System for balancing a two-wheeled vehicle at rest

A self-balancing two-wheeled vehicle comprising:

• a vehicle body;
• a gyro rotor coupled to the body;
• a velocity sensor;
• a motor for spinning the gyro rotor;
• a tipping sensor coupled to the body for sensing tipping of the vehicle;
• a precession means for precessing the gyro rotor from a non-precessed position to any of a plurality of precessed positions and for facilitating the return of the precessed gyro to the non-precessed position;
• a controller coupled to the tipping sensor, the velocity sensor and precession means, wherein the controller controls the precessions means, wherein the precession mean precesses the gyro from the non-precessed position to a precessed position when the tipping sensor has sensed tipping and when the velocity of the vehicle is not greater than a predetermined minimum velocity, and immediately returns the gyro rotor to the non-precessed position.

A method for preventing the tipping of a two-wheeled vehicle coming to rest or when at rest comprising the steps of:

• measuring the speed of the vehicle;
• sensing tipping of the vehicle;
• spinning a gyro rotor coupled to the vehicle about a spin axis;
• precessing the gyro rotor to a precessed position from a non-precessed position about a precession axis perpendicular to said spin axis and in direction to generate a force to counteract the tipping of the vehicle when the sensed speed of the vehicle is not greater than a predetermined minimum speed and when tipping of the vehicle has been sensed;
• and
• immediately returning the precessed gyro to the non-precessed position.

A system for balancing a two-wheeled vehicle when approaching rest or when at rest comprising:

• a gyro rotor;
• a motor for spinning the gyro rotor;
• a tipping sensor for sensing tipping of the vehicle;
• first and second solenoids coupled to the gyro rotor for precessing the gyro rotor from a first not precessed position to a second precessed position and for facilitating the return of the precessed gyro to the first position, wherein the first solenoid precesses the rotor in one direction and the second solenoid precesses the rotor in the opposite direction;
• and
• a controller coupled to the tipping sensor and precession means and for receiving information relating to the velocity of the vehicle, wherein the controller controls the solenoids, wherein the solenoids precess the gyro from the first to the second position when the tipping sensor has sensed tipping and when the velocity of the vehicle is not greater than a predetermined minimum velocity, and immediately return the gyro rotor from the second to the first position.

A system for balancing a two-wheeled vehicle when approaching rest or when at rest comprising:

• a gyro rotor;
• a motor for spinning the gyro rotor;
• a tipping sensor for sensing tipping of the vehicle, the tipping sensor comprising,
• a viscous coupling,
• a pendulum coupled to the viscous coupling for maintaining it position relative to a ground during tipping of the vehicle,
• an arm coupled to the viscous coupling and extending opposite the pendulum, wherein the viscous coupling allows the arm to pivot relative to the pendulum,
• a first spring coupled to an end of the arm distally from the viscous coupling, the first spring being capable of providing a first force for pivoting the arm in a first direction,
• a second spring coupled to an end of the arm distally from the viscous coupling, the second spring being capable of providing a second force opposite the first force to the arm for pivoting the arm in a second direction opposite the first direction,
• a first contact coupled to the controller, and
• a second contact opposite the first contact and coupled to the controller, wherein contact of the arm with the first contact is indicative of vehicle tipping in one direction and wherein contact of the arm with the second contact is indicative of vehicle tipping in the opposite direction;
• a precession means for precessing the gyro rotor from a first not precessed position to a second precessed position and for facilitating the return of the precessed gyro to the first position;
• a controller coupled to the tipping sensor and precession means and for receiving information relating to the velocity of the vehicle, wherein the controller controls the precessions means, wherein the precession mean precesses the gyro from the first to the second position when the tipping sensor has sensed tipping and when the velocity of the vehicle is not greater than a predetermined minimum velocity, and immediately returns the gyro rotor from the second to the first position.

A self-balancing two-wheeled vehicle comprising:

• a vehicle body;
• a gyro rotor coupled to the body;
• a vehicle velocity sensor;
• a motor for spinning the gyro rotor;
• a tipping sensor coupled to the body for sensing tipping of the vehicle;
• first and second solenoids for precessing the gyro rotor from a first not precessed position to a second precessed position and for facilitating the return of the precessed gyro to the first position, wherein the first solenoid precesses the rotor in one direction and the second solenoid precesses the rotor in the opposite direction;
• a controller coupled to the tipping sensor, the velocity sensor and precession means, wherein the controller controls the solenoids, wherein the solenoids precess the gyro from the first to the second position when the tipping sensor has sensed tipping and when the velocity of the vehicle is not greater than a predetermined minimum velocity, and immediately returns the gyro rotor from the second to the first position.

A self-balancing two-wheeled vehicle comprising:

• a vehicle body;
• a gyro rotor coupled to the body;
• a vehicle velocity sensor;
• a motor for spinning the gyro rotor;
• a tipping sensor coupled to the body for sensing tipping of the vehicle, the tipping sensor comprising,
• a viscous coupling,
• a pendulum coupled to the viscous coupling for maintaining it position relative to a ground during tipping of the vehicle,
• an arm coupled to the viscous coupling and extending opposite the pendulum, wherein the viscous coupling allows the arm to pivot relative to the pendulum,
• a first spring coupled to an end of the arm distally from the viscous coupling and to the vehicle, the first spring being capable of providing a first force for pivoting the arm in a first direction,
• a second spring coupled to an end of the arm distally from the viscous coupling and to the vehicle, the second spring being capable of providing a second force opposite the first force to the arm for pivoting the arm in a second direction opposite the first direction,
• a first contact coupled to the controller, and
• a second contact opposite the first contact and coupled to the controller, wherein contact of the arm with the first contact is indicative of vehicle tipping in one direction and wherein contact of the arm with the second contact is indicative of vehicle tipping in the opposite direction;
• a precession means for precessing the gyro rotor from a first not precessed position to a second precessed position and for facilitating the return of the precessed gyro to the first position;
• a controller coupled to the tipping sensor, the velocity sensor and precession means, wherein the controller controls the precessions means, wherein the precession mean precesses the gyro from the first to the second position when the tipping sensor has sensed tipping and when the velocity of the vehicle is not greater than a predetermined minimum velocity, and immediately returns the gyro rotor from the second to the first position.

A system for balancing a two-wheeled vehicle when approaching rest or when at rest comprising:

• a gyro rotor;
• a motor for spinning the gyro rotor;
• a tipping sensor for sensing tipping of the vehicle;
• a motor for precessing the gyro rotor from a non-precessed position to any of a plurality of precessed positions and for facilitating the return of the precessed gyro to the non-precessed position;
• a controller coupled to the tipping sensor and to the motor and for receiving information relating to the velocity of the vehicle, wherein the controller controls the motor, wherein the motor precesses the gyro from the non-precessed position to a precessed position when the tipping sensor has sensed tipping and when the velocity of the vehicle is not greater than a predetermined minimum velocity, and immediately returns the gyro rotor to the non-precessed position, and wherein the motor repeatedly precesses the gyro rotor from the non-precessed position to a precessed position and returns the gyro rotor to the non-precessed position if the tipping sensor continues to sense tipping of the vehicle when the velocity of the vehicle is not greater than a predetermined minimum velocity.