# US 8,146,696 B2 · Methods and apparatus for moving a vehicle up or down a sloped surface

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- Number: US 8,146,696 B2
- Document ID: US8146696B2
- Status: Granted
- Kind: B2
- Application number: 12/203,019
- Filed: 2008-09-02
- Published: 2010-03-04
- Granted: 2012-04-03
- Earliest claimed: 2008-09-02
- Assignees: Segway Inc.
- Inventors: Michael F. Kaufman
- Web page: https://patentgrep.com/patent/US8146696B2

## CPC

- G05D 1/0891: {specially adapted for land vehicles}
- 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
- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- B60L 2200/12: Bikes
- B60L 2200/16: Single-axle vehicles
- B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel
- B60L 2240/18: lateral
- B60L 2240/20: angular
- B60L 2240/423: Torque
- B60L 2240/461: Speed
- B60L 2240/642: Slope of road
- B60L 2260/34: Stabilising upright position of vehicles, e.g. of single axle vehicles
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- Y02T 90/16: Information or communication technologies improving the operation of electric vehicles
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## 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

### Claim 1

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;
monitoring a shaft speed of a motor drive of the vehicle;
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;
controlling the direction of torque provided to the at least one ground contacting element;
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; and
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.

### Claim 2 (depends on 1)

The method of claim 1, 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.

### Claim 3 (depends on 1)

The method of claim 1, 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.

### Claim 4 (depends on 1)

The method of claim 1, further comprising initiating the second mode of operation by a non-movement of the assist mechanism of the vehicle.

### Claim 5 (depends on 1)

The method of claim 1, further comprising limiting the distance the vehicle travels while in the mode of operation.

### Claim 6 (depends on 1)

The method of claim 1, further comprising controlling forward movement of the vehicle via at least one of pitch rate or pitch of the vehicle.

### Claim 7 (depends on 1)

The method of claim 1, further comprising steering the vehicle via the assist mechanism of the vehicle.