SELF-RIGHTING MODEL VEHICLE

• US 20160129355A1
• Filed: 11/06/2015
• Published: 05/12/2016
• Est. Priority Date: 11/07/2014
• Status: Active Grant

• Current Assignee: Traxxas LP (Traxxas)
• Original Assignee: Traxxas LP (Traxxas)
• Inventors: ERHART, WESLEY RONALD, KAWAMURA, THOMAS MICHAEL
• Granted Patent: US 9,789,413 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A63H 15/06 Self-righting toys
• CPC Class Codes: A63H 17/004 Stunt-cars, e.g. lifting front wheels, roll-over or invertible cars
• CPC Class Codes: A63H 17/262 Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
• CPC Class Codes: A63H 17/395 steered by program
• CPC Class Codes: A63H 17/40 Toy vehicles automatically steering or reversing by collision with an obstacle
• CPC Class Codes: A63H 29/20 Flywheel driving mechanisms
• CPC Class Codes: A63H 30/04 using wireless transmission

Abstract

The present invention provides a self-righting model vehicle.

Claims

1. A self-righting model vehicle, comprising:

a receiver configured to initiate a self-righting function when a user input is received from a transmitter controller;

a righting mechanism configured to effectuate a rocking motion by the model vehicle when the mode vehicle is inverted to self-right the model vehicle; and

a sensor configured to terminate the self-righting function when the model vehicle is upright.

2. The model vehicle in claim 1, wherein the receiver on the model vehicle is connected to the transmitter controller by a radio frequency link.

3. The model vehicle in claim 1, wherein the receiver further comprises a receiver processor with a self-righting firmware and a receiver firmware.

4. The model vehicle in claim 1, further comprising one or more gyro sensors that sense an angular rate of the model vehicle.

5. The model vehicle in claim 1, further comprising one or more accelerometers that sense a force on the model vehicle.

6. The model vehicle in claim 1, wherein the righting mechanism further comprises a motor to effectuate rocking of the model vehicle by accelerating or decelerating a mass on the model vehicle.

7. The model vehicle in claim 1, further comprising an electronic speed control, wherein the electronic speed control is configured to initiate a motor control function to create a rocking motion by the model vehicle when the self-righting function is initiated by the receiver.

8. The model vehicle in claim 7, wherein the electronic speed control further comprises an electronic speed control processor with a motor control firmware that effectuates the motor control function.

9. The model vehicle in claim 7, wherein the electronic speed control further comprises a torque feedback.

10. The model vehicle in claim 8, wherein the electronic speed control processor further comprises at least one of an optional self-righting firmware or an optional no-delay torque.

11. The model vehicle in claim 1, further comprising a deployable fulcrum to aid in effectuating the rocking motion by the model vehicle when the mode vehicle is inverted.

12. The model vehicle in claim 1, wherein the righting mechanism further comprises a servomechanism to effectuate rocking of the model vehicle by accelerating or decelerating a weighted arm connected to the servomechanism.

13. The model vehicle in claim 6, wherein the mass rotated by the motor further comprises a righting wheel in contact with the ground when the model vehicle is inverted.

14. The model vehicle in claim 6, wherein the mass rotated by the motor further comprises an internal flywheel.

15. The model vehicle in claim 6, wherein the mass rotated by the motor further comprises a drivetrain or portions of the drive train of the model vehicle.

16. The model vehicle in claim 6, wherein the mass rotated by the motor further comprises the wheels and tires of the model vehicle.

17. The model vehicle in claim 6, wherein a yaw may be imparted on the inverted rocking model vehicle by steering the accelerating or decelerating mass.

18. The model vehicle in claim 1, further comprising a roll bar implemented with the model vehicle to provide support to the model vehicle when inverted and rocking.

19. The model vehicle in claim 1, further comprising a roll bar implemented with the model vehicle, wherein the roll bar impacts the ground when the inverted model vehicle is rocking.

20. A method for self-righting a remote controlled model vehicle, the method comprising:

accepting a user input by the model vehicle to initiate a self-righting process, wherein the self-righting process comprises;

determining a current pitch angle and a current angular rocking rate of the model vehicle;

accelerating or decelerating a mass on the model vehicle based on the current pitch angle and the current angular rocking rate of the model vehicle to create a rocking motion by the model vehicle; and

terminating the self-righting process when the model vehicle is upright.

21. The method in claim 20, wherein accelerating or decelerating the mass on the model vehicle based on the current pitch angle and the current angular rocking rate of the model vehicle may further comprise accelerating or decelerating the mass in a first direction or a second direction based on the current pitch angle and the current angular rocking rate of the model vehicle, and wherein the first direction is opposite of the second direction.

22. The method in claim 20, wherein the model vehicle further comprises a long axis extending from a front end of the model vehicle to a rear end of the model vehicle, and the self-righting process self-rights the model vehicle about the long axis.

23. The method in claim 20, wherein the model vehicle further comprises a short axis extending from a first side of the model vehicle to a second side of the model vehicle, and the self-righting process self-rights the model vehicle about the short axis.

24. The method in claim 20, further comprising using one or more sensors on the model vehicle to determine the current pitch angle of the model vehicle.

25. The method in claim 20, further comprising using one or more sensors on the model vehicle to determine the current angular rocking rate of the model vehicle.

26. The method in claim 20, further comprising:

storing a desired rocking height of the model vehicle;

determining a current rocking height of the model vehicle; and

accelerating or decelerating a mass on the model vehicle when the current rocking height of the model vehicle is not equal to the desired rocking height of the model vehicle.

27. The method in claim 20, wherein the model vehicle further comprises deploying a fulcrum to aid in effectuating the rocking motion by the model vehicle when the mode vehicle is inverted.

28. The method in claim 20, wherein the mass further comprises a weighted arm connected to a servomechanism on the model vehicle.

29. The method in claim 20, wherein the mass further comprises a righting wheel in contact with the ground when the model vehicle is inverted.

30. The method in claim 20, wherein the mass further comprises an internal fly-wheel.

31. The method in claim 20, wherein the mass further comprises a drivetrain of the model vehicle.

32. The method in claim 20, further comprising steering the accelerating or decelerating mass to counter any yaw exhibited by the model vehicle when rocking.

33. The method in claim 20, further comprising steering the accelerating or decelerating mass to impart a yaw on the model vehicle when rocking.

34. The method in claim 20, further comprising steering the accelerating or decelerating mass to impart a roll on the model vehicle when rocking.