WO2003106250A3 - Control features for a balancing transporter - Google Patents

Control features for a balancing transporter Download PDF

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Publication number
WO2003106250A3
WO2003106250A3 PCT/US2003/018940 US0318940W WO03106250A3 WO 2003106250 A3 WO2003106250 A3 WO 2003106250A3 US 0318940 W US0318940 W US 0318940W WO 03106250 A3 WO03106250 A3 WO 03106250A3
Authority
WO
WIPO (PCT)
Prior art keywords
transporter
methods
input
control signal
accordance
Prior art date
Application number
PCT/US2003/018940
Other languages
French (fr)
Other versions
WO2003106250A2 (en
Inventor
Dean L Kamen
Burl Amsbury
J Douglas Field
John David Heinzmann
John M Kerwin
Christopher C Langenfield
Jeremy B Lund
John B Morrell
Jonathan B Pompa
David W Robinson
Jon M Stevens
Original Assignee
Deka Products Lp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deka Products Lp filed Critical Deka Products Lp
Priority to AU2003276075A priority Critical patent/AU2003276075A1/en
Publication of WO2003106250A2 publication Critical patent/WO2003106250A2/en
Publication of WO2003106250A3 publication Critical patent/WO2003106250A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

Methods for controlling the motion of a balancing transporter while supporting a rider or under riderless conditions and for safely limiting the speed of the transporter, and, additionally, for battery load sharing in order to maintain equal charge between dual power sources. The transporter has two laterally disposed primary wheels. In accordance with the methods, an input is received via a user input a control signal corresponding to the input received is genarated. Then a torque is applied to the laterally disposed wheels so as to propel the transporter on the basis of at least the control signal, conditioned in accordance with methods described in the invention.
PCT/US2003/018940 2002-06-14 2003-06-16 Control features for a balancing transporter WO2003106250A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003276075A AU2003276075A1 (en) 2002-06-14 2003-06-16 Control features for a balancing transporter

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
US38884502P 2002-06-14 2002-06-14
US38913602P 2002-06-14 2002-06-14
US38898602P 2002-06-14 2002-06-14
US38913402P 2002-06-14 2002-06-14
US38872302P 2002-06-14 2002-06-14
US38893702P 2002-06-14 2002-06-14
US60/389,136 2002-06-14
US60/388,986 2002-06-14
US60/388,845 2002-06-14
US60/388,937 2002-06-14
US60/388,723 2002-06-14
US60/389,134 2002-06-14

Publications (2)

Publication Number Publication Date
WO2003106250A2 WO2003106250A2 (en) 2003-12-24
WO2003106250A3 true WO2003106250A3 (en) 2004-07-15

Family

ID=29741199

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2003/018940 WO2003106250A2 (en) 2002-06-14 2003-06-16 Control features for a balancing transporter

Country Status (2)

Country Link
AU (1) AU2003276075A1 (en)
WO (1) WO2003106250A2 (en)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004055172A1 (en) * 2004-11-16 2006-05-24 Erich Peukert Hand controlled transport trolley for transporting e.g. probe carrier, has control device balancing hand strength of operator using tiltable sensor and wheel drive motor
DE102005059361A1 (en) * 2005-02-25 2006-08-31 Ulrich Kahlert Two-wheeled battery-powered vehicle for one person
US20100207564A1 (en) * 2009-02-18 2010-08-19 Segway Inc. Power Source Estimation Methods and Apparatus
ITVR20090073A1 (en) * 2009-05-27 2010-11-28 Venturi Marco WHEELBAR FOR BUILDING, AGRICULTURAL OR SIMILAR USE, HANDLING OF MEANS OF HANDLING
JP5848266B2 (en) 2010-02-26 2016-01-27 セグウェイ・インコーポレイテッド Apparatus and method for controlling a vehicle
CN102837798B (en) * 2012-07-09 2014-03-26 中国人民解放军第二炮兵工程大学 Confrontational interesting riding cycle
WO2014061057A1 (en) * 2012-10-16 2014-04-24 トヨタ自動車株式会社 Inverted mobile body and control method thereof
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
PT3420417T (en) 2016-02-23 2023-05-04 Deka Products Lp Mobility device control system
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
JP6916812B2 (en) 2016-04-14 2021-08-11 デカ・プロダクツ・リミテッド・パートナーシップ User control device for transporter
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
CN109533155B (en) * 2017-09-20 2024-02-06 常州摩本智能科技有限公司 Intelligent balance car
JP2021527204A (en) 2018-06-07 2021-10-11 デカ・プロダクツ・リミテッド・パートナーシップ Systems and methods for delivery multipurpose service execution
CN114638573B (en) * 2022-03-14 2022-12-13 连云港电子口岸信息发展有限公司 Intelligent freight logistics management system and method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5012176A (en) * 1990-04-03 1991-04-30 Baxter International, Inc. Apparatus and method for calorimetrically determining battery charge state
US5971091A (en) * 1993-02-24 1999-10-26 Deka Products Limited Partnership Transportation vehicles and methods
EP1063530A1 (en) * 1999-06-25 2000-12-27 Yazaki Corporation Residual capacity measurement system for battery

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5701965A (en) 1993-02-24 1997-12-30 Deka Products Limited Partnership Human transporter
US6302230B1 (en) 1999-06-04 2001-10-16 Deka Products Limited Partnership Personal mobility vehicles and methods
US6288505B1 (en) 2000-10-13 2001-09-11 Deka Products Limited Partnership Motor amplifier and control for a personal transporter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5012176A (en) * 1990-04-03 1991-04-30 Baxter International, Inc. Apparatus and method for calorimetrically determining battery charge state
US5971091A (en) * 1993-02-24 1999-10-26 Deka Products Limited Partnership Transportation vehicles and methods
EP1063530A1 (en) * 1999-06-25 2000-12-27 Yazaki Corporation Residual capacity measurement system for battery

Also Published As

Publication number Publication date
AU2003276075A8 (en) 2003-12-31
WO2003106250A2 (en) 2003-12-24
AU2003276075A1 (en) 2003-12-31

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