Accelerated startup for a balancing personal vehicle

• US 20030141832A1
• Filed: 03/21/2003
• Published: 07/31/2003
• Est. Priority Date: 10/13/2000
• Status: Active Grant

• Current Assignee: J. Douglas Field, John B. Morrell
• Original Assignee: J. Douglas Field, John B. Morrell
• Inventors: Field, J. Douglas, Morrell, John B.
• Granted Patent: US 6,815,919 B2
• Time in Patent Office: Days
• US Class Current: 318/139
• CPC Class Codes: A63C 17/12 with driving mechanisms
• 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 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/463 Torque
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2240/545 Temperature
• CPC Class Codes: B60L 2240/547 Voltage
• 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 3/0084 relating to control modules
• CPC Class Codes: B60L 58/18 of two or more battery modules
• CPC Class Codes: B60L 58/24 for controlling the temperature of batteries
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• 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 10/72 Electric energy management in electromobility

Abstract

A system and method for automatically decelerating a personal transporter of the kind that has a controller for controlling the motion of the transporter. Upon detection of a fault condition, a goal value of a control variable is set, the control variable is adjusted at a specified increment in the direction of the goal value, and the prior steps are repeated until the control variable equals the goal value.

A method is also provided that affords a user accelerated access to operation of a balancing personal transporter. The method has the steps of first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter.

Claims

1. A method for providing a user with accelerated access to operation of a balancing personal transporter, the method comprising:

(a) initializing a single-axis stabilizer;

(b) beginning initialization of a 3-axis stabilizer;

(c) alerting the rider that the transporter is ready for use;

(d) allowing operation of the transporter;

(e) completing initialization of the 3-axis stabilizer; and

(f) employing the 3-axis stabilizer for control of the balancing personal transporter.

2. Apparatus for providing a user with accelerated access to operation of a balancing personal transporter comprising:

(a) a single axis stabilizer;

(b) a 3-axis stabilizer; and

(c) means for alerting the user.

3. The apparatus of claim 2, wherein the single axis stabilizer comprises a solid-state gyroscope.

4. The apparatus of claim 2, wherein the single axis stabilizer comprises a tilt sensor.

5. The apparatus of claim 2, wherein the single axis stabilizer is a stabilizer for the pitch orientation of the transporter.

6. The apparatus of claim 2, wherein the 3-axis stabilizer comprises at least three solid-state gyroscopes.

7. The apparatus of claim 2, wherein the 3-axis stabilizer comprises at least a tilt sensor.

8. The apparatus of claim 2, wherein the 3-axis stabilizer is a stabilizer for pitch, yaw, and roll of the personal transporter.