Control of a personal transporter based on user position

• US 10,118,661 B2
• Filed: 09/12/2016
• Issued: 11/06/2018
• Est. Priority Date: 06/04/1999
• Status: Expired due to Fees

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Kamen, Dean, Ambrogi, Robert R., Dattolo, James J., Duggan, Robert J., Field, J. Douglas, Heinzmann, Richard Kurt, McCambridge, Matthew M., Morrell, John B., Piedmonte, Michael D., Rosasco, Richard J.
• Primary Examiner(s): Pope, Daryl
• Application Number:
  US15/262,535
• Publication Number:
  US 20170001676A1
• Time in Patent Office: 785 Days
• Field of Search: 340905, 340441, 340936, 340439, 701 93, 701117, 701119, 180170, 246182 R
• CPC Class Codes: A63C 17/01 Skateboards A63C17/02 - A63C17/28 take precedence; rolling devices on skis A63C5/035
• CPC Class Codes: A63C 17/08 single-wheel type with single axis
• CPC Class Codes: A63C 17/12 with driving mechanisms
• 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 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2200/24 Personal mobility 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 2240/22 Yaw angle
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2250/22 by presence detection
• CPC Class Codes: B60L 2250/24 by lever actuation
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 51/002 comprising safety arrangements safety devices for vehicle propulsion unit control B60K28/00
• CPC Class Codes: B62D 51/02 the driver standing in the vehicle
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: B62J 45/4151 for sensing lateral inclination of the cycle
• CPC Class Codes: B62J 45/4152 for sensing longitudinal inclination of the cycle
• CPC Class Codes: B62K 1/00 : Unicycles
• CPC Class Codes: B62K 11/007 : Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 3/002 : without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0223 : involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0891 : specially adapted for land vehicles
• CPC Class Codes: G08B 6/00 : Tactile signalling systems, e.g. personal calling systems
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.

Claims

1. A vehicle for carrying a load over a terrain, the vehicle comprising:

at least two ground-contacting elements;

at least one gyroscope detecting an orientation of the vehicle and characteristics of the terrain;

at least two motors associated with the at least two ground-contacting elements; and

a controller commanding the at least two motors to apply sufficient torque to spin the at least two ground-contacting elements based on the orientation and the terrain characteristics.

2. The vehicle as in claim 1 further comprising:

at least one sensor sensing movement of the load; and

at least one battery having a battery level, the at least one battery providing power to the vehicle.

3. The vehicle as in claim 2 wherein the controller commands the at least two motors to apply sufficient torque to spin the at least two ground-contacting elements based on the movement and the battery level.

4. The vehicle as in claim 2 wherein the controller detects the battery level, the controller limiting a top speed of the transporter based on the battery level.

5. The vehicle as in claim 2 wherein the at least one sensor further comprises:

a weight sensor detecting a weight shift of the load, the weight shift indicating a desired direction.

6. A method for driving a vehicle carrying a load over terrain, the vehicle having at least two ground-contacting elements, at least one gyroscope, at least two motors associated with the at least two ground-contacting elements, and a controller, the method comprising:

detecting, by the at least one gyroscope, an orientation of the vehicle and characteristics of the terrain;

sensing, by the at least one sensor, movement of the load;

providing, by the at least one battery, power to the transporter; and

commanding, by the controller, the at least two motors to apply sufficient torque to spin the at least two ground-contacting elements based on the movement and the battery level.

7. The method as in claim 6 further comprising:

detecting the battery level; and

limiting a top speed of the transporter based on the battery level.

8. The method as in claim 6 further comprising:

detecting, by the at least one sensor, a weight shift of the load, the weight shift indicating a desired direction.