APPARATUS AND METHODS FOR FAULT DETECTION AT VEHICLE STARTUP

• US 20090055033A1
• Filed: 08/23/2007
• Published: 02/26/2009
• Est. Priority Date: 08/23/2007
• Status: Abandoned Application

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway Incorporated (Ninebot Ltd.)
• Inventors: Gansler, Michael T., Kaufman, Michael F.
• Application Number:
  US11/843,689
• Publication Number:
  US 20090055033A1
• Time in Patent Office: Days
• US Class Current: 701/1
• 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 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 2260/44 by parameter estimation
• CPC Class Codes: B60L 3/00 Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption methods or circuit arrangements for monitoring or controlling batteries or fuel cells B60L58/00
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A method for initializing a controller of a balancing transporter involving acquiring a plurality of orientation signals associated with the balancing transporter. The method also involves determining if one or more of a plurality of angular rate sensors has a signal output offset below a threshold based on the plurality of orientation sensor signals. The method also involves initializing a pitch state estimator for controlling operation of the balancing transporter based on output of the one or more of the plurality of angular rate sensors. The method also involves controlling operation of the balancing transporter based on at least one output of the pitch state estimator.

Claims

1. A method for initializing a controller of a balancing transporter, comprising:

a) acquiring a plurality of orientation signals associated with the balancing transporter;

b) determining if one or more of a plurality of angular rate sensors has a signal output offset below a threshold based on the plurality of orientation signals;

c) initializing a pitch state estimator for controlling operation of the balancing transporter based on output of the one or more of the plurality of angular rate sensors; and

d) controlling operation of the balancing transporter based on at least one output of the pitch state estimator.

2. The method of claim 1, comprising terminating step c) if one or more of the angular rate sensors has a signal output offset at or above the threshold.

3. The method of claim 1, wherein step b) comprises comparing each of the orientation signals to a corresponding threshold value.

4. The method of claim 3, wherein the initialization of the pitch state estimator is terminated if one or more of the orientation signals equals or exceeds its corresponding threshold value.

5. The method of claim 3, wherein step b) comprises determining if pitch or roll of the transporter varies by more than 1.5 degrees over a predetermined period of time, the pitch and roll are estimated based on accelerometer output signals.

6. The method of claim 3, wherein step b) comprises determining if yaw rate of the transporter varies by more than 4.7 degrees per second over a predetermined period of time, the yaw rate is estimated based on difference in speed of left and right ground-contacting elements of the transporter that apply torque to an underlying surface of the transporter.

7. The method of claim 3, wherein step b) comprises determining if speed of a left or right ground-contacting element of the transporter exceeds 0.22 meters per second, the left and right ground contacting elements apply torque to an underlying surface of the transporter.

8. The method of claim 3, wherein step b) comprises determining if the difference between a first yaw rate signal and a second yaw rate signal is greater than 22 degrees per second, the first yaw rate signal is estimated based on difference in speed of left and right ground-contacting elements of the transporter that apply torque to an underlying surface of the transporter and the second yaw rate signal is based on angular rate signals output by two or more of the plurality of angular rate sensors, the angular rate signals corresponding to angular rate around a transporter-fixed substantially vertical axis.

9. The method of claim 1, comprising repeating the steps of claim 1 until the signal output offsets of the angular rate sensors are below the threshold.

10. A balancing transporter, comprising:

a plurality of devices for providing orientation signals associated with the balancing transporter;

a plurality of angular rate sensors;

a processor,

a) for determining if one or more of the plurality of angular rate sensors has a signal output offset that equals or exceeds a threshold based on the orientation signals, and

b) for estimating a pitch state of the balancing transporter based on output of two or more of the plurality of angular rate sensors; and

a controller for controlling operation of the balancing transporter based on the pitch state estimate.

11. The transporter of claim 10, wherein the processor determines if one or more of the angular rate sensors has a signal output offset that equals or exceeds a threshold by comparing each of the orientation sensor signals to a corresponding threshold value.

12. The transporter of claim 10, comprising at least one ground-contacting element for applying torque to an underlying surface of the transporter.