Electric-powered self-balancing unicycle

Abstract

An electric powered self-balancing unicycle may include a single wheel assembly having a drive system substantially contained within the wheel, a frame and handlebars including a four-bar linkage mechanism pivotably connected to the wheel assembly by a fork.

What is claimed is: 
     
         1 . A one-wheeled vehicle comprising:
 a single wheel assembly including a single wheel having an axis of rotation and a rim having an inner circumference;   an electric drive system coupled to the wheel assembly and contained within the inner circumference of the rim; and   a frame including a body having an extension member generally extending perpendicular to the axis of rotation of the wheel, and a fork operatively connected to the body, the fork having two legs straddling the wheel assembly;   wherein a distal end of each of the legs of the fork is attached to the wheel assembly only at a respective connection spaced from the axis of rotation of the wheel.   
     
     
         2 . The vehicle of  claim 1 , wherein the vehicle is configured to travel in an operational mode in which the vehicle travels with only the single wheel assembly contacting a support surface. 
     
     
         3 . The vehicle of  claim 2 , wherein the vehicle is further configured to convert between the operational mode and a parked mode in which the frame is rotated about the axis of the wheel such that the extension member contacts the support surface and resists lateral toppling of the vehicle. 
     
     
         4 . The vehicle of  claim 2 , wherein the wheel rotates about an axle, and each of the distal ends of the fork are attached to the wheel assembly above the axle relative to the support surface when the vehicle is in the operational mode. 
     
     
         5 . The vehicle of  claim 1 , the electric drive system further comprising a battery, wherein the battery is accessible through the side of the wheel assembly without interference from the fork. 
     
     
         6 . The vehicle of  claim 1 , the wheel assembly further including a first hub cover disposed over a first lateral side of the wheel and a second hub cover disposed over a second lateral side of the wheel opposite the first side, the first hub cover being affixed to an axle of the wheel and the second hub cover being affixed to the drive system. 
     
     
         7 . The vehicle of  claim 6 , wherein the distal ends of the fork legs are respectively attached to the first and second hub covers. 
     
     
         8 . The vehicle of  claim 1 , wherein the extension member comprises a hoop structure. 
     
     
         9 . The vehicle of  claim 8 , wherein the hoop structure comprises two legs extending generally perpendicular to the axis of rotation and a crossbar oriented parallel to the axis of rotation rigidly linking distal ends of the two legs. 
     
     
         10 . A one-wheeled vehicle comprising:
 a single wheel assembly including a single wheel having an axis of rotation and a rim having an inner circumference;   an electric drive system coupled to the wheel assembly and contained within the inner circumference of the rim;   a frame including a fork having two legs straddling the wheel assembly; and   an extension member extending from the vehicle in a direction transverse to the axis of rotation of the wheel;   wherein the extension member includes a hoop structure configured to support the vehicle in a parked mode in which the frame is rotated about the axis of the wheel such that the extension member contacts a support surface and resists lateral toppling of the vehicle.   
     
     
         11 . The vehicle of  claim 10 , wherein a proximal end of the extension member is affixed to the frame. 
     
     
         12 . The vehicle of  claim 10 , the frame further comprising a frame body generally oriented perpendicular to the axis of rotation of the wheel, a handlebar coupled to a first end of the frame body, and a support assembly coupling a second end of the frame body to the wheel assembly. 
     
     
         13 . The vehicle of  claim 12 , wherein the frame body is pivotably coupled to the support assembly. 
     
     
         14 . The vehicle of  claim 10 , further comprising a controller for controlling a variable speed and direction of the electric motor, the controller in electronic communication with an attitude sensing system;
 wherein the controller and attitude sensing system are contained within the inner circumference of the rim; and   further wherein the controller is configured to automatically adjust the speed and direction of the motor, without a manual throttle control, to reduce a difference between a pitch measured by the attitude sensing system and a zero pitch setpoint.   
     
     
         15 . The vehicle of  claim 10 , wherein only the single wheel of the vehicle and the extension member are in contact with the support surface when the vehicle is in the parked mode. 
     
     
         16 . A one-wheeled vehicle comprising:
 a single wheel assembly including a single wheel having an axis of rotation and a rim having an inner circumference;   an electric drive system coupled to the wheel assembly and contained within the inner circumference of the rim;   a frame generally oriented perpendicular to the axis of rotation of the wheel, the frame having a free end portion and a pivoting end portion;   a handlebar coupled to the free end portion of the frame;   a support assembly having a first end pivotably connected to the pivoting end portion of the frame and a second end affixed to the wheel assembly; and   an extension member extending from the vehicle in a direction transverse to the axis of rotation of the wheel;   wherein the frame is configured to pivot side to side relative to the wheel assembly, as limited by a mechanical stop; and   wherein the extension member is configured to support the vehicle in a parked mode in which the frame is rotated about the axis of the wheel such that the extension member contacts a support surface and resists lateral toppling of the vehicle.   
     
     
         17 . The vehicle of  claim 16 , wherein the extension member comprises a hoop structure. 
     
     
         18 . The vehicle of  claim 17 , wherein the hoop structure comprises two legs extending generally perpendicular to the axis of rotation and a crossbar oriented parallel to the axis of rotation rigidly linking distal ends of the two legs. 
     
     
         19 . The vehicle of  claim 16 , wherein a proximal end of the extension member is affixed to the frame. 
     
     
         20 . The vehicle of  claim 16 , wherein the second end of the support assembly includes a fork having two legs straddling the wheel assembly, distal ends of the two legs being attached to the wheel assembly at respective positions that are offset from the axis of rotation of the wheel.