Systems and methods for diagnostics and response of an electrically motorized vehicle

• US 10,259,311 B2
• Filed: 04/03/2015
• Issued: 04/16/2019
• Est. Priority Date: 04/04/2014
• Status: Active Grant

• Current Assignee: Superpedestrian IPCO LLC
• Original Assignee: Superpedestrian, Inc.
• Inventors: Biderman, Assaf, Stevens, Jon, Heinzmann, John David
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US14/678,855
• Publication Number:
  US 20160014252A1
• Time in Patent Office: 1,474 Days
• Field of Search: 701 2, 701 291, 701 22, 701 314, 701538, 180 6551, 180907
• CPC Class Codes: A61B 5/0002 Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network A61B5/07 takes precedence; transmission systems for measured values G08C; transmission H04B; transmission of digital information H04L; wireless communication networks H04W
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/24 Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
• CPC Class Codes: A61B 5/6893 Cars
• CPC Class Codes: A61B 5/7275 Determining trends in physiological measurement data; Predicting development of a medical condition based on physiological measurements, e.g. determining a risk factor
• CPC Class Codes: A61B 5/7282 Event detection, e.g. detecting unique waveforms indicative of a medical condition A61B5/4094, A61B5/4818, A61B5/349, A61B5/0823 take precedence
• CPC Class Codes: A61G 5/04 motor-driven A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023
• CPC Class Codes: A61G 5/048 Power-assistance activated by pushing on hand rim or on handlebar
• CPC Class Codes: A63B 21/0058 using motors
• CPC Class Codes: A63B 21/22 Resisting devices with rotary bodies A63B21/0608 takes precedence
• CPC Class Codes: A63B 22/0605 performing a circular movement, e.g. ergometers
• CPC Class Codes: A63B 24/0062 Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
• CPC Class Codes: A63B 24/0084 Exercising apparatus with means for competitions, e.g. virtual races
• CPC Class Codes: A63B 24/0087 Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
• CPC Class Codes: B60C 5/005 Ballast tyres
• CPC Class Codes: B60C 9/00 Reinforcements or ply arrangement of pneumatic tyres inserts having reinforcing means B60C5/08; bead structure, e.g. turnup or overlap construction, B60C15/00
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2009 : for braking
• CPC Class Codes: B60L 15/2036 : Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/12 : Bikes
• CPC Class Codes: B60L 2200/34 : Wheel chairs
• CPC Class Codes: B60L 2200/36 : Vehicles designed to transport cargo, e.g. trucks
• CPC Class Codes: B60L 2200/40 : Working vehicles
• CPC Class Codes: B60L 2200/44 : Industrial trucks or floor conveyors
• CPC Class Codes: B60L 2220/44 : Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2220/50 : Structural details of electrical machines
• CPC Class Codes: B60L 2240/12 : Speed
• CPC Class Codes: B60L 2240/36 : Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/421 : Speed
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60L 2240/425 : Temperature
• CPC Class Codes: B60L 2240/461 : Speed
• CPC Class Codes: B60L 2240/463 : Torque
• CPC Class Codes: B60L 2240/545 : Temperature
• CPC Class Codes: B60L 2240/547 : Voltage
• CPC Class Codes: B60L 2240/549 : Current
• CPC Class Codes: B60L 2240/622 : by satellite navigation
• CPC Class Codes: B60L 2240/68 : Traffic data
• CPC Class Codes: B60L 2240/70 : Interactions with external data bases, e.g. traffic centres
• CPC Class Codes: B60L 2260/44 : by parameter estimation
• CPC Class Codes: B60L 3/0046 : relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 3/0061 : relating to electrical machines
• CPC Class Codes: B60L 3/12 : Recording operating variables ; Monitoring of operating variables
• CPC Class Codes: B60L 50/20 : using propulsion power generated by humans or animals
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/00 : Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
• CPC Class Codes: B60L 58/10 : for monitoring or controlling batteries
• CPC Class Codes: B60L 58/13 : Maintaining the SoC within a determined range
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: B60L 58/26 : by cooling
• CPC Class Codes: B60L 7/00 : Electrodynamic brake systems for vehicles in general
• CPC Class Codes: B60L 7/12 : for vehicles propelled by dc motors
• CPC Class Codes: B60Q 5/005 : automatically actuated
• CPC Class Codes: B60Q 9/00 : Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60R 16/02 : electric constitutive elements
• CPC Class Codes: B60R 25/04 : operating on the propulsion system, e.g. engine or drive motor
• CPC Class Codes: B60R 25/1003 : Alarm systems characterised by arm or disarm features
• CPC Class Codes: B60R 25/20 : Means to switch the anti-theft system on or off
• CPC Class Codes: B60W 2050/0014 : Adaptive controllers
• CPC Class Codes: B60W 2050/0075 : Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2556/10 : Historical data
• CPC Class Codes: B60W 50/085 : Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: B60Y 2300/18 : Propelling the vehicle
• CPC Class Codes: B60Y 2300/1884 : Avoiding stall or over-speed of the engine
• CPC Class Codes: B61L 25/02 : Indicating or recording positions or identities of vehicles or trains
• CPC Class Codes: B62B 3/00 : Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor convertible from one-axled to two-axled vehicle B62B1/002
• CPC Class Codes: B62B 5/004 : in wheels
• CPC Class Codes: B62M 25/08 : with electrical or fluid transmitting systems
• CPC Class Codes: B62M 6/45 : Control or actuating devices therefor
• CPC Class Codes: B62M 6/80 : Accessories, e.g. power sources; Arrangements thereof
• CPC Class Codes: E05B 2047/0088 : Key-operated switch
• CPC Class Codes: E05B 49/006 : actuating opto-electronic devices
• CPC Class Codes: E05B 81/54 : Electrical circuits for locking several wings simultaneously E05B77/48
• CPC Class Codes: G01C 21/36 : Input/output arrangements for on-board computers
• CPC Class Codes: G01C 21/3632 : Guidance using simplified or iconic instructions, e.g. using arrows G01C21/365 takes precedence
• CPC Class Codes: G01C 21/3664 : Details of the user input interface, e.g. buttons, knobs or sliders, including those provided on a touch screen; remote controllers; input using gestures
• CPC Class Codes: G05D 1/021 : specially adapted to land vehicles
• CPC Class Codes: G05D 1/0285 : using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G05D 1/0287 : involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G05D 1/0291 : Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G06F 8/65 : Updates security arrangements therefor G06F21/57
• CPC Class Codes: G07C 2009/00769 : with data transmission performed by wireless means
• CPC Class Codes: G07C 5/006 : Indicating maintenance
• CPC Class Codes: G07C 5/008 : communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/02 : Registering or indicating driving, working, idle, or waiting time only apparatus forming part of taximeters G07B13/00
• CPC Class Codes: G07C 5/0808 : Diagnosing performance data testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005
• CPC Class Codes: G07C 9/00309 : operated with bidirectional data transmission between data carrier and locks
• CPC Class Codes: G07C 9/20 : involving the use of a pass
• CPC Class Codes: G08G 1/0129 : for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/052 : with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/123 : indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, tramstransmission of navigation instructions to vehicles G08G1/0968
• CPC Class Codes: G08G 1/127 : to a central station ; Indicators in a central station
• CPC Class Codes: G08G 1/13 : the indicator being in the form of a map
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 1/202 : Dispatching vehicles on the basis of a location, e.g. taxi dispatching
• CPC Class Codes: H02P 29/20 : for controlling one motor used for different sequential operations
• CPC Class Codes: H02P 3/06 : for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
• CPC Class Codes: H02P 6/08 : Arrangements for controlling the speed or torque of a single motor H02P6/10, H02P6/28 take precedence
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04M 1/72412 : using two-way short-range wireless interfaces
• CPC Class Codes: H04W 4/60 : Subscription-based services using application servers or record carriers, e.g. SIM application toolkits
• CPC Class Codes: H04W 4/80 : Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A system, method and device for the operation of electrically motorized vehicles that can utilize an electrically motorized wheel to convert a non-motorized wheeled vehicle to an electrically motorized wheeled vehicle. The electrically motorized wheel can include a modular systems package with a motor, power supply, sensor system and control system that is operable to communicate locally and globally via various mobile devices. The control system for a device of an electrically motorized wheel includes an application module operable to execute a control algorithm that manages operation of the device.

Claims

1. A method for diagnosis of a motorized bicycle comprising:

receiving operational data from a system mounted to the motorized bicycle wherein the operational data relates to a component onboard the motorized bicycle;

detecting, using a control unit mounted to the motorized bicycle, that a hazard indicator is present in the operational data; and

using the control unit mounted to the motorized bicycle to restrict performance or cease operation of the motorized bicycle in response to detecting the hazard indicator.

2. The method as recited in claim 1, wherein the operational data comprises acceleration data indicative of orientation or an impact.

3. The method as recited in claim 1, wherein the operational data comprises temperature data associated with operation of an electric motor of the motorized bicycle.

4. The method recited in claim 1, wherein the operational data comprises temperature data associated with operation of a battery system of the motorized bicycle.

5. The method as recited in claim 1, further comprising receiving the operational data via a mobile device associated with the motorized bicycle.

6. The method as recited in claim 5, communicating the operational data via the mobile device.

7. The method as recited in claim 6, communicating the operational data via the mobile device in response to a service call.

8. The method as recited in claim 1, wherein the operational data comprises software and hardware version numbers for the motorized bicycle.

9. The method as recited in claim 1, wherein the operational data comprises hazard indicators for the motorized bicycle.

10. The method as recited in claim 1, wherein the operational data comprises system response data.

11. The method as recited in claim 1, wherein the operational data comprises system fault data.

12. The method as recited in claim 1, wherein the operational data comprises sensor data that is used for controlling the motorized bicycle.

13. The method as recited in claim 1, wherein the operational data facilitates servicing of the motorized bicycle.

14. The method as recited in claim 1, further comprising analyzing the operational data to determine if a warranty has been voided.

15. The method as recited in claim 1, further comprising:

controlling an operation of at least one parameter of the motorized bicycle in response to the hazard indicator.

16. The method as recited in claim 15, wherein the hazard indicator comprises a discharge current being above a predetermined value.

17. The method as recited in claim 15, wherein the hazard indicator comprises a regeneration current being above a predetermined value.

18. The method as recited in claim 15, wherein the hazard indicator comprises a voltage being above a predetermined value.

19. The method as recited in claim 15, wherein the hazard indicator comprises a voltage being below a predetermined value due to motoring.

20. The method as recited in claim 15, wherein the hazard indicator comprises a temperature being above or below a predetermined value.

21. The method as recited in claim 15, wherein controlling the operation of at least one parameter of the motorized bicycle comprises running an algorithm to control a battery current or a battery voltage.

22. The method as recited in claim 21, further comprising determining a current control gain and a voltage control gain.

23. The method as recited in claim 22, further comprising:

determining if the current control gain is less than the voltage control gain; and

in response to the determining, setting a first attenuation gain that is equal to the current control gain.

24. The method as recited in claim 22, further comprising:

determining if the current control gain is not less than the voltage control gain; and

in response to the determining, setting a second attenuation gain that is equal to the voltage control gain.

25. The method as recited in claim 1, wherein the operational data is associated with an electric motor.

26. The method as recited in claim 1, further comprising analyzing the operational data for internal consistency by determining if a positive torque is measured while a negative speed is measured at a rear sprocket of the motorized bicycle.

27. The method as recited in claim 1, further comprising analyzing the operational data for internal consistency by determining if a speed of a rear sprocket of the motorized bicycle exceeds a speed of a wheel of the motorized bicycle.

28. The method as recited in claim 1, further comprising analyzing the operational data for internal consistency by determining if at least two of a rider input torque, a speed of a rear sprocket of the motorized bicycle, and a speed of a wheel of the motorized bicycle are consistent with one another.

29. The method as recited in claim 1, further comprising:

in response to determining that the hazard indicator has occurred, modifying an operational parameter of the motorized bicycle to alter an amount of assistance or an amount of resistance received by a user of the motorized bicycle.

30. The method as recited in claim 1, wherein the hazard indicator comprises a temperature being above or below a predetermined value.

31. The method as recited in claim 1, wherein the component is one of a battery system, an electric motor, a sensor system, a communications radio, and a microprocessor.

32. A method for diagnosis of an electrically motorized wheel that is adapted for converting a vehicle to an electrically motorized vehicle via installation of the electrically motorized wheel, the method comprising:

receiving operational data from a system of the electrically motorized wheel wherein the operational data relates to a component onboard the electrically motorized wheel;

detecting, using a control unit mounted to the electrically motorized wheel, that a hazard indicator is present in the operational data; and

using the control unit mounted to the electrically motorized wheel to restrict performance or cease operation of the electrically motorized wheel in response to detecting the hazard indicator.

33. The method as recited in claim 32, wherein the operational data comprises acceleration data indicative of orientation or an impact.

34. The method as recited in claim 32, wherein the operational data comprises temperature data associated with operation of an electric motor of the electrically motorized wheel.

35. The method as recited in claim 32, wherein the operational data comprises temperature data associated with operation of a battery system of the electrically motorized wheel.

36. The method as recited in claim 32, further comprising receiving the operational data via a mobile device associated with the electrically motorized wheel.

37. The method as recited in claim 36, communicating the operational data via the mobile device.

38. The method as recited in claim 32, wherein the operational data comprises software and hardware version numbers for the electrically motorized wheel.

39. The method as recited in claim 32, wherein the operational data comprises hazard indicators for the electrically motorized wheel.

40. The method as recited in claim 32, wherein the operational data comprises system response data.

41. The method as recited in claim 32, wherein the operational data comprises system fault data.

42. The method as recited in claim 32, wherein the operational data comprises sensor data that is used for controlling the electrically motorized wheel.

43. The method as recited in claim 32, wherein the operational data facilitates servicing of the electrically motorized wheel.

44. The method as recited in claim 36, communicating the operational data via the mobile device in response to a service call.

45. The method as recited in claim 32, wherein analyzing the operational data to determine if a warranty has been voided.

46. The method as recited in claim 32, further comprising:

controlling an operation of at least one parameter of the electrically motorized wheel in response to the hazard indicator.

47. The method as recited in claim 46, wherein the hazard indicator comprises a discharge current being above a predetermined value.

48. The method as recited in claim 46, wherein the hazard indicator comprises a regeneration current being above a predetermined value.

49. The method as recited in claim 46, wherein the hazard indicator comprises a voltage being above a predetermined value.

50. The method as recited in claim 46, wherein the hazard indicator comprises a voltage being below a predetermined value due to motoring.

51. The method as recited in claim 46, wherein the hazard indicator comprises a temperature being above or below a predetermined value.

52. The method as recited in claim 46, wherein controlling the operation of at least one parameter of the electrically motorized wheel includes running an algorithm to control a battery current or a battery voltage.

53. The method as recited in claim 52, further comprising determining a current control gain and a voltage control gain.

54. The method as recited in claim 53, further comprising:

determining if the current control gain is less than the voltage control gain; and

in response to the determining, setting a first attenuation gain that is equal to the current control gain.

55. The method as recited in claim 53, further comprising:

determining if the current control gain is not less than the voltage control gain; and

in response to the determining, setting a second attenuation gain that is equal to the voltage control gain.

56. The method as recited in claim 46, wherein the at least one parameter of the electrically motorized wheel is associated with an electric motor.

57. The method as recited in claim 32, further comprising analyzing the operational data for internal consistency by determining if a positive torque is measured while a negative speed is measured at a sprocket of the electrically motorized wheel.

58. The method as recited in claim 32, further comprising analyzing the operational data for internal consistency by determining if a speed of a sprocket of the electrically motorized wheel exceeds a speed of the electrically motorized wheel.

59. The method as recited in claim 32, further comprising analyzing the operational data for internal consistency by determining if at least two of a rider input torque, a speed of a sprocket of the electrically motorized wheel, and a speed of the electrically motorized wheel are consistent with one another.

60. The method as recited in claim 32, further comprising:

in response to determining that the hazard indicator is present, modifying an operational parameter of the electrically motorized wheel to alter an amount of assistance or resistance received by a user of the electrically motorized vehicle.

61. The method as recited in claim 32, wherein the hazard indicator comprises a temperature being above or below a predetermined value.

62. The method as recited in claim 32, wherein the component is one of a battery system, an electric motor, a sensor system, a communications radio, and a microprocessor.

63. A method for diagnosis of a motorized human-propelled vehicle, the method comprising:

receiving operational data from a system mounted to the motorized human-propelled vehicle, wherein the operational data relates to a component onboard the motorized human-propelled vehicle;

detecting, using a control unit mounted to the motorized human-propelled vehicle, that a hazard indicator is present in the operational data; and

using the control unit mounted to the motorized human-propelled vehicle to restrict performance or cease operation of the motorized human-propelled vehicle in response to detecting the hazard indicator.

64. The method as recited in claim 63, wherein the hazard indicator comprises a temperature being above or below a predetermined value.

65. The method as recited in claim 64, further comprising modifying an operational parameter, wherein modifying the operational parameter comprises running an algorithm to control a battery current or a battery voltage.

66. The method as recited in claim 65, further comprising determining a current control gain and a voltage control gain.

67. The method as recited in claim 66, further comprising:

determining if the current control gain is less than the voltage control gain; and

in response to the determining, setting first attenuation gain that is equal to the current control gain.

68. The method as recited in claim 66, further comprising:

determining if the current control gain is not less than the voltage control gain; and

in response to the determining, setting a second attenuation gain that is equal to the voltage control gain.

69. The method as recited in claim 63, further comprising analyzing the operational data for internal consistency by determining if a positive torque is measured while a negative speed is measured at a sprocket of the motorized human-propelled vehicle.

70. The method as recited in claim 63, further comprising analyzing the operational data for internal consistency by determining if a speed of a sprocket of the motorized human-propelled vehicle exceeds a speed of a wheel of the motorized human-propelled vehicle.

71. The method as recited in claim 63, further comprising analyzing the operational data for internal consistency by determining if at least two of a rider input torque, a speed of a sprocket of the motorized human-propelled vehicle, and a speed of a wheel of the motorized human-propelled vehicle are consistent with one another.

72. The method as recited in claim 63, further comprising:

in response to determining that the hazard indicator is present, modifying an operational parameter of the motorized human-propelled vehicle to alter an amount of assistance or resistance received by a user of the motorized human-propelled vehicle.

73. The method as recited in claim 63, wherein the component is one of a battery system, an electric motor, a sensor system, a communications radio, and a microprocessor.