CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION

• US 20150151808A1
• Filed: 02/11/2015
• Published: 06/04/2015
• Est. Priority Date: 09/13/2004
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: DEAK 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.
• Granted Patent: US 9,400,502 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 method for controlling a transporter, the transporter having at least one ground-contacting element and a controller operatively communicating with the at least one ground-contacting element, the method comprising:

receiving, by the controller, a desired yaw and a desired yaw rate, the desired yaw and the desired yaw rate being based on a body orientation of a load on the transporter;

computing, by the controller, a desired direction of motion of the transporter based on the received desired yaw and the received desired yaw rate;

receiving, by the controller, a pitch of the transporter;

computing, by the controller, a pitch command signal based on the pitch;

computing, by the controller, a command signal based on the desired direction and the pitch command signal; and

providing, by the controller, the command signal to maintain balance of the transporter and motion in the desired direction.

2. The method as in claim 1 further comprising:

receiving, by the controller, the body orientation at least in part from an ultrasonic sensor.

3. The method as in claim 1 further comprising:

receiving, by the controller from an RF transmitter, signals into RF receivers mounted on the transporter; and

processing the signals by electronics mounted on the transporter.

4. The method as in claim 1 further comprising:

receiving, by the controller, signals from an array of receivers mounted on the transporter, the signals identifying the body orientation based on at least one transmitter signal generated by transmitters on the load.

5. The method as in claim 4 further comprising:

receiving, by the controller, time of flight information from the array of receivers; and

computing, by the controller, a lateral position of the load with respect to the transporter based on the time of flight information.

6. The method as in claim 1 further comprising:

computing, by the controller, the command signal based at least in part on pressure exerted by the load on at least one protrusion disposed upon the transporter.

7. The method as in claim 1 further comprising:

computing, by the controller, the command signal based at least in part on pressure exerted by the load on a linear slide mechanism on the transporter.

8. The method as in claim 1 further comprising:

controlling, by the controller, a position of a handlebar disposed upon a shaft disposed upon a platform, the platform supported by the ground-contacting element, the controlling based at least upon one of lateral acceleration and roll angle of the transporter.

9. The method as in claim 1 wherein the transporter comprises a shaft having parallel link bars pivotally coupled to a platform and to a handlebar disposed on the transporter, the platform supported by the ground-contacting element.

10. The method as in claim 1 wherein a handlebar is coupled to a platform by at least one flexure element, the platform supported by the ground-contacting element.

11. A system for controlling a transporter, the system comprising:

at least one ground-contacting element; and

a controller operatively communicating with the at least one ground-contacting element, the controller including;

receiving a desired yaw and a desired yaw rate of the transporter, the desired yaw and the desired yaw rate being based on a body orientation of a load on the transporter;

computing a desired direction of motion of the transporter based on the received desired yaw and the received desired yaw rate;

receiving a pitch of the transporter;

computing a pitch command signal based on the pitch;

computing a command signal based on the desired direction and the pitch command signal; and

providing the command signal to maintain balance of the transporter and motion in the desired direction.

12. The system as in claim 11 wherein the controller further comprises:

receiving the body orientation at least in part from an ultrasonic sensor.

13. The system as in claim 11 wherein the controller further comprises:

receiving, from an RF transmitter, signals into RF receivers mounted on the transporter; and

processing the signals by electronics mounted on the transporter.

14. The system as in claim 11 wherein the controller further comprises:

receiving signals from an array of receivers mounted on the transporter, the signals providing the body orientation based on at least one transmitter signal generated by transmitters on the load.

15. The system as in claim 14 wherein the controller further comprises:

receiving time of flight information from the array of receivers; and

computing a lateral position of the load with respect to the transporter based on the time of flight information.

16. The system as in claim 11 wherein the controller further comprises:

computing the yaw based at least in part on pressure exerted by the load on at least one protrusion disposed upon the transporter.

17. The system as in claim 11 wherein the controller further comprises:

controlling a position of a handlebar disposed upon a shaft, the shaft disposed upon a platform, the platform supported by the ground-contacting element, the controlling based at least upon one of lateral acceleration and roll angle of the transporter.

18. The system as in claim 11 wherein the transporter comprises a shaft including parallel link bars pivotally coupled to a platform and to a handlebar disposed upon the transporter, the platform supported by the ground-contacting element.

19. The system as in claim 11 wherein a handlebar is coupled to a platform by at least one flexure element, the platform supported by the ground-contacting element.

20. The system as in claim 11 wherein the controller further comprises:

receiving a relative height offset of at least one handlebar segment disposed upon the transporter, the desired direction based at least in part on the relative height offset.