# US 9,434,438 B1 · Method for driving two-wheel self-balancing scooter to maintain straight drivability at occurrence of external force

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- Number: US 9,434,438 B1
- Document ID: US9434438B1
- Status: Granted
- Kind: B1
- Application number: 14/846,617
- Filed: 2015-09-04
- Granted: 2016-09-06
- Earliest claimed: 2015-08-05
- Assignees: Robo3 Co., Ltd.
- Applicants: ROBO3 Co., Ltd.
- Inventors: Joon-Hyung Kim; Hwa Sung Jun
- Web page: https://patentgrep.com/patent/US9434438B1

## CPC

- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- 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
- B60L 2200/16: Single-axle vehicles
- B60L 2200/22: Microcars, e.g. golf cars
- B60L 2240/24: Steering angle
- B60L 2240/461: Speed
- 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
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- 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
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

Disclosed is a method for driving a two-wheel self-balancing scooter to maintain straight drivability at occurrence of external force. The method includes a driving ready step of applying a power to the two-wheel self-balancing scooter (S10), a driving step of setting a driving speed and a forward/backward direction by leaning an occupant's body forward or backward (S20), when one wheel goes flat, a revolutions increasing step of rapidly increasing revolutions of the flat wheel (S30), a revolutions decreasing step of decreasing revolutions of a normal wheel according to the revolutions of the flat wheel (S40), a revolutions synchronizing step of equally setting the revolutions of the flat wheel and the normal wheel (S50), and a synchronization repeating step of repeating the revolutions synchronizing step (S60).

## Claims

### Claim 1

A method for driving a two-wheel self-balancing scooter to maintain straight drivability at occurrence of external force, comprising:
a driving ready step of applying a power to the two-wheel self-balancing scooter;
a driving step of setting a driving speed and a forward/backward direction by leaning an occupant's body forward or backward;
when one wheel goes flat, a revolutions increasing step of rapidly increasing revolutions of the flat wheel;
a revolutions decreasing step of decreasing revolutions of a normal wheel according to the revolutions of the flat wheel;
a revolutions synchronizing step of equally setting the revolutions of the flat wheel and the normal wheel; and
a synchronization repeating step of repeating the revolutions synchronizing step.