Patent Application
20250205585
The present application relates to a power-driven mobility device.
With the growth of the e-commerce industry, warehouses around the world have grown in both scale and logistical needs. Although fully robotic solutions are increasing in capability, human influence can still be beneficial throughout the large warehouse footprint. Having warehouse personnel walk unaided may be costly to their efficiency and energy. Alternatively, automated or human-operated transportation devices can quickly clog up vital throughways within a warehouse. Furthermore, larger transportation devices can be dangerous to warehouse personnel.
There is a need for a mobility device having a small form factor that can aid warehouse personnel in traveling through the large footprint of a warehouse in an expedited manner with less effort than walking alone.
In some embodiments, a power-driven shoe includes a sole; a plurality of wheels disposed below the sole; a motor in driving connection with at least a portion of the plurality of wheels; a gearbox housing containing a transmission system connecting the motor to the at least a portion of the plurality of wheels; a control circuit operably connected to the motor and configured to control operation of the motor; and one or more strap mounting plates interfaced to a flexible strap configured to affix the power-driven shoe to at least one of a user's foot or shoe, wherein the strap mounting plate is affixed to the gearbox housing to provide a direct load path from the flexible strap to the gearbox housing.
In some embodiments, the sole includes a heel portion and a toe portion joined via one or more translating hinges.
In some embodiments, the plurality of wheels are separated into groups comprising at least two of a group disposed under a toe of the shoe, a group disposed under a middle of the shoe, and a group disposed under a heel of the shoe.
In some embodiments, the power-driven shoe includes a power module housed within the gearbox housing, the power module comprising a battery.
In some embodiments, the power-driven shoe includes one or more sensors comprising an inertial measurement unit.
In some embodiments, the power-driven shoe includes a plurality of threaded axles interfaced to each of the plurality of wheels.
In some embodiments, the transmission system includes a geared drive-train system with bushings integrated into at least one drive gear.
In some embodiments, the gearbox housing includes a first housing containing a power module and a second housing containing drive gears.
In some embodiments, the power-driven shoe includes a motor guard configured to limit exposure of the motor to external elements and securely affix the motor to the power-driven shoe.
In some embodiments, the control circuit is configured to maintain synchronization with a second power-driven shoe worn by the user through decentralized control and cross-shoe communication.
In some embodiments, the strap mounting plate includes one or more adjustment loops, wherein each adjustment loop is configured to accommodate a different foot size.
In some embodiments, the power-driven shoe includes a heel strap configured to secure a rear portion of the user's foot or shoe.
In some embodiments, the gearbox housing includes one or more cutouts in non-load bearing areas.
In some embodiments, the control circuit is configured to monitor battery status and selectively couple or decouple electrical components from the battery.
In some embodiments, the power-driven shoe includes a network adapter configured to facilitate firmware updates and data transmission.
In some embodiments, the transmission system includes an anti-reverse mechanism configured to prevent backward motion.
In some embodiments, the power-driven shoe includes an emergency braking system configured to automatically engage in response to loss of motor control signal.
In some embodiments, the motor is a brushless direct current (BLDC) motor.
In some embodiments, the gearbox housing includes mounting posts configured to interface the one or more strap mounting plates.
In some embodiments, the power-driven shoe includes one or more protective covers mounted to the gearbox housing externally to one of the one or more strap mounting plates.
Aspects and embodiments of this application are depicted in the figures, wherein:
This disclosure is not limited to the particular systems, devices and methods described, as these may vary. The terminology used in the description is for the purpose of describing the particular versions or embodiments only and is not intended to limit the scope of the disclosure.
The following terms shall have, for the purposes of this application, the respective meanings set forth below. Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art. Nothing in this disclosure is to be construed as an admission that the embodiments described in this disclosure are not entitled to antedate such disclosure by virtue of prior invention.
As used herein, the singular forms “a,” “an,” and “the” include plural references, unless the context clearly dictates otherwise. Thus, for example, reference to a “cell” is a reference to one or more cells and equivalents thereof known to those skilled in the art, and so forth.
As used herein, the term “about” means plus or minus 10% of the numerical value of the number with which it is being used. Therefore, about 50 mm means in the range of 45 mm to 55 mm.
As used herein, the term “consists of” or “consisting of” means that the device or method includes only the elements, steps, or ingredients specifically recited in the particular claimed embodiment or claim.
In embodiments or claims where the term “comprising” is used as the transition phrase, such embodiments can also be envisioned with replacement of the term “comprising” with the terms “consisting of” or “consisting essentially of.”
As will be understood by one skilled in the art, for any and all purposes, such as in terms of providing a written description, all ranges disclosed herein are intended as encompassing each intervening value between the upper and lower limit of that range and any other stated or intervening value in that stated range. All ranges disclosed herein also encompass any and all possible subranges and combinations of subranges thereof. Any listed range can be easily recognized as sufficiently describing and enabling the same range being broken down into at least equal halves, thirds, quarters, fifths, tenths, et cetera. As a non-limiting example, each range discussed herein can be readily broken down into a lower third, middle third and upper third, et cetera. As will also be understood by one skilled in the art, all language such as “up to,” “at least,” and the like include the number recited and refer to ranges that can be subsequently broken down into subranges as discussed above. Finally, as will be understood by one skilled in the art, a range includes each individual member. Thus, for example, a group having 1-3 components refers to groups having 1, 2, or 3 components as well as the range of values greater than or equal to 1 component and less than or equal to 3 components. Similarly, a group having 1-5 components refers to groups having 1, 2, 3, 4, or 5 components, as well as the range of values greater than or equal to 1 component and less than or equal to 5 components, and so forth.
In addition, even if a specific number is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). In those instances where a convention analogous to “at least one of A, B, or C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, sample embodiments, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”
In addition, where features of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group.
Referring to
In some embodiments, the heel portion 101 comprises a footplate 109 configured to receive the user's shoe and/or foot. The heel potion 101 may further include one or more strap mounting plates 107. The strap mounting plates 107 may receive flexible straps configured to adjustably wrap over a user's shoe and/or foot.
In certain embodiments, the power-driven shoe 100 comprises a plurality of wheels disposed below the sole of the shoe. In some embodiments, the plurality of wheels are separated into one or more groups. In further embodiments, the one or more groups of wheels may comprise at least one of a group 103 disposed under the toe of the shoe, a group 104 disposed under the middle of the shoe, and a group 105 disposed under the heel of the shoe. As clearly illustrated in
In alternative embodiments, each wheel may be independently driven with a separate motor and/or gearing. In further embodiments, the wheelbase associated with each group of wheels 103-105 may have a distinct length. In some embodiments, the wheelbase of the group of wheels 103 under the toe of the shoe may be the shortest. In further embodiments, the wheelbase of the group of wheels 104 in the middle of the shoe may be the longest.
In certain embodiments, the power-driven shoe 100 comprises a gearbox housing 106 containing a motor in driving connection with at least a portion of the plurality of wheels. In some embodiments, the portion of the plurality of wheels in driving connection with the motor comprises at least one of the wheels in the middle group 104 and at least one of the wheels in the heel group 105. In some embodiments, the motor is in driving connection with at least a portion of the plurality of wheels using a transmission system (e.g., one or more gears, belt, or shafts). The transmission system may be housed in the gearbox housing 106 in accordance with an embodiment. In some embodiments, the gearbox housing 106 is disposed below the shoe sole.
In some embodiments, the transmission system is a geared drive-train system, wherein the geared drive-train system comprises bushings integrated into at least one drive gear.
In some embodiments, the gearbox housing 106 may house a power module. In some embodiments, the gearbox housing 106 may be subdivided into two or more housings. In some embodiments, a first housing of the gearbox housing 106 may comprise a power module and a second housing of the gearbox housing 106 may comprise drive gears.
In certain embodiments, the power-driven shoe 100 includes a power module. The power module may comprise circuitry components, a battery, and one or more connections between the circuitry components and the battery. In some embodiments, the power module may constrain movement of the battery and prevent intrusion by outside elements. In some embodiments, the circuitry components may be mounted within the power module. In such embodiments, the power module may fixedly hold the position and configuration of the circuitry components during use of the power-driven shoe. The exterior of the power module may further prevent debris and moisture from reaching the circuitry components, the battery, and/or the connections. In some embodiments, wire routing and movement may be further constrained within the power module to improve the reliability of the power-driven shoe 100.
In some embodiments, the circuitry components may comprise a control circuit, one or more sensors, and one or more network communication adapters. In certain embodiments, the power-drive shoe 100 includes an interface 108 for charging and/or communicating with the control circuit (e.g., receiving a firmware update).
In some embodiments, the central component 400 may include mounting posts 401. The mounting posts 401 may be configured to interface with strap mounting plates 107. The mounting posts 401 may be configured to interface with a motor cover 403 and/or a medial cover 404. The covers 403/404 may protect internal components of the power-driven shoe 100. The strap mounting plates 107 and/or motor/medial covers 403/404 may be secured to the central component 400 via mounting elements 405 (e.g., bolts). The central component 400 may include a motor guard 406. The motor guard 406 may be configured to limit risk of motor exposure to outside elements (e.g., water, dust, rocks, etc.). The motor guard 406 may be configured to securely affix the motor to the power-driven shoe 100. The motor guard 406 may be predominantly flat. In some embodiments, the motor guard 406 may be configured to enable the power-drive shoe 100 to pass UL certification tests.
As illustrated in
In some embodiments, the strap mounting plates 402 and covers 403/404 may be directly mounted to the central component 400 of the gearbox assembly 106. As a result, a direct load path from the strap to the gearbox assembly 106 is created. This configuration may reduce stress on the footplate 109 and improve the overall strength and durability of the gearbox assembly 106.
In certain embodiments, elements of the gearbox 106 may be customizable in shape and/or color. For example, the covers 403/404 and/or the strap mounting plates 107 may be available in multiple colors. In another example, the strap mounting plates 107 may be customized in size according to the size of the user's foot.
Additionally, the threaded edges may make wheel mounting easier and faster. The wheels may be screwed onto the axles 407 by hand or with a tool.
In certain embodiments, the control circuit 801 is in operable communication with the motor 802 and is configured to control the operation of the motor 802. In some embodiments, the control circuit 801 receives status information from at least one sensor associated with the motor 802. In some embodiments, the status information comprises at least one of a current, a position, a speed, and/or a direction of the rotating motor.
In certain embodiments, the control circuit 801 is operably connected with a battery 803. The battery 803 may comprise one or more batteries in series or in parallel as will be apparent to those of ordinary skill in the art. In some embodiments, the control circuit 801 may be configured to monitor the status of the battery 803 through an integrated sensor. In some embodiments, the integrated sensor may measure a current on one or more terminals of the battery. In some embodiments, the control circuit 801 may electrically couple or decouple one or more electrical components within the power-driven shoe 100 from the battery 803. Coupling or decoupling the one or more electrical components may be performed in response to status information received from other components of the power-driven shoe 100, such as the motor 802.
In some embodiments, the control circuit 801 is in operable communication with a network adapter 804. In some embodiments, the network adapter 804 comprises a wireless adapter. The wireless adapter may be configured to receive and/or transmit signals via IEEE 802.11 wireless, Bluetooth®, or through any other wireless technology or protocol. In some embodiments, the network adapter 804 may alternatively or additionally include a wired interface. In such embodiments, the wired interface may include a Universal Serial Bus connection.
In certain embodiments, the network adapter 804 facilitates communication with an external processor and/or a storage device for at least one of updating the programming instructions on the control circuit 801 (e.g., firmware update or pairing two shoes together), relaying system data, relaying usage data, or relaying data for external control processing.
In certain embodiments, the network adapter 804 facilitates communication between two power-driven shoes worn by a user. In some embodiments, the cross-shoe communication is configured to maintain synchronization between the two power-driven shoes during a user's gait. In further embodiments, the synchronization is improved through decentralized control between the two power-driven shoes.
In certain embodiments, the power-driven shoe may comprise one or more inertial measurement units 805 in operable communication with the control circuit 801. In some embodiments, the one or more inertial measurement units 805 comprise one or more accelerometers and/or gyroscopes.
In certain embodiments, the motor 802 may be a brushless direct current (BLDC) motor. Examples disclosed herein feature a 3-phase motor, but a person of ordinary skill in the art will understand that these systems may be adapted to feature alternative motors.
In certain embodiments, a power-driven shoe comprises one or more braking systems. In some embodiments, at least one of the braking systems is configured to automatically cause the power-driven shoe to brake in an emergency scenario. In some embodiments, the emergency scenario comprises the loss of a motor control signal from the control circuit 801. An illustrative emergency braking system is described in International Patent Application No. PCT/US2023/064219 filed Mar. 13, 2023 and entitled “Systems and Methods for Emergency Braking of a Power-Driven Shoe,” the entirety of which is incorporated herein by reference.
In certain embodiments, the braking system may additionally comprise an anti-reverse mechanism. An illustrative anti-reverse mechanism is described in U.S. Pat. No. 10,933,298 issued Mar. 2, 2021 and entitled “Anti-Reverse Rotation Device of Power-Driven Shoe Device,” the entirety of which is incorporated herein by reference.
While the present disclosure has been illustrated by the description of exemplary embodiments thereof, and while the embodiments have been described in certain detail, the Applicant does not intend to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. Therefore, the disclosure in its broader aspects is not limited to any of the specific details, representative devices and methods, and/or illustrative examples shown and described. Accordingly, departures may be made from such details without departing from the spirit or scope of the Applicant's general inventive concept.
In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the present disclosure are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that various features of the present disclosure, as generally described herein, and illustrated in the Figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.
The present disclosure is not to be limited in terms of the particular embodiments described in this application, which are intended as illustrations of various features. Instead, this application is intended to cover any variations, uses, or adaptations of the present teachings and use its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which these teachings pertain. Many modifications and variations can be made to the particular embodiments described without departing from the spirit and scope of the present disclosure as will be apparent to those skilled in the art. Functionally equivalent methods and apparatuses within the scope of the disclosure, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing descriptions. It is to be understood that this disclosure is not limited to particular methods, reagents, compounds, compositions or biological systems, which can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.
Various of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art, each of which is also intended to be encompassed by the disclosed embodiments.
This application claims priority to U.S. Provisional Patent Application 63/614,214, filed Dec. 22, 2023, which is incorporated herein in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| 63614214 | Dec 2023 | US |
