[0001] This patent application claims priority to and all advantages of United States Provisional Patent Application No. 62311593, which was filed on March 22, 2016, and which is hereby incorporated by reference in its entirety.

TRANSPORTATION DEVICE

BACKGROUND

[0002] With growing population and a shift toward more urbanization, the population density of cities increases. Users increasingly ride public transportation systems and walk from public transport stations to final destinations. Moreover, many suburban residents now park their cars in parking structures in city centers and walk to their final destination to avoid traffic congestion of city centers.

BRIEF DESCRIPTION OF THE DRAWINGS

[0003] Figure 1 is a perspective view of an example transportation device.

[0004] Figure 2 is perspective top view of the device of Figure 1.

[0005] Figure 3 is perspective bottom view of the device of Figure 1.

[0006] Figure 4 is a perspective view of an example transportation device with a suspension component.

[0007] Figure 5 A is a side view of the device of Figure 4.

[0008] Figure 5B is a side view of the device of Figure 4 moving over a small object.

[0009] Figure 6A is a side view of the device of Figure 1 moving forward and transporting a user.

[0010] Figure 6B is a side view of the device of Figure 1 moving backward and transporting a user.

[0011] Figure 6C is a rear view of the device of Figure 1 turning left and transporting a user. [0012] Figure 7 is a perspective view of the device of Figure 1 carrying a load and following a user.

[0013] Figure 8 is a perspective view of the device of Figure 1 illustrating each of a mounted display and a projected display.

[0014] Figure 9 is a perspective view of the device of Figure 1 stored in a trunk of a vehicle.

[0015] Figure 10 is a block diagram showing electrical components of the device and a mobile computing device.

[0016] Figure 11 is a flowchart of a method for a follow mode for the device of

Figure 1.

DETAILED DESCRIPTION

[0017] With reference to the Figures, wherein like numerals indicate like parts throughout the several views, an example device 10 includes a platform member 12 with a top 14 and a bottom 16, a plurality of wheels 18, 20, 22, 24 each of the wheels rotatably mounted to the bottom 16 of the platform member 12, and a motor 26, 28 mounted to the bottom 16 of the platform member 12, and a drive shaft 30, 32 extending from the motor and drivably coupled to at least one of the wheels 18, 20, 22, 24.

[0018] The device 10 may be used by a user as a mobility device. The device 10 may carry the user while the user stands on the top 14 of the device 10. The device 10 accordingly may provide a convenience for the user, for example, when the user needs to travel a long distance in a crowded urban area that the user would otherwise walk. Additionally, the device 10 may be useful to carry a load 34, e.g. a shopping bag or other cargo. The device 10 could carry the load 34 and follow the user as the user walks.

[0019] A right wheel 18, a left wheel 20, and a front wheel 22 rotatably mounted to the bottom 16 of the device 10 are shown in Figures 1 and 2. The device 10 may move on the ground surface while the wheels 18, 20, 22, 24 rotate. A force to move the device 10 may be provided by the motor drivably coupled to one or more of the wheels. The device 10 typically is able to move in different directions, e.g., forward and backward.

[0020] The front wheel 22 may be pivotable about an axis Al transverse to the platform member 12, as shown in Figure 6B, or the front wheel 22 may be an omnidirectional, i.e., "Omni" wheel able to slide laterally, as shown in Figure 4. Omni wheels, as are known, can advantageously provide lateral sliding movements when, e.g., the device 10 turns or negotiates a curve. Omni wheels are for example built as wheels with small discs mounted around the wheel circumference while rotational axes of these small discs are transverse to the rotational axis of the Omni wheel. Omni wheels can, therefore, provide movements in a forward or in a backward direction, but can also slide laterally with ease, i.e., through rotation of the small discs. Alternatively, Omni wheels can be built in any other suitable way to provide sliding movements in lateral direction. Additionally or alternatively, one or more of the wheels 18, 20, 22, 24 may be pivotable wheels, Omni wheels, or pivotable Omni wheels.

[0021] As another example shown in Figure 3 and 6B, the device 10 has a rear wheel 24 rotatably mounted to the bottom 16 of the platform member 12. Additionally, the rear wheel 24 may be a wheel pivotable about an axis A2, an Omni wheel, or an Omni wheel pivotable about the axis A2.

[0022] As shown in the Figures, the platform member 12 has a substantially circular shape. Alternatively, the platform member 12 may have any other suitable shape. The platform member 12 may include a chassis 13, as shown in Figure 4. The chassis 13 may include beams, sheets, etc. that are fixed together, e.g., welded. The chassis 13 may be formed of metal, hard plastic, or any other suitable material. The top 14 can be attached to the chassis 13, e.g., with screws.

[0023] The device 10 may include one or more suspension component(s) 45 mounted to the platform member 12, e.g., chassis 13, as shown in Figures 4 and 5, to, e.g., smooth a ride over rough surfaces or objects. The suspension components 45 may have a first end 46 mounted to the chassis 13 and a second end 46 mounted to a wheel 18, 20, 22, 24, e.g., via a wheel attachment member 47. When, e.g., the ground surface is flat, the suspension component 45 may be in a steady state, as shown in Figure 5A, i.e., the wheel 22, 24 is not moved relative to the chassis 13. Whereas, when, e.g., the device rides over an object or a rough surface, the suspension component 45 can allow a movement of the suspension component 45 second end 46 relative to the first end 46 along an axis transverse to the chassis 13, as shown in Figure 5B. The suspension component 45 may be a leaf spring, e.g., formed of a flexible steel, which can bend as shown in Figure 5B.

[0024] The motor 26, 28 may be an electric motor. Electrical energy required to operate the electric motor may come from a plurality of batteries 36 mounted to the platform member 12, as shown in Figure 3. As an example, in order to optimally use the space, four batteries 36 can be mounted at the bottom 16 of the device 10. Additionally, the device 10 may include a second electric motor 28 and a second shaft 32 extending therefrom, the second electric motor 28 mounted to the bottom 16 of the platform member 12 wherein the first shaft 30 driveably coupled to the right wheel 18, and the second shaft 32 is driveably coupled to the left wheel 20.

[0025] As shown in Figure 3, the device 10 may have an electronic controller 38 mounted to the bottom 16 of the platform member 12 or elsewhere having a processor 40 and a memory, the memory storing instructions executable by the processor 40 to control a steering, speed, acceleration, and/or deceleration of the device 10. Moreover, the device 10 may have one or more batteries 36 mounted to the bottom 16 of the platform member 12 providing electrical energy for the electric motors 26, 28.

[0026] The electronic controller 38 may include a motor drive circuitry 42 as shown in Figure 11 to control the speed of the electrical motors 26, 28, e.g., a pulse width modulation circuitry. The motor drive circuitry 42 may actuate the motors 26, 28 to accelerate, decelerate, or steer the device 10.

[0027] The device 10 may include an input element 84, e.g., a push button or a toggle switch, mounted to, e.g., the platform member 12, to select a mode of operation for the device 10, as shown in Figures 1 and 10. The modes of operation can, for example, include a normal mode and an economy mode. The operation of the device 10 in the economy mode may reduce an energy consumption of the electric motors 26, 28 compared to the normal mode. For example, to reduce the energy consumption, in the economy mode a maximum speed of the device 10 may be less than a maximum speed of the device 10 in the normal mode. As an example, the processor 40 may be programmed to receive a signal from the input element 84 and select a mode of operation according to the received signal, e.g., by adjusting a maximum speed threshold according to the selected mode of operation. The processor 40 can be further programmed to actuate the motor to drive with a speed that does not exceed a maximum speed determined according to the mode of operation. Alternatively or additionally, the processor 40 may receive a signal from the mobile computing device 52 or any other device and select the mode of operation according to the received signal. Additionally, the device 10 may include any other modes of operations selectable through the input element 84. Alternatively, the input element 84 can be mounted to any other suitable part of the device 10. [0028] As shown in Figures, the device 10 may include one or more load measuring sensors 44 mounted to, e.g., the top 14, of the platform member 12. The load measuring sensors 44 may be load cells, e.g. strain gauge load cells. A user may stand on the top 14 of the platform member 12 during a ride, i.e. applying weight on the load measuring sensors 44. The load measuring sensors 44 may be used to enable the user to request acceleration, deceleration, steer right, steer left while riding on the ground surface. As an example, controlling the device 10 using load measuring sensors 44 can be done based on a load distribution on the top 14 of the platform member 12. For example, the load measuring sensors 44 may include a front right zone, a front left zone, a rear right zone, and a rear left zone. Alternatively, the load measuring sensors 44 may be an array of load cells, as shown in Figures 1 and 2, wherein the load distribution can be calculated based on the force data measured at each of load cell elements in the array of load cells compared to a location of the load cell element compared to a reference point on the top 14 of platform member 12.

[0029] Referring to Figures 6A - 6C, a user may lean forward or backward in order to accelerate or decelerate, and may lean left or right in order to steer to a left or a right direction. The processor 40 may be programmed to receive data from the load measuring sensors 44 indicating a force detected at one or more of the zones, and actuate the motor 26, 28 to move to a direction based on the received force data. For example, when the device 10 with the load measuring sensors 44 with different zones, measures a greater force Ff _r0 nt in the front zones than the force F _re ar in the rear zones, it may indicate a request for accelerate in a direction Dforward as shown in Figure 6a, or the greater force F _le ft on the left zones than the force Fright in the right zones of the load measuring sensors 44 may indicate the request to steer to the left direction of T _le ft as shown in Figure 6c. Alternatively, the user may ride the device 10 as a skate (not shown), i.e., user may stand toward a right or a left direction on the top 14 of the device. In other words, the user may face to a direction extending between the right wheel 18 and the left wheel 20. In this example, the device 10 may be accelerated, decelerated, or steered in a similar way, as described with respect to Figures 6 A - 6C.

[0030] Referring to the example shown in Figure 3, the device 10 may steer using the driveably connected wheels 18, 20, for example, the right wheel 18 and the left wheel 20 are driveably connected to the electric motor 26 and the second electric motor 28 respectively. The processor 40 may be programmed to actuate the motor drive circuitry 42 to apply different speed and / or different direction of rotation in the electric motors 26 versus the second electric motor 28 in order to steer the device 10. As another example, when the right wheel 18 and the left wheel 20 are both driveably connected to the electric motor 26, the device 10 may include a right clutch adjusting a torque transferred from the electric motor to the right wheel 18 and a left clutch adjusting the torque transferred from the electric motor to the left wheel 20. The processor 40 may be programmed to actuate the right clutch and the left clutch to transfer different amounts of torque to the right wheel 18 versus the left wheel 20, which may cause the device 10 to change the direction of the movement. Additionally or alternatively, swiveling of wheels 22, 24 about the axis Al or A2 transverse to the platform member 12 controlled by the processor 40 may cause the device 10 to steer.

[0031] As an example, in a device 10 with Omni wheels 22, 24, a turn in a right or left direction may cause the Omni wheels slide laterally. This may advantageously provide a smoother turn for the device 10. Alternatively or additionally, the front wheel 22 and/or the rear wheel 24 may pivot about axes Al, A2 transverse to the platform member 12.

[0032] An electrical harness including a plurality of wires may interconnect the batteries 36, the electric motors 26, 28, the electronic controller 38, and the load measuring sensors 44. Additionally, the device 10 may include a charging plug 48 electrically connected to the electrical harness. The charging plug 48 can allow charging the batteries 36 of the device 10. The batteries 36 of the device 10 may be rechargeable and the electronic controller 38 may include a battery charging circuitry 50 to control the flow of electrical energy required for charging the battery 36. Alternatively, the batteries 36 may be charged wirelessly by using a charging coupler instead of the wired charging plug 48, configuring the battery charging circuitry 50 to support inductive charging, and having an inductive charge port connected to a power source, e.g. a vehicle battery. Charging the batteries 36 wirelessly may provide a convenience for the user. The processor 40 of the electronic controller 38 may be programmed to control a charging of the battery 36 when the device 10 is connected through the charging plug 48 to a power source, for example while stored in a spare tire place holder in a trunk of a vehicle as shown in Figure 9. Alternatively or additionally, the device 10 may be charged in dedicated charging stations around urban areas, at a home, or any other suitable place. Additionally, the device may include a display mounted to the platform member 12, to display a charging level of the batteries 36, for example a segmented ring shape display 82 with four segments may be mounted to the perimeter of the platform member 12. Each of the four segments may be turned on and off to illustrate the charging level of the batteries 36 in five distinct levels of 0%, 25%, 50%, 75%, and 100% charged by illuminating zero, one, two, three or all segments respectively.

[0033] In order to avoid a collision of the device 10 with an object on the road having a possibility of rapid deceleration is advantageous. The electronic controller 38 may be programmed to operate the electric motors in a generator mode when the user requests a rapid deceleration, for example when the weight of the user is primarily applied on the rear zones of the load measuring sensors 44. The electric motors in the generator mode resist against the rotation of rotors of the electric motors and thereby may decelerate the device 10. This has the additional benefit that batteries 36 may be charged during a deceleration, if the battery charging circuitry 50 and the electronic controller program support a flow of energy back to the batteries 36, a so called recuperation mode of operation known from hybrid vehicles. Additionally or alternatively, the device 10 may include one or more brakes 80. For example, the brakes 80 may be actuated by the processor 40 when the request of the user to decelerate exceeds a certain deceleration threshold.

[0034] As another example of using the device 10 in a "follow" mode as shown in Figure 7, the user may put a load 34, e.g. a shopping bag on the platform member 12, and the device 10 may move on the ground surface next to, in front of, or behind the user, without the user riding the device 10. As shown in Figure 10, a device 10 may have a first location sensor 54, e.g. a global positioning sensor or a location sensor determining a coordinate of the device 10 and a wireless communication circuitry 58, and a mobile computing device 52 may be carried by the user with a second location sensor 56, e.g., a global positioning sensor determining a global coordinate of the mobile computing device 52, with a second wireless communication circuitry 60, e.g., Bluetooth, and the processor 40 programmed to execute a following process as shown in Figures 11. In short, the mobile computing device 52 of the user device 10 can communicate with the device electronic controller 38 to actuate the device 10 motors 26, 28 to cause the device 10 to move next to, behind, or in front of, the user.

[0035] Referring to Figure 11, the following process includes steps to detect whether the device 10 is in the follow mode, receive a first position (e.g., geo-location using latitude and longitude coordinates as in known) of the device 10, establish a wireless data link 62 to the mobile computing device 52, receive a second position of the mobile computing device 52, calculate a path from the first position to the second position, and move the device 10 along the path from the first position to the second position. To control the movement of the device 10 along the path, the electronic controller 38 may implement various control methods, e.g., proportional integral derivative control, cascade control, fuzzy control, or any other suitable control method. In order to move the device 10 along the path, the electronic controller 38 may need to actuate the device 10 to steer as described above to cause the device 10 to follow a user's walking path.

[0036] The user may prefer that the device 10 in the follow mode moves in front of or next to the user. In this case the processor 40 may be programmed to receive navigation information from the mobile computing device 52 and receive commands from the mobile computing device 52 to accelerate, decelerate and steer toward a predetermined destination. Additionally or alternatively, the device may move on a navigation path in an autonomous mode, without the necessity of the user being on the device 10 or in a proximity of the device 10. In this case the acceleration, deceleration and steering of the device 10 is controlled by the processor 40 and / or by the mobile computing device 52 or a cloud server. This may be useful to create a fleet of devices 10 moving on predetermined routes in urban areas creating a so-called hop on hop off transportation mechanism for users. Additionally a user may use the mobile computing device 52 to send the device 10 autonomously to a certain destination.

[0037] The device 10 in the follow mode moving behind the user may additionally or alternatively include a sensor 64, 66, e.g., a camera, for detecting, e.g., objects, in proximity of the device 10, mounted to the perimeter of the device 10 connected through the electrical harness with the electronic controller 38. The sensor 64, 66 has a horizontal field of view FOV _H and a vertical field of view FOVv covering at least a portion of a surrounding of the device 10. Alternatively or additionally, the sensor 64, 66 may include a radar, LIDAR, or ultrasound sensors for detecting the objects in proximity of the device 10. Either a second processor in the sensor 64, 66 or the processor 40 in the electronic controller 38 may be programmed to detect the user and calculate the position, e.g., geo-coordinates, of the device 10 relative to the user. The detection of the user may be done using a specific graphical pattern like a QR code on a clothing or accessories of the user or any other feature which enables a camera sensor 64, 66 to distinguish the user from other people around the device 10.

[0038] A method for the follow mode as shown in Figure 11 includes detecting whether the device 10 is in a follow position as shown in block 80, locating the first position of the device 10 as shown in block 82, establishing the wireless data link 62 to the mobile computing device 52 as shown in block 84, receiving the second position of the mobile computing device 52 as shown in block 86, calculating the path from the first position toward the second position as shown in block 88, and moving the device 10 along the path from the first position toward the second position as shown in block 90.

[0039] The processor 40 of the electronic controller 38 may be programmed to: detect an object in the field of view of the sensor 64, 66, actuate the electric motors 26, 28 to move the device 10 in the direction toward the object or away from the object. The object detected by the device 10 may be a pattern in the field of view of the sensor 64, 66.

[0040] As another example, to avoid a collision between the device 10 and the user, while following the user, the processor 40 may send a request to stop when the device 10 reaches a predetermined minimum proximity, i.e., distance, threshold. The device 10 may move again after the user walks forward and the distance between the device 10 and the user exceeds the predetermined minimum distance. As shown in Figure 11, the method may include calculating an intermediate position on the path as shown in block 92, the intermediate positon having a distance to the second position at least equal to the minimum proximity threshold, and stopping the device 10 at the second position as shown in block 94.

[0041] As shown in Figure 8, the device 10 may include one or more display elements 68 mounted to the platform member 12. The display elements 68 may provide information to the user, e.g. when the device 10 moves in the autonomous mode and the user stands on the device 10, the displays may indicate a next change in the direction of movement to the user. Alternatively or additionally, the device 10 may include a projector 70 having a projection axis extending from the platform member 12 which projects information in visual form 72 on a surface, e.g. on the ground surface as shown in Figure 6.

[0042] For better visibility, the device 10 may include a plurality of light elements mounted to the perimeter of the device 10, e.g. a front light 74 and / or a tail light 76.

[0043] As shown in Figure 8, the device 10 may have a hole 78 on the top 14 of the platform member 12 to provide a possibility of supporting an umbrella or the like of the user. This may give an improved feeling of stability to the user. This can be used also for holding a stick used by the user as a walking assistance. Additionally or alternatively, a pole may be mounted to the top 14 or the chassis 13 of the platform member 12 which can be held by the user for better stability. [0044] The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.