Motion control of a transporter

• US 20040069543A1
• Filed: 07/11/2003
• Published: 04/15/2004
• Est. Priority Date: 02/24/1993
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Ambrogi, Robert R., Field, J. Douglas, Heinzmann, Richard Kurt, Langenfeld, Christopher C., Heinzmann, John David, Kamen, Dean L.
• Granted Patent: US 7,090,040 B2
• Time in Patent Office: Days
• US Class Current: 180/7.1
• CPC Class Codes: A61G 2203/42 for inclination
• CPC Class Codes: A61G 5/046 at least three driven wheels
• CPC Class Codes: A61G 5/06 with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
• CPC Class Codes: A61G 5/1051 Arrangements for steering
• CPC Class Codes: A61G 5/107 positioning the whole seat forward or rearward
• CPC Class Codes: A61G 5/125 for arms
• CPC Class Codes: A61G 5/128 for feet
• 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: A63C 2203/52 Direct actuation of steering of roller skate or skateboards, e.g. by a foot plate
• CPC Class Codes: B60G 17/0161 mainly during straight-line motion B60G17/0164 takes precedence
• CPC Class Codes: B60G 2300/12 Cycles; Motorcycles
• CPC Class Codes: B60G 2300/20 Toys
• CPC Class Codes: B60G 2300/26 Carts
• CPC Class Codes: B60G 2400/0512 Pitch angle
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/0192 longitudinal with regard to vehicle
• CPC Class Codes: B60G 2800/912 Attitude Control; levelling control
• CPC Class Codes: B60G 2800/915 : Suspension load distribution
• CPC Class Codes: B60K 26/00 : Arrangements or mounting of propulsion unit control devices in vehicles
• CPC Class Codes: B60K 26/02 : of initiating means or elements
• CPC Class Codes: B60K 31/00 : Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60K 7/00 : Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60Q 1/26 : the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
• CPC Class Codes: B62B 5/0026 : Propulsion aids
• CPC Class Codes: B62B 5/0069 : Control
• CPC Class Codes: B62B 5/0073 : Measuring a force
• CPC Class Codes: B62D 1/12 : Hand levers
• CPC Class Codes: B62D 51/02 : the driver standing in the vehicle
• CPC Class Codes: B62D 57/00 : Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62K 2204/00 : Adaptations for driving cycles by electric motor for driving electrically assisted bicycles B62M6/00
• 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: B62M 7/00 : Motorcycles characterised by position of motor or engine rider propulsion with addition source of power, e.g. auxiliary combustion engine or electric motor B62M6/00; frames characterised by position of engine B62K11/00

Abstract

A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution of the loaded support platform. Based at least on the load distribution, a controller commands the motorized drive arrangement.

Claims

1. A transporter comprising:

a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution;

a plurality of ground contacting elements coupled to the support platform;

a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;

a sensor module for generating a signal indicative of the load distribution of the loaded support platform; and

a controller for commanding the motorized drive arrangement based on the load distribution.

2. The transporter according to claim 1, wherein the plurality of ground contacting elements include at least two wheels.

3. The transporter according to claim 2, wherein the at least two wheels include:

a first wheel rotatable about a first axis; and

a second wheel rotatable about a second axis, the second axis disposed aft of the first axis.

4. The transporter according to claim 1, wherein the controller is configured so that fore and aft motion of the transporter is controlled by shifting the load distribution of the loaded support platform fore and aft.

5. The transporter according to claim 1, wherein the loaded support platform is characterized by a center of gravity having a position, and wherein the controller is configured so that fore and aft motion of the transporter is controlled by shifting the position of the center of gravity of the loaded support platform fore and aft.

6. The transporter according to claim 1, wherein the controller is configured so that turning of the transporter is controlled by laterally shifting the load distribution of the loaded support platform.

7. The transporter according to claim 1, wherein the loaded support platform is characterized by a center of gravity having a position, and wherein the controller is configured so that turning of the transporter is controlled by laterally shifting the position of the center of gravity of the loaded support platform.

8. The transporter according to claim 1, wherein the transporter is statically stable with respect to tipping in the fore-aft plane.

9. The transporter according to claim 1, wherein the plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in both the fore-aft and lateral planes.

10. The transporter according to claim 1, wherein the sensor module includes at least one sensor selected from the group of sensors consisting of a load sensor, force sensor, and a tilt sensor.

11. The transporter according to claim 1, wherein the sensor module adds an offset in generating the signal.

12. The transporter according to claim 11, wherein the offset is adjustable via a user interface.

13. The transporter according to claim 1, wherein the controller commands the motorized drive arrangement so as to cause an acceleration of the transporter, the transporter further including an indicator for providing an indication based on the acceleration, the indication apprehensible externally.

14. The transporter according to claim 13, wherein the indicator is viewable from behind the transporter.

15. The transporter according to claim 1, wherein the transporter further includes a user interface, wherein the controller commands the motorized drive arrangement based at least on a signal provided by the user interface.

16. A transporter according to claim 15, wherein the user interface is selected from the group of user interfaces consisting of a joystick and a dial.

17. A method for controlling a transporter having a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution, the transporter further including a plurality of ground-contacting elements, the transporter further including a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:

determining the load distribution of the loaded support platform;

commanding the motorized drive arrangement based at least on the load distribution.

18. The method according to claim 17, wherein determining the load distribution of the loaded platform includes sensing a load above at least one ground-contacting element.

19. The method according to claim 17, wherein determining the load distribution of the loaded platform includes sensing a tilt of the loaded support platform.

20. The method according to claim 17, wherein determining the load distribution of the loaded platform includes sensing a roll angle of the loaded support platform.

21. The method according to claim 17, wherein commanding the motorized drive is further based on a control signal from a transporter user interface.

22. The method according to claim 17, further comprising providing an externally apprehensible indication based on motion commanded.

23. The method according to claim 22, wherein providing the externally apprehensible indication is based on acceleration commanded.

24. The method according to claim 22, wherein providing the externally apprehensible indication includes illuminating a light.

25. A transporter comprising:

a support platform for supporting a load, the support platform defining a fore-aft plane and a lateral plane;

a plurality of ground contacting elements coupled to the support platform such that the support platform is statically stable with respect to tipping in the fore-aft and the lateral plane;

a pivot element pivotally coupled to at least one of the ground contacting elements such that the pivot element is capable of tilting;

a user interface for causing a tilt of the pivot element;

a sensor module for generating a signal indicative of the tilt of the pivot element;

a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;

and a controller for commanding the motorized drive arrangement based on the tilt of the pivot element.

26. The transporter according to claim 25, wherein the pivot element is capable of tilting in at least the fore-aft plane.

27. The transporter according to claim 25, wherein the plurality of ground contacting elements include two laterally disposed wheels rotatable around an axis, the pivot element pivotally coupled to the axis.

28. The transporter according to claim 25, wherein the pivot element is flexibly coupled to the support platform.

29. The transporter according to claim 28, wherein the pivot element is flexibly coupled to the support platform via at least one spring.

30. The transporter according to claim 25, wherein the user interface is a handlebar coupled to the pivot element.

31. A method for controlling a transporter having a support platform for supporting a load, the support platform defining fore-aft and lateral planes, the transporter including a plurality of ground-contacting elements such that the transporter is statically stable with respect to tipping, the transporter further including a pivot element pivotally coupled to at least one of the ground contacting elements such that the pivot element is capable of tilting, and a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:

causing a tilt of the pivot element; and

commanding the motorized drive arrangement based at least on the tilt.

32. A method according to claim 31, wherein causing the tilt includes tilting a handlebar coupled to the pivot element.

33. A method according to claim 31, further comprising flexibly coupling the pivot element to the support platform.