Systems, methods and devices for traversing elevation changes using electrically motorized vehicles

• US 9,902,252 B2
• Filed: 04/07/2015
• Issued: 02/27/2018
• Est. Priority Date: 04/04/2014
• Status: Active Grant

• Current Assignee: Superpedestrian IPCO LLC
• Original Assignee: Superpedestrian, Inc.
• Inventors: Biderman, Assaf, Stevens, Jon
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US14/680,277
• Publication Number:
  US 20160009336A1
• Time in Patent Office: 1,057 Days
• Field of Search: 701 22, 180 65, 180 6551, 180220, 318 70
• 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 operations of an electrically motorized vehicle. The vehicle can utilize an electrically motorized wheel to convert a non-motorized wheeled vehicle to an electrically motorized wheeled vehicle. One method for controlling the device for an electrically motorized wheel includes controlling an amount of assistance from the device of the electrically motorized wheel while travelling uphill to result in a user input requirement about equivalent to that required to propel the vehicle on a level surface.

Claims

1. A method of controlling a human-powered electrically-motorized vehicle to provide assistance or resistance to a user operating the human-powered electrically-motorized vehicle on an actual terrain, the method comprising:

receiving a user selection of a mode having a desired terrain; and

based on the user selection, controlling an amount of assistance or an amount of resistance provided to the user of the human-powered electrically-motorized vehicle from the human-powered electrically-motorized vehicle such that a user input of an amount of human power to propel the human-powered electrically-motorized vehicle on the actual terrain simulates an amount of human power the user would input to propel the human-powered electrically-motorized vehicle on the desired terrain,

wherein the user input of the amount of human power to propel the human-powered electrically-motorized vehicle on the actual terrain is based on a torque or power applied by the user to a drive system of the human-powered electrically-motorized vehicle or a rotational speed of the drive system, wherein said torque or power applied by the user to the drive system of the human-powered electrically-motorized vehicle or the rotational speed of the drive system are detected by a sensor system, and

wherein the amount of human power the user would input to propel the human-powered electrically-motorized vehicle on the desired terrain is determined based in part on parameters of the desired terrain and a weight of the user or a weight of the human-powered electrically-motorized vehicle.

2. The method as recited in claim 1, wherein the controlling includes receiving a user adjustable parameter.

3. The method as recited in claim 2, wherein the user adjustable parameter includes a desired user input target.

4. The method as recited in claim 1, wherein controlling the amount of resistance while traveling downhill includes activating braking.

5. The method as recited in claim 2, wherein the user adjustable parameter includes a maximum speed.

6. The method as recited in claim 1, wherein the controlling is also based on a mode selection from a plurality of operational modes.

7. The method as recited in claim 6, wherein one of the plurality of operational modes includes a power storage mode.

8. The method as recited in claim 1, further comprising obtaining data indicative of a terrain on which the human-powered electrically-motorized vehicle is being operated from a sensor system communication with the human-powered electrically-motorized vehicle.

9. The method as recited in claim 8, wherein the sensor system comprises sensors including at least one of a speed, altitude, temperature humidity, voltage, battery charge level, incline and electrical current sensor.

10. The method as recited in claim 1, wherein the amount of assistance or resistance is based in part on calculations based on sensor data.

11. The method as recited in claim 10, wherein the calculations based on sensor data include an estimate of gear ratio.

12. The method as recited in claim 1, wherein the actual terrain on which the human-powered electrically-motorized vehicle is being operated is non-level and the desired terrain is level.

13. The method as recited in claim 1, wherein the amount of assistance or resistance provided by the human-powered electrically-motorized vehicle is user-selectable via a mobile device.

14. The method as recited in claim 1, wherein the desired terrain is selectable while the human-powered electrically-motorized vehicle is in motion.

15. The method as recited in claim 2, wherein the user adjustable parameter includes a minimum incline below which an amount of assistance will not be rendered.

16. A human-powered electrically-motorized vehicle, the vehicle comprising:

a control system of the human-powered electrically-motorized vehicle, the control system operable to;

receive a user selection of a mode having a desired terrain; and

control, based on the user selection, an amount of assistance or an amount of resistance provided to a user of the human-powered electrically-motorized vehicle from the human-powered electrically-motorized vehicle such that a user input of an amount of human-power to propel the human-powered electrically-motorized vehicle on an actual terrain on which the vehicle is travelling simulates an amount of human power the user would input to propel the human-powered electrically-motorized vehicle on the desired terrain; and

a sensor system operable to detect a torque or power applied by the user to a drive system of the human-powered electrically-motorized vehicle or a rotational speed of the drive system,

wherein the user input of an amount of human power to propel the human-powered electrically-motorized vehicle on the actual terrain is based on said torque or power applied by the user to the drive system of the human-powered electrically-motorized vehicle or the rotational speed of the drive system, and

wherein the amount of human power the user would input to propel the human-powered electrically-motorized vehicle on the desired terrain is determined based in part on parameters of the desired terrain, a weight of the user, or a weight of the human-powered electrically-motorized vehicle.

17. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the amount of assistance or resistance provided by the human-powered electrically-motorized vehicle is user-selectable via a mobile device.

18. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the desired terrain is selectable while the human-powered electrically-motorized vehicle is in motion.

19. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the control system is further operable to receive a user adjustable parameter.

20. The human-powered electrically-motorized vehicle as recited in claim 19, wherein the user adjustable parameter includes a desired user input target.

21. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the control system is further operable to control the amount of resistance while traveling downhill by activating braking.

22. The human-powered electrically-motorized vehicle as recited in claim 19, wherein the user adjustable parameter includes a maximum speed.

23. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the control system is further operable to control the amount of assistance or resistance based on a mode selected from a plurality of operational modes.

24. The human-powered electrically-motorized vehicle as recited in claim 23, wherein one of the plurality of operational modes includes a power storage mode.

25. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the control system is further operable to obtain data indicative of a terrain on which the human-powered electrically-motorized vehicle is being operated from sensors in communication with the human-powered electrically-motorized vehicle.

26. The human-powered electrically-motorized vehicle as recited in claim 19, wherein the user adjustable parameter includes a minimum incline below which assistance will not be rendered.

27. The human-powered electrically-motorized vehicle as recited in claim 25, wherein the sensors include at least one of a speed, altitude, temperature, humidity, voltage, battery amount, incline and electrical current sensor.

28. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the amount of assistance or resistance is based on calculations based on sensor data.

29. The human-powered electrically-motorized vehicle as recited in claim 28, wherein the calculations based on sensor data include an estimate of gear ratio.

30. The human-powered electrically-motorized vehicle as recited in claim 16, wherein the actual terrain on which the human-powered electrically-motorized vehicle is being operated is non-level and the desired terrain is level.