Self-righting model vehicle

• US 9,789,413 B2
• Filed: 11/06/2015
• Issued: 10/17/2017
• 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
• Primary Examiner(s): NICONOVICH, ALEXANDER R
• Application Number:
  US14/935,000
• Publication Number:
  US 20160129355A1
• Time in Patent Office: 711 Days
• Field of Search: 446431, 446437, 446454, 446456, 446465, 446470
• 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, the self-righting function comprising effectuating a rocking motion of the model vehicle;

the model vehicle further comprising a righting actuator configured to effectuate the rocking motion of the model vehicle when the model vehicle is at least partially inverted to self-right the model vehicle, wherein the righting actuator self-rights the model vehicle from an at least partially inverted position incapable of normal driving operations;

at least one sensor configured to emit an indication of when the model vehicle is upright; and

wherein in response to the indication of the sensor that the model vehicle is upright, the righting actuator discontinues effectuating the rocking motion of the model vehicle.

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, wherein the at least one sensor further comprises one or more gyro sensors that sense an angular rate of the model vehicle.

5. The model vehicle in claim 1, wherein the at least one sensor further comprises one or more accelerometers that sense a force on the model vehicle.

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

7. The model vehicle in claim 6, wherein the mass further comprises a righting wheel rotated by the righting actuator in contact with the ground when the model vehicle is at least partially inverted.

8. The model vehicle in claim 6, wherein the mass further comprises an internal flywheel rotated by the righting actuator.

9. The model vehicle in claim 6, wherein the mass further comprises a drivetrain or portions of the drivetrain of the model vehicle rotated by the righting actuator.

10. The model vehicle in claim 6, wherein the mass further comprises at least one or more wheels and tires of the model vehicle rotated by the righting actuator.

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

12. The model vehicle in claim 1, wherein the actuator comprises a motor and wherein the model vehicle further comprises 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.

13. The model vehicle in claim 12, wherein the electronic speed control further comprises an electronic speed control processor with a motor control firmware that effectuates the motor control function.

14. The model vehicle in claim 13, wherein the electronic speed control processor further comprises an optional self-righting firmware.

15. The model vehicle in claim 13, wherein the electronic speed control processor further comprises an additional torque configuration for controlling the motor control function, wherein the electronic speed control processor send one or more commands to the motor control function early in anticipation for a delay caused by the additional time it takes for the motor control function to execute the one or more commands from the electronic speed control processor.

16. The model vehicle in claim 13, wherein the electronic speed control processor further comprises an additional torque configuration for controlling the motor control function, wherein during the rocking motion of the model vehicle initiated by the motor control function, the electronic speed control processor send one or more commands to the motor control function later to allow the model vehicle to further complete a rocking cycle before the next one or more commands sent by the electronic speed control process is executed by the motor control function.

17. The model vehicle in claim 12, wherein the electronic speed control further comprises a torque feedback to maintain a torque applied by the motor control function.

18. 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 at least partially inverted.

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

20. The model vehicle in claim 1, further comprising a roll bar implemented with the model vehicle to provide support to the model vehicle when the model vehicle is at least partially inverted and rocking.

21. 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 at least partially inverted model vehicle is rocking.