110and can be formed from a single component or from many components. For example, the chassis102shown inFIG.5includes a pair of side beams116extending between a front bulkhead118and a rear bulkhead120and a bottom plate244that extends between the two side beams166. The bottom plate244can be attached to the side beams116and the front and rear bulkheads118,120to enclose the bottom of the chassis102and provide additional stiffness to the powered two-wheel vehicle100. The side beams116, front and rear bulkheads118,120, and bottom plate244can be rigidly connected via any suitable means, such as, for example, welding, fasteners, brackets, and the like. The side beams or rails116can be formed from tubes, extruded shapes, or sheet metal bent into an appropriate shape, such as a C-shape and can extend beyond the front and rear bulkheads118,120and be integrally formed with other components of the powered two-wheel vehicle100, such as, for example, the fixed rear fork106or a pair of frame tubes134that support a head tube130of a steering assembly128.

The chassis102includes a compartment242for carrying and protecting various components of the powered two-wheel vehicle100. The compartment242can be formed between side beams or rails116, the bulkheads118,120, and the bottom plate224and can be covered and enclosed by a deck122. The compartment242can be accessed via removal of the bottom plate224and/or the deck122. In an example of a powered two-wheel vehicle100, the compartment242is a water-tight compartment that includes one or more seals or gaskets to prohibit the ingress of water, dirt, and debris from entering the compartment242and potentially damaging any sensitive components stored therein.

In a chassis102formed from a single piece of material, the side beams or rails116, the bulkheads118,120, and the bottom plate244can be formed as portions of the single piece of material and the deck122can be removably attached to the chassis102. Alternatively, the deck122can be integrally formed as part of the chassis102and the bottom plate244can be removably attached to the chassis102. Integrally forming the elements of the chassis102from a single piece of material can be accomplished by any suitable means, such as, for example, by machining, forging, injection molding, stamping, and the like. In examples of powered two-wheel vehicles100with a single-piece chassis102, the compartment242can be formed without seams or joints that could leak.

The bottom plate244can also act as a skid plate that facilitates sliding over curbs, rails, or other obstacles in the environment during the operation of the powered two-wheel vehicle100. The bottom plate244can include a wear coating or a replaceable wearable component so that sliding across the bottom plate244does not damage the material of the bottom plate244and chassis102. In an example of a powered two-wheel vehicle100, the bottom plate244is made from aluminum includes a removable skid plate (not shown) that is attached to the bottom plate244and is made from, for example, ultra-high molecular weight plastic (UHMW) that is more resistant to wear than the aluminum of the bottom plate244. A removable skid plate allows the skid plate to be easily replaced when it is too worn and can no longer protect the bottom plate244.

The first foothold112and second foothold114provide locations for the rider to place each of their feet and can have a high friction surface for providing additional friction between the first and second footholds112,114and the feet of the rider. The first foothold112and the second foothold114can take on a wide variety of forms, such as, for example, foot bindings like those typically seen on snowboards, clips for receiving specially configured boots or shoes, or a single deck, such as the deck122. The deck122is attached to the chassis102, has a length of 26 inches to 38 inches, and is covered with a high friction material, such as grip tape. In an example of a powered two-wheel vehicle100, the deck122is attached to both of the side beams116and the bottom plate244is attached to both of the side beams116and the bulkheads118,120so that the components of the chassis102form a torsion box arrangement that provides a stable and stiff platform for the powered two-wheel vehicle100that resists twisting that could be detrimental to the ride quality and precision control offered by the powered two-wheel vehicle100.

The deck122can include widened portions124that provide additional support for the feet of the rider and can act as handles when the rider is in a crouching position. While the deck122is shown as a single, continuous piece of material, the deck122can include various openings or be formed from multiple pieces spaced apart around an opening to accommodate other components of the powered two-wheel vehicle100, such as, for example, a motor, a power source (e.g., a battery), a handle, or the like. The deck122can optionally include a seal (not shown) that prohibits ingress of water or other contaminants into the interior spaces of the powered two-wheel vehicle100that can include electronic components. A guard126extends from the rear bulkhead120at a rear end of the deck122to prohibit contact between the rider's foot and the rear wheel110.

The height of the deck122below the height of the centers of the wheels108,110—i.e., the wheel radius—can be 0.125 inches to 5 inches. The top of the deck122can also be even with the center of the wheels108,110, that is, the height of the deck122above the ground can be equal to the radius of the front and rear wheels108,110. As the deck122is lowered relative to the centerline of the wheels108,110the stability of the rider on the powered two-wheel vehicle100is increased as the weight of the rider is applied to a surface below a pivot point of the powered two-wheel vehicle100which provides inherent stability against leaning as the center of mass of the rider is moved closer to the rotational axis of the wheels108,110. However, reducing a ground clearance measured between the bottom of the powered two-wheel vehicle100and the ground can limit the size of bumps or rough terrain the powered two-wheel vehicle100can traverse without getting stuck or damaged. Thus, a balance must be struck between the height of the deck122and the ground clearance below the chassis102.

The rotatable front fork104is attached to the chassis102via a steering assembly128that includes the head tube130fixedly attached to the chassis102. The steering post or tube132extends from the rotatable front fork104and into the head tube130to facilitate rotation of the rotatable front fork104relative to the chassis102. As is described in greater detail below, the steering assembly128provides passive stability to the powered two-wheel vehicle100while traveling across all kinds of terrain. The head tube130is supported above and ahead of the front wheel108by two arched frame tubes134extending from the front bulkhead118of the chassis102. The frame tubes134have an arched shape to provide clearance for the front wheel108to rotate from side-to-side as the powered two-wheel vehicle100is turned by the rider. An optional mud guard (not shown) can be attached to the frame tubes134at the front of the powered two-wheel vehicle100and the guard126or rear fork106at the rear of the powered two-wheel vehicle100. In another configuration, an optional training post (not shown) can extend vertically from the front bulkhead118between the frame tubes134to a handle (not shown) that the rider can grip for added stability and steering control when learning to ride the powered two-wheel vehicle100. The handle of the training post can have an adjustable height to accommodate riders of different heights.

A motor136provides motive power to one or both of the front wheel108and the rear wheel110. The motor136of the powered two-wheel vehicle100is an electric hub motor that is mounted inside the rear wheel110and is attached to the rear fork106. Alternatively, the motor136can be mounted to the chassis102and be connected to one or both of the wheels108,110via a transmission. The motor136can be an electric motor, as described herein, or can be an internal combustion engine running on fuel supplied from a fuel tank, or any other suitable means of supplying motive power to the wheels108,110. Control of the motor136can be accomplished by applying and releasing tension on a throttle cable for an internal combustion engine or can involve adjustments to the current and voltage provided to the motor136for an electrical motor. When the powered two-wheel vehicle100is unpowered, the rear wheel110is allowed to rotate freely so that the powered two-wheel vehicle100can be rolled along the ground without resistance. To transport the powered two-wheel vehicle100, the user can grip one of the frame tubes134to lift the front wheel108off of the ground so that the powered two-wheel vehicle100rolls on the rear wheel110and the user only has to lift half of the weight of the entire vehicle.

For the powered two-wheel vehicle100described herein, electrical power is provided to the motor136from a battery138. The battery138can be contained within the compartment242that is enclosed by the bottom plate244, the side beams116, and the bulkheads118,120of the chassis102, and the deck122. The compartment242can be formed when the deck122or the bottom plate244are attached to the chassis102. In some embodiments, the bottom plate244and/or the deck122are removable to provide access to the compartment242. To prohibit water and other foreign matter from entering the compartment242and damaging components arranged therein, the compartment242can be a water-tight compartment242that includes one or more seals or gaskets. The battery138can be any suitable battery that provides sufficient power to the motor136—e.g., a continuous wattage ranging from 400 watts to 3000 watts—and can have a working voltage ranging from 24 volts to 90 volts. The battery138is rechargeable via a charging port140provided in one of the side beams116of the chassis102.

A control system142of the powered two-wheel vehicle100receives data from a wide variety of input signals206and generates output signals208based on those inputs and based on the programming of the control system142. The control system142includes one or more processors and memory for storing data and programming instructions. The control system142can be arranged in the compartment142along with the battery138. The data stored in the control system142can include data related to the current state of the powered two-wheel vehicle100, historical performance data, computer-executable instructions for controlling the powered two-wheel vehicle100, and the like. The instructions may be, for instance, instructions for implementing functionality described as being carried out by one or more components discussed herein or instructions for implementing one or more of the methods described herein. The operation of the control system142to receive a wide variety of input signals and to generate a wide variety of output signals is described in greater detail and with respect toFIG.21, below.

One example of an input received by the control system142is a user input signal144from a user input device146. The control system142processes the user input signal144and can then output a motor control signal to the motor136to cause the powered two-wheel vehicle100to, for example, accelerate or decelerate. The user input signal144can be transmitted to the control system142of the powered two-wheel vehicle100wirelessly, as is shown inFIG.1, or via a cable or wire connecting the user input device146to the control system142. The user input device146can optionally be secured to the training post described above. The user input device146can include a wide variety of control elements such as, for example, buttons, knobs, wheels, triggers, sliders, or the like. The user input device146can also include feedback elements, such as, for example, a display202(FIG.11), a speaker, a vibration motor, and the like for providing visual, audible, and tactile feedback to the rider based on, for example, user input and the conditions of the powered two-wheel vehicle100.

The user input device146shown inFIGS.1and11includes a control wheel148that the rider can rotate in a first direction to accelerate to increase speed and a second direction to decelerate or brake. Braking can be accomplished via a mechanical brake or via regenerative braking that recharges the battery138from the motor136being rotated by the rear wheel110. One or more buttons150can also be included on the user input device146that allow the rider to change an operating mode of the powered two-wheel vehicle100(e.g., for different terrain or power setting-limiting the maximum current supplied to the motor) or to switch the orientation or handedness of the user input device146depending on whether the rider wants to use their left hand or right hand to control the powered two-wheel vehicle100via the user input device146. The user input device146can also include sensors such as, for example, an accelerometer, gyroscope, or the like that measures the acceleration or tilt angle of the rider to provide additional input to the control system142. A power button152can be provided on the powered two-wheel vehicle100to allow the rider to turn the powered two-wheel vehicle100on and off. Alternatively, the user input device146can be used to activate the powered two-wheel vehicle100.

Referring now toFIGS.7-10, the steering assembly128is shown in greater detail. As was noted above, the steering assembly128includes the head tube130that is supported by two frame tubes134that extend from the front bulkhead118of the chassis102. A bushing or bearing154is arranged at a bottom end of the head tube130for receiving the steering tube132extending from the front fork104. The weight of the powered two-wheel vehicle100and rider is transferred to the front wheel108via the steering assembly128and bushing or bearing154that is made from a lubricious material or includes ball bearings to reduce friction between the steering tube132and the head tube130. The steering tube132extends through a rotational damper156arranged in the head tube130and is secured within the head tube130by a clamp158and a cap160that are secured to an upper end of the steering tube132. The cap160can be attached to a nut (not shown) inside of the steering tube132.

The head tube130is arranged having an axis162that is arranged at a rake angle164relative to a vertical line166perpendicular to the side beams or rails116of the chassis102. The axis162points downward and rearward from the top of the head tube130such that the rake angle164is considered a negative rake angle. The magnitude of the rake angle164of the head tube130can be in a range of 0 degrees to 25 degrees, or from 5 degrees to 20 degrees, or from 10 degrees to 15 degrees. The magnitude of the rake angle164of the illustrated head tube130is 15 degrees.

The negative rake angle164of the head tube130and the offset of the front fork104causes the front wheel108to contact a ground plane168behind the axis162of the head tube130so that the front wheel108is said to be trailing the head tube130. A trailing distance170is defined between the point where the front wheel108contacts the ground plane168and the point where the axis162intersects the ground plane168. The trailing distance170of the powered two-wheel vehicle100is in a range of 2 inches to 7 inches. Increasing the trailing distance170—e.g., by lengthening the front fork104—reduces the effect known as “caster flutter” that can occur as the front wheel108is driven across the ground. The front fork104can be lengthened by increasing the distance between the steering tube132and the axle of the front wheel108, for example, by extending the length of the arms of the front fork104. The trailing distance170can also be impacted by the magnitude of the rake angle and the diameter of the wheel.

Referring now toFIGS.9and10, the front wheel108is shown in a straight condition (FIG.9) and a turned condition (FIG.10). An axle height172of the front wheel108is measured between the ground plane168and the axis of rotation of the front wheel108. Because the head tube130of the steering assembly128has a negative rake angle164, rotation of the front fork104and front wheel108causes the axle height172of the front wheel108to increase as can be seen inFIG.10. The weight of the rider and the powered two-wheel vehicle100oppose the increase in axle height172and work together to encourage the front fork104and front wheel108to return to a straight condition where the axle height172is lowest. When the front wheel108becomes unloaded after impact with a bump or rough terrain and happens to turn to one side or the other, further contact with the ground encourages the front wheel108to straighten out. In this way, the negative rake angle164of the head tube130contributes to a more stable ride of the powered two-wheel vehicle100.

At higher speeds, such an encounter with a bump or crack in the terrain and rocks or other foreign objects can induce caster flutter in the steering assembly128, even though the steering assembly128is generally resistant to a caster flutter condition. The inclusion of the rotational damper156in the steering assembly enhances the stability already provided by the geometry of the steering assembly128by, for example, prohibiting caster flutter at high speeds. The rotational damper156connected between the head tube130and the steering tube132provides a dampening effect—i.e., resistance to movement—on the rotation of the steering tube132. A wide variety of mechanisms can be used to resist rotational movement of the steering tube132relative to the head tube130, some of which are described in greater detail below. In some powered two-wheel vehicles, the dampening effect increases in proportion to the angular velocity of the steering tube132; put another way, the rotational damper156can resist rotation the faster the steering tube132rotates. Consequently, when the rider leans in a direction to turn the powered two-wheel vehicle100, the front wheel108is prohibited from jerking too quickly in either direction. Similarly, when the rider hits a bump or rough terrain that causes the front wheel108to become unloaded and even lift off of the ground, the front wheel108is prohibited from turning too quickly such that re-engagement of the front wheel108with the ground causes a sudden turn. Thus, inadvertent, or unintended turning and caster flutter at high speeds are prohibited and the stability of the powered two-wheel vehicle100is maintained.

As is noted above, the rotational damper156can take on a wide variety of forms, such as, for example, a spring damper, a linear-piston damper, a polymer-based friction damper, a rotational disc damper, a friction damper, a viscoelastic damper, a hydraulic damper, and the like. In some powered two-wheel vehicles, the dampening effect is provided by increasing friction between the steering tube132and the head tube130using a bushing, an O-ring, or other annular component that is held in place and optionally compressed by a nut. As noted above, these mechanisms resist the rotation of the steering tube132relative to the head tube130and other components of the steering assembly128. The resistance force applied by the rotational damper156can be uniform or can change in proportion to the rotation of the steering tube132. Some rotational dampers apply a resistance force that increases in proportion to the magnitude of the rotation, that is, how far the steering tube132has turned from the neutral or straight position. Some rotational dampers apply a resistance force that increases in proportion to the angular velocity of the rotation, that is, how quickly the steering tube132is turning. Some rotational dampers apply a resistance force that increases with both magnitude and angular velocity of rotation of the steering tube132. Still other rotational dampers apply a resistance force that is designed to increase and/or decrease according to the magnitude and/or angular velocity of rotation of the steering tube132according.

The maximum amount that the front wheel108can turn is limited by a center stop174extending in a rearward direction from the head tube130and two side stops176that extend upward from the front fork104. As the front fork104and front wheel108rotate, the side stops176engage the center stop174to prohibit rotation of the front fork104beyond a predetermined rotation angle measured from a centerline of the powered two-wheel vehicle100to the side stop176, such as, for example, from 15 degrees to 40 degrees, from 20 degrees to 35 degrees, or from 25 degrees to 30 degrees.

The powered two-wheel vehicle100described herein can also be provided as a rolling chassis, i.e., including all of the components of the powered two-wheel vehicle100except for the battery138and the control system142that are provided by the purchaser of the rolling chassis. A purchaser of the rolling chassis version of the vehicle100can supply their own battery and control system to facilitate the operation of the powered two-wheel vehicle100. In this way, the purchaser can take advantage of all of the benefits of the steering assembly128and the motor136that provide a stable ride while adding their own electronic systems that they can experiment with.

Referring now toFIGS.11and12, the exemplary powered two-wheel vehicle100is shown again with optional features such as, for example, a front fender180, a rear fender182, a front light bracket198, and a rear light bracket200. In some embodiments, the front fender180can be attached to and removed from the frame tubes134without the use of tools. Referring now toFIGS.13-20, the front fender180and a method of assembling the front fender180to the powered two-wheel vehicle100without tools are shown. Attaching the front fender180to the frame tubes134obstructs the path of water and other road debris that might otherwise splash up between the frame tubes134and onto the rider.

The front fender180has a curved shape that conforms to the shape of and attaches to the frame tubes134. The front fender180includes flexible side walls184that partially wrap around the frame tubes134. A protrusion186extending downward between the flexible side walls184facilitates the alignment of the front fender180between the frame tubes134. The front fender180is shaped to pass between the frame tubes134and engage the front bulkhead118. The front fender180narrows to form side recesses or cut-outs188that accommodate the frame tubes134as the front fender180passes between the frame tubes134and widens at a bottom end190. The front fender180can be shaped so that when the front fender180is attached to the frame tubes134the bottom end190is biased against the front bulkhead118. The biasing of the bottom end190toward the front bulkhead118can be achieved by forming the front fender180into a curved shape that has a larger radius than the curve of the frame tubes134so that the front fender180is partially bent during installation.

The rear fender182is secured to the guard126and is supported above the rear wheel110by a rear fender support192that attaches to the rear fork106. Thus, the front fender180and the rear fender182can be easily removed from and attached to a powered two-wheel vehicle100so that fenders180,182having a different appearance can be attached to the powered two-wheel vehicle100based on the preference of the rider. For example, the fenders180,182can be formed in a wide variety of shapes, in a wide variety of colors, and can be covered in various images and graphics.

The front fender180is shown being attached to the frame tubes134inFIGS.17-20. As can be seen inFIGS.17-18, the front fender180is rotated sideways so that the bottom end190can fit between the frame tubes134even though the bottom end190can be wider than the gap between the frame tubes134. The front fender180is inserted between the frame tubes134until the side cut-outs188are approximately aligned with the frame tubes134and is then rotated in the direction shown by the arrow194. The front fender180is then rotated until the protrusion186is aligned between the frame tubes134and the flexible side walls184are aligned with the sides of the frame tubes134. The front fender180is then moved downward toward the frame tubes134as indicated by the arrow196inFIGS.19-20. Pressing the front fender180downward with the protrusion186between the frame tubes134causes the flexible side walls184to spread apart and then snap back toward each other once the front fender180is fully attached to the frame tubes134.

Referring again toFIGS.11-12, the powered two-wheel vehicle100can optionally include a front light bracket198and/or a rear light bracket200. Lights (not shown) can be attached to the front and rear light brackets198,200to provide illumination of the path ahead of the powered two-wheel vehicle100and/or awareness of the presence of the powered two-wheel vehicle100to others who are following behind the rider on the powered two-wheel vehicle100. The lights can be batter powered or can be powered from the battery138of the powered two-wheel vehicle100via electrical wires extending from the front or rear lights to the battery138or to receptacles that are electrically connected to the battery138.

The powered two-wheel vehicle100ofFIGS.11-12and17-20also includes an electro-mechanical rotational damper204that can be provided in place of or in addition to the rotational damper156described above. The electro-mechanical rotational damper204provides a variable damping force based on a damping force signal sent from the control system142. The variable damping force applied to the steering tube132by the electro-mechanical damper204can permit the steering tube132to rotate freely and can provide sufficient damping force to prohibit rotation of the steering tube132. The damping force exerted by the electro-mechanical damper204can be generated by an electric motor, an electric actuator, electromagnets, or the like and can incorporate features of the rotational dampers described above.

The damping force applied by the electro-mechanical rotational damper204on the steering tube132can vary based on the rotational position and/or the angular velocity of the steering tube132relative to the head tube130. The amount of damping force exerted by the electro-mechanical rotational damper204can also vary based on the speed of the powered two-wheel vehicle100over the ground. That is, the control system142can send a different damping force signal to the electro-mechanical damper204depending on the current state of the powered two-wheel vehicle100and performance parameters established at the factory or by the rider. In some embodiments, the electro-mechanical damper204can apply sufficient force to prohibit rotation of the steering tube132so that the rotational position of the front wheel108is locked until the control system reduces the damping force so that the front wheel108is free to turn.

Referring now toFIG.21, a block diagram of the control system142is shown to illustrate inputs206that can be received by and outputs208that can be generated by the control system142. The values of the inputs206and the outputs208can be recorded and stored in a memory unit of the control system142or another storage unit for later retrieval and analysis locally or for transmission wirelessly to a server for aggregation and analysis of the data transmitted from a plurality of powered two-wheel vehicles100. For example, the owner of the powered two-wheel vehicle100may want to download the data during a recent ride for analysis or comparison with other riders. As another example, the owner of a fleet of powered two-wheel vehicles100may want to received data transmitted from each vehicle in the fleet to keep track of the vehicle performance and location.

The inputs or input signals206that can be received by the control system142include user input210from the user input device146, location data212, altitude data214, vehicle performance data216, battery data218, motor data220, steering data222, vehicle status data224, sensor data226, and the like. The user input data210can include the selected performance mode, an instruction to accelerate or decelerate, an instruction to increase or decrease steering damping, an instruction to activate or deactivate lights or a horn attached to the powered two-wheel vehicle100, an instruction to power the vehicle on or off, or the like. The location data212can be provided by a GPS or other geo-location device and can include the geographic location, altitude, velocity, and other GPS-related data related to the powered two-wheel vehicle100. Altitude data214can be provided alongside the location data212from a GPS device or can be provided from an altimeter. The vehicle performance data216can be provided by an accelerometer, a gyroscope, or the like and can include the current speed, acceleration or deceleration, and orientation or tilt of the powered two-wheel vehicle100. The battery data218can include the current, voltage, temperature, and capacity of the battery138. The motor data220can include the input current, input voltage, temperature, output torque, and output RPM. The steering data222can include the angle and/or the angular velocity of the front wheel108relative to the powered two-wheeled vehicle100. The vehicle status data224can include whether the vehicle is powered on, whether optional lights are activated, whether a user input device is connected to the vehicle, and the like. The sensor data226can include data from a wide variety of sensors for monitoring properties of the powered two-wheel vehicle100and the surrounding environment, such as, for example, cameras for gathering visual data, microphones for gathering audio data, and moisture sensors for detecting water inside the powered two-wheel vehicle100.

The outputs or output signals208that can be generated by the control system142include signals for motor control228, braking control230, damper control232, light control234, speaker control236, user feedback238, data recording240, and the like. Motor control signals228can include an instruction to accelerate, to decelerate, and to limit the power output—for example, to limit the maximum speed or acceleration. A braking control signal230can instruct mechanical or electro-mechanical breaks to actuate or can be similar to a deceleration signal with an increased rate of deceleration depending on the magnitude of the braking signal. Steering damper control signals232can include an instruction to increase or decrease the damping force applied to the steering tube132and to apply maximum damping force to lock the steering tube132in place. Light control signals234can instruct various lights of the powered two-wheel vehicle100to activate or deactivate, change intensity, and change color. Speaker control signals236can include an instruction to operate a horn and play sounds out of speakers. User feedback signals238provide audiovisual and tactile feedback to the rider via displays, speakers, vibration motors, and the like on the powered two-wheel vehicle100and similar feedback on the user input device146and/or a user's phone, tablet, computer, or the like. User feedback signals can include speed, the selected operating mode, battery level, distance traveled, amount of progress along a route, estimated remaining range, alerts or warnings, and the like. Data recording signals240transmit data related to the inputs206, outputs208, and a wide variety of values computed or derived from the inputs206and outputs208to a data storage device that can be part of the control system142or can be a separate memory storage device for recording the data transmitted from the control system.

The output signals208of the control system142can be monitored and fed back into the control system142where the input signals206and the output signals208can be evaluated to facilitate feedback control and machine learning to improve the performance and usability of the powered two-wheel vehicle100. For example, the control system142can monitor the input signals206to determine how well the rider is able to balance and control the powered two-wheel vehicle100at various speeds and under different conditions to evaluate whether the selected operating mode is appropriate for the rider's ability and suggest a different operating mode if warranted by the outcome of the evaluation. The input signals206and output signals208can also be monitored and evaluated to determine the efficiency of the motor136over time to better predict the estimated range of the powered two-wheel vehicle100and when maintenance or repairs may be necessary. As another example, the inputs206from, for example, an accelerometer, a gyroscope, a microphone, and the like can in combination indicate that the rider has been in a crash. Crash data can be taken into consideration when recommending a change in operating mode, can be recorded for a vehicle used as part of a fleet of vehicles, and can be reported to a central server.

The control system142can also store custom performance profiles that alter the performance of the powered two-wheel vehicle100during use. For example, a custom acceleration profile or curve can be used by the control system142to determine how quickly to accelerate based on the current speed and the operating mode selected by the user. As another example, a custom damping profile can be used by the control system to determine how much damping force to apply to the steering tube132via the electro-mechanical damper204based on the operating mode selected by the user, the current speed of the vehicle, and the steering data—e.g., the steering angle and angular velocity of the front wheel. The custom profiles can be accessed and edited by the user via a computer, a smart phone, a tablet, or the like using an application or a web interface connected to the powered two-wheel vehicle100. The user input device146that includes a display202, such as the user input device146shown inFIG.11, can also be used to edit the custom profiles without the use of an additional device. Thus, a user can tweak the performance characteristics of the powered two-wheel vehicle100to suit their needs.

The control system142can prohibit operation of the powered two-wheel vehicle100absent an authentication device such as a key, a passcode, or a biometric authenticator (e.g., a fingerprint reader). The control system142can also store various settings and associate those stored settings with a particular user, such as, for example, custom performance profiles and/or a selected operating mode. Thus, one powered two-wheel vehicle100can be shared between multiple users, each with their own personalized settings. Recorded data—e.g., ride history, geo tracking, crash history, etc.—can also be associated with the user who had unlocked the powered two-wheel vehicle100. When operating a fleet of vehicles, an owner or master account may be able to access all of the data of all users of all of the vehicles to facilitate monitoring of usage patterns by certain users. Associating ride data with a particular user can be used by the control system142or by a central server to generate—using standard programming techniques or via machine learning or artificial intelligence—a profile for the user to better tailor the performance of the powered two-wheel vehicle100to whichever rider is currently riding the vehicle100.

Referring again toFIGS.1and11, the user input device146is shown in various forms, including with an optional display202inFIG.11. The display202can be used to present outputs208from the control system142to the user and can also be used to present a user interface to the user so that the user can interact with data stored in the control system142or for adjusting parameters of the powered two-wheel vehicle100. The user input device146is illustrated in an abstract manner and can take on a wide variety of shapes and form factors, for example, to facilitate being easily held by the user. In some embodiments, the user input device146and the powered two-wheel vehicle100can also interface wirelessly with a smart phone to act as another display202or in place of the display202on the user input device146.

As was noted above, the buttons150on the user input device146can be used to select an operating mode of the powered two-wheel vehicle100. As was previously noted, the different operating modes can alter the performance characteristics of the powered two-wheel vehicle to be more suitable for a particular terrain or for a particular rider. Examples of operating modes can include power control modes, damping control modes, and combinations thereof. Power control modes can include a low-power mode, a medium-power mode, and a high-power mode. In the low-power mode, the control system142limits current provided to the motor136to limit the maximum acceleration of the powered two-wheel vehicle100(and consequently, the top speed) which may be more suitable to novice riders. Limiting maximum acceleration also conserves the capacity of the battery138to extend the range of the powered two-wheel vehicle100. In the high-power mode, the control system142makes higher current available to the motor136—in some embodiments, the maximum rated current for the battery138—for rapid acceleration and higher top speed for the powered two-wheel vehicle100that is suitable for more experienced riders. In high-powered mode, the range of the powered two-wheel vehicle100can be significantly limited because of the high current drain on the battery138to provide increased acceleration to the motor136. The mid-power mode strikes a balance between the low-power and the high-power modes, limiting current to the motor136more than the high-powered mode so that moderate acceleration is available to the powered two-wheel vehicle100without significantly reducing the estimated range. The mid-power mode is the default operating mode for the powered two-wheel vehicle100.

The damping control modes can include a fixed damping mode, a speed-based damping mode, and a user-input or freestyle damping mode that each provide different damping performance of the steering assembly128that includes an electro-mechanical rotational damper204. Any of these damping control modes can be combined with any of the power control modes described above. The buttons160on the user input device146can be used to select the damping control mode separate from the power control mode, or in conjunction with the power control mode. In fixed damping mode, the damping force provided by the electro-mechanical rotational damper204is set to a fixed amount that can be adjusted by the user, similar to a rotational disc friction damper. In the speed-based damping mode, the damping force provided by the electro-mechanical damper204increases with the speed of the powered two-wheel vehicle100. The damping force can increase in a linear relationship to the vehicle speed according to a linear damping profile so that steering is looser and more maneuverable at low speeds and stiff at higher speeds. The damping force can also increase according to a custom damping profile selected and/or edited by the user. In the user-input or manual damping mode, the damping force provided by the electro-mechanical damper204varies according to input provided by the user via the user input device146. The user input device146can include a trigger-style input210that allows the user to control the amount of damping force. Fully engaging the trigger-style input210provides maximum damping force to the steering assembly128to lock the position of the front wheel108. The manual damping mode enables a user to increase damping when cornering and to lock the front wheel108position entire when performing freestyle tricks.

Referring now toFIG.22, a methodology300that facilitates the control of the powered two-wheel vehicle100is shown. The methodology300can be performed with any of the powered two-wheel vehicles described herein. The methodology300begins at302with receiving a user input signal210from a user input device146at a control system142. The user input signal210includes an acceleration instruction or a deceleration instruction. The control system142also receives, at304, a selected operating mode and at least one of vehicle performance data216, motor data220, steering data222, vehicle status data224, and sensor data226. At306, the control system142generates a motor control signal228based on: the user input signal210; at least one of the vehicle performance data216, motor data220, steering data222, vehicle status data224, and sensor data226; and the selected operating mode. The motor136is operated in response to or according to the motor control signal228at308, for example, to accelerate or to decelerate the powered two-wheel vehicle100. As is described above, the selected operating mode can be a power control mode that includes a low-power mode, a medium-power mode, and a high-power mode. The steps of controlling the powered two-wheel vehicle100can be performed sequentially or simultaneously.

In some exemplary methodologies, the user input signal includes user authentication information, and the methodology includes steps of verifying whether the user is permitted to operate the powered two-wheel vehicle based on the user authentication information, and permitting operation of the powered two-wheel vehicle based on a verification that the user is permitted to operate the powered two-wheel vehicle. The methodology can also include steps of generating a data recording signal, storing the data recording signal in a data storage device, and associating the stored data recording signal with the user of the powered two-wheel vehicle.

Examples of powered two-wheel vehicles and methodologies for controlling the same are described herein.

An example of a powered two-wheel vehicle includes a chassis, a deck, a front wheel, a rear wheel, and a steering assembly. The chassis extends between a rotatable front fork and a fixed rear fork. The deck is removably attached to the chassis, wherein attaching the deck to the chassis encloses a compartment. The front wheel is rotatably attached to the rotatable front fork. The rear wheel is rotatably attached to the fixed rear fork via a hub motor, wherein the hub motor provides motive power to the rear wheel. The steering assembly includes a head tube, a steering tube, and a rotational damper. The head tube is attached to the chassis and supported above and in front of the deck by a pair of arched frame tubes, wherein the head tube is tilted forward at a rake angle. The steering tube is rotatably connected to the head tube, wherein the steering tube extends into the head tube from the rotatable front fork so that the rotatable front fork trails the head tube when the powered two-wheel vehicle moves in a forward direction and the front wheel is in contact with a ground surface. The rotational damper is connected between the head tube and the steering tube.

In an example of a powered two-wheel vehicle, the chassis has two side beams extending between a front bulkhead and a rear bulkhead, and a skid plate extending between the two side beams.

In another example of a powered two-wheel vehicle, the compartment is enclosed by the deck, the two side beams, the front bulkhead, the rear bulkhead, and the skid plate.

In yet another example of a powered two-wheel vehicle, the compartment is water-tight.

In an example of a powered two-wheel vehicle, the rotational damper is a rotational disc damper, and a damping force applied to the steering tube increases in proportion to an angular velocity of the steering tube.

In another example of a powered two-wheel vehicle, the rotational damper is an electro-mechanical damper.

In still another example of a powered two-wheel vehicle, the front wheel and the rear wheel each have a diameter in a range of 5 inches to 17 inches.

In an additional example of a powered two-wheel vehicle, a height of the deck is below a height of a center of each of the front wheel and the rear wheel.

Another powered two-wheel vehicle includes a battery and a control system disposed in the compartment. The battery provides electrical power to the hub motor and the control system. The powered two-wheel vehicle also includes a user input device for transmitting user input signals to the control system. The user input device includes a plurality of control elements for controlling the operation of the powered two-wheel vehicle.

In an example of a powered two-wheel vehicle, actuating one of the plurality of control elements of the user input device in a first direction sends an acceleration instruction to the control system and actuating the control element in a second direction sends a deceleration instruction to the control system. The control system generates a motor control signal based on the acceleration instruction or deceleration instruction and an operating mode of the control system.

In another example of a powered two-wheel vehicle, the operating mode is a power control mode including a low-power mode, a medium-power mode, and a high-power mode.

In an example of a powered two-wheel vehicle, the rotational damper is an electro-mechanical damper and actuating one of the plurality of control elements of the user input device transmits a damping instruction to the control system. The control system generates a damper control signal based on the damping instruction and an operating mode of the control system.

In another example of a powered two-wheel vehicle, the operating mode is a damping control mode including a fixed damping mode, a speed-based damping mode, and a freestyle damping mode.

In still another example of a powered two-wheel vehicle, when the speed-based damping mode is selected, the damper control signal is generated based on at least one of a linear damping profile and a custom damping profile.

In an example of a powered two-wheel vehicle, the rotational damper is a rotational disc damper. A damping force applied to the steering tube increases in proportion to an angular velocity of the steering tube.

In another example of a powered two-wheel vehicle, in response to a deceleration instruction, the motor control signal generated by the control system causes the motor to slow the powered two-wheel vehicle and to charge the battery.

In an example of a powered two-wheel vehicle, actuating one of the plurality of control elements of the user input device changes an operating mode of the powered two-wheel vehicle.

An example method of controlling a powered two-wheel vehicle includes steps of: receiving a user input signal from a user input device at a control system, receiving a selected operating mode and vehicle performance data at the control system, generating a motor control signal, and operating a motor based on the motor control signal. The user input signal includes an acceleration instruction or a deceleration instruction. The motor control signal is generated based on the user input signal, the vehicle performance data, and the selected operating mode.

In another example of a method of controlling a powered two-wheel vehicle, the selected operating mode can be a power control mode that includes a low-power mode, a medium-power mode, and a high-power mode.

As another example of a method of controlling a powered two-wheel vehicle includes steps of: receiving a user input signal from a user input device at a control system; receiving at least one of vehicle performance data, motor data, steering data, vehicle status data, and sensor data at the control system; generating a damping control signal; and adjusting a damping force applied to a steering tube of a steering assembly based on the damping control signal generated by the control system. The damping control signal is generated by the control system based on: the user input signal; at least one of the vehicle performance data, motor data, steering data, vehicle status data, and sensor data; and a custom performance profile.

In another example of a method of controlling a powered two-wheel vehicle, the user input signal comprises user authentication information and the methodology includes steps of verifying whether the user is permitted to operate the powered two-wheel vehicle based on the user authentication information and permitting operation of the powered two-wheel vehicle based on a verification that the user is permitted to operate the powered two-wheel vehicle.

In still another example of a method of controlling a powered two-wheel vehicle, the method includes steps of: generating a data recording signal; storing the data recording signal in a data storage device; and associating the stored data recording signal with the user of the powered two-wheel vehicle.

In an example of a method of controlling a powered two-wheel vehicle, generating the damping control signal is also based on an operating mode of the control system, and the operating mode is at least one of a power control mode and a damping control mode.

In another example of a method of controlling a powered two-wheel vehicle, the power control mode can be a low-power mode, a medium-power mode, and a high-power mode.

In yet another example of a method of controlling a powered two-wheel vehicle, the damping control mode is a fixed damping mode, a speed-controlled damping mode, and a user-input damping mode.

Various functions described herein can be implemented in hardware, software, or any combination thereof. If implemented in software, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer-readable storage media. A computer-readable storage media can be any available storage media that can be accessed by a computer. By way of example, and not limitation, such computer-readable storage media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Further, a propagated signal is not included within the scope of computer-readable storage media. Computer-readable media also includes communication media including any medium that facilitates transfer of a computer program from one place to another. A connection, for instance, can be a communication medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio and microwave are included in the definition of communication medium. Combinations of the above should also be included within the scope of computer-readable media.

Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable modification and alteration of the above devices or methodologies for purposes of describing the aforementioned aspects, but one of ordinary skill in the art can recognize that many further modifications and permutations of various aspects are possible. Accordingly, the described aspects are intended to embrace all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims. Furthermore, to the extent that the term “includes” is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term “comprising” as “comprising” is interpreted when employed as a transitional word in a claim.

While various aspects, features and concepts may be expressly identified herein as being inventive or forming part of a disclosure, such identification is not intended to be exclusive, but rather there may be inventive aspects, concepts, and features that are fully described herein without being expressly identified as such or as part of a specific disclosure, the disclosures instead being set forth in the appended claims. Descriptions of exemplary methods or processes are not limited to inclusion of all steps as being required in all cases, nor is the order that the steps are presented to be construed as required or necessary unless expressly so stated. The words used in the claims have their full ordinary meanings and are not limited in any way by the description of the embodiments in the specification.