Speed limiting for a balancing transporter accounting for variations in system capability

• US 20040118622A1
• Filed: 09/23/2003
• Published: 06/24/2004
• Est. Priority Date: 05/27/1994
• Status: Active Grant

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway, LLC
• Inventors: Morrell, John B., Robinson, David W.
• Granted Patent: US 6,868,931 B2
• Time in Patent Office: Days
• US Class Current: 180/65.1
• CPC Class Codes: A61G 5/065 with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 58/10 for monitoring or controlling batteries
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62K 1/00 Unicycles
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 17/00 Cycles not otherwise provided for
• 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 class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided for determining the maximum operating speed of the transporter from measurement of battery parameters and transporter motor current and for limiting the speed of the transporter to maintain stability based on various sets of operationally imposed margins.

Claims

1. A method for limiting the speed of a transporter having a motorized drive arrangement, the method comprising:

a. calculating a plurality of maximum speeds based on at least one of a margin of torque and a margin of motor speed specified to provide stable operation under specified sets of operating conditions;

b. determining a speed limit locus in a plane of motor speed and motor torque such that the speed of the transporter exceeds no maximum speed determined in step (a); and

c. limiting operation of the motorized drive arrangement to preclude extended operation of the transporter at a speed exceeding the intervention locus.

2. A method in accordance with claim 1, wherein the step of limiting operation includes shutting down the motorized drive arrangement if a specified torque margin may not be maintained.