Methods and Apparatus for Moving a Vehicle Up or Down a Sloped Surface

• US 20100051371A1
• Filed: 09/02/2008
• Published: 03/04/2010
• Est. Priority Date: 09/02/2008
• Status: Active Grant

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway Incorporated (Ninebot Ltd.)
• Inventors: Kaufman, Michael F.
• Granted Patent: US 8,146,696 B2
• Time in Patent Office: Days
• US Class Current: 180/170
• 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 2200/12 Bikes
• 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 2240/18 lateral
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/642 Slope of road
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• 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
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A system and method for safely moving a vehicle up or down a sloped surface is provided. In one embodiment, a method involves operating the vehicle in a sloped surface mode when at least one ground contacting element for moving the vehicle is on the sloped surface. An amount of torque is provided to the at least one ground contacting element to prevent the vehicle from uncontrollably moving down the sloped surface while in the sloped surface mode of operation. An assist mechanism can be coupled to the propulsion system to enable an operator to guide the vehicle.

Claims

1. A system for safely moving a vehicle up or down a sloped surface while in a sloped surface mode of operation, comprising:

at least one ground contacting element for moving the vehicle on the sloped surface;

a propulsion system providing an amount of torque to the at least one ground contacting element to prevent the vehicle from uncontrollably moving down the sloped surface while in the sloped surface mode of operation;

an assist mechanism coupled to the propulsion system to enable an operator to guide the vehicle.

2. The system of claim 1, wherein the propulsion system includes:

a motor drive coupled to the at least one ground contacting element; and

a motor controller coupled to the motor drive for monitoring a shaft speed of the motor drive and adjusting the amount of torque provided to the at least one ground contacting element to prevent the vehicle from uncontrollably moving down the sloped surface.

3. The system of claim 1, further comprising a controller coupled to the propulsion system for controlling the direction of torque provided to the at least one ground contacting element.

4. The system of claim 3, wherein the controller is operable in a first sloped surface mode operation for increasing the amount of torque provided to the at least one ground contacting element to allow the vehicle to move up the sloped surface and a second sloped surface mode of operation for decreasing the amount of torque provided to the at least one ground contacting element to allow the vehicle to move safely down the sloped surface.

5. The system of claim 4, wherein movement of the assist mechanism from a first position to a second position causes the vehicle to move up the sloped surface in the first sloped surface mode operation and movement of the assist mechanism from the first position to the second position causes the vehicle to move down the sloped surface in the second sloped surface mode of operation.

6. The system of claim 5, wherein the movement simulates a ratchet-type movement between the assist mechanism and a location that the ground contacting element contacts the sloped surface.

7. The system of claim 3, wherein the controller is wirelessly coupled to the propulsion system.

8. The system of claim 1, further comprising a distance module for limiting the distance the vehicle travels.

9. The system of claim 1, wherein the vehicle is a balancing transporter, a pushcart dolly, or a pull cart dolly.

10. The system of claim 1, wherein at least one of pitch rate or pitch of the vehicle controls forward movement of the vehicle.

11. The system of claim 1, wherein the assist mechanism enables the operator to steer the vehicle.

12. The system of claim 1, wherein the at least one ground contacting element is a wheel.

13. A method for safely moving a vehicle up or down a sloped surface, comprising:

providing a sloped surface mode of operation;

providing an amount of torque to at least one ground contacting element of the vehicle to prevent the vehicle from uncontrollably moving down the sloped surface while in the sloped surface mode of operation; and

providing an assist mechanism to enable an operator to guide the vehicle.

14. The method of claim 13, further comprising:

monitoring a shaft speed of a motor drive of the vehicle; and

adjusting the amount of torque provided by the motor drive to the at least one ground contacting element to prevent the vehicle from uncontrollably moving down the sloped surface.

15. The method of claim 13, further comprising controlling the direction of torque provided to the at least one ground contacting element.

16. The method of claim 15, further comprising increasing the amount of torque provided to the at least one ground contacting element to allow the vehicle to move up the sloped surface in a first sloped surface mode of operation.

17. The method of claim 16, further comprising moving the assist mechanism from a first position to a second position of the vehicle to initiate the first sloped surface mode of operation.

18. The method of claim 17, wherein the movement of the assist mechanism simulates a ratchet-type movement between the assist mechanism of the vehicle and a location that the ground contacting element contacts the sloped surface.

19. The method of claim 15, further comprising decreasing the amount of torque provided to the at least one ground contacting element to allow the vehicle to move safely down the sloped surface in a second mode of operation.

20. The method of claim 19, further comprising initiating the second mode of operation by a non-movement of the assist mechanism of the vehicle.

21. The method of claim 13, further comprising limiting the distance the vehicle travels while in the mode of operation.

22. The method of claim 13, further comprising controlling forward movement of the vehicle via a pitch of the vehicle.

23. The method of claim 13, further comprising steering the vehicle via the assist mechanism of the vehicle.

24. A computer program product, tangibly embodied in a computer or a removable storage device, the computer program product including instructions being operable to cause a data processing apparatus to:

monitor a shaft speed of a motor drive of a vehicle; and

adjust the amount of torque provided by the motor drive to at least one ground contacting element of the vehicle to prevent the vehicle from uncontrollably moving down a sloped surface.

25. A system for safely moving a vehicle up or down a sloped surface, comprising:

means for providing a sloped surface mode of operation; and

means for providing an amount of torque to at least one ground contacting element of the vehicle to prevent the vehicle from uncontrollably moving down the sloped surface while in the sloped surface mode of operation.