Guided control of a transporter

• US 7,546,889 B2
• Filed: 06/16/2003
• Issued: 06/16/2009
• Est. Priority Date: 02/24/1993
• Status: Expired due to Fees

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Field, J. Douglas, Morrell, John B., Langenfeld, Christopher C., Lund, Jeremy B., Stevens, Jon M., Kamen, Dean L., Amsbury, Burl, Pompa, Jonathan B.
• Primary Examiner(s): Hurley; Kevin
• Application Number:
  US10/462,379
• Publication Number:
  US 20040011573A1
• Time in Patent Office: 2,192 Days
• Field of Search: 180/7.1, 180/19.3, 180/332, 180/333
• US Class Current: 180/7.1
• CPC Class Codes: A61G 5/085 folding up and down, e.g. reducing or expanding the overall height of the wheelchair
• CPC Class Codes: A61G 5/0891 having rigid supports, e.g. seat or back supports which retain their shape after folding of the wheelchair
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• 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: 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: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 17/00 Cycles not otherwise provided for
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal.

The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.

Claims

1. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

a. receiving an input via the user input;

b. generating a control signal corresponding to the input received; and

c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal; and

d. wherein the step of applying the torque includes applying a torque proportional to a sum of coadded terms including at least a first term proportional to the control signal and a second term proportional to additive inverse of the wheel velocity common to the two wheels.

2. A method in accordance with claim 1, wherein the control signal corresponds to a commanded torque.

3. A method in accordance with claim 1, wherein the control signal corresponds to a commanded velocity.

4. The method in accordance with claim 1, wherein the torque proportional to the sum of coadded terms additionally includes a third term proportional to the differential velocity of the two wheels.

5. A method in accordance with claim 1, wherein the step of generating a control signal corresponding to the signal received includes conditioning the input received.

6. A method in accordance with claim 5, wherein conditioning the input includes providing a deadband region in the vicinity of zero input.

7. A method in accordance with claim 5, wherein conditioning the input includes limiting the effect of user input to a specified range of control signals.

8. A method in accordance with claim 5, wherein conditioning the input includes limiting the slew rate of change of control signals in response to user input.

9. A method in accordance with claim 1, wherein the step of applying a torque employs a control algorithm substantially identical to that which maintains balance of the transporter with an onboard rider.

10. A method in accordance with claim 9, further comprising a step of decelerating the transporter after a specified distance, with respect to a fiducial reference, of riderless travel.

11. A method in accordance with claim 10, wherein the fiducial reference is reset when a sensed velocity of the transporter falls below a specified threshold.

12. A method in accordance with claim 9, further comprising a step of limiting a transporter velocity based upon sensing riderless locomotion.

13. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

a. receiving an input via the user input;

b. generating a control signal corresponding to the input received; and

c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal;

wherein the step of generating a control signal corresponding to the signal received includes conditioning the input received; and

wherein conditioning the input includes limiting the effect of user input to a specified range of control signals.

14. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

a. receiving an input via the user input;

b. generating a control signal corresponding to the input received; and

c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal;

wherein the step of generating a control signal corresponding to the signal received includes conditioning the input received; and

wherein conditioning the input includes limiting the slew rate of change of control signals in response to user input.

15. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

a. receiving an input via the user input;

b. generating a control signal corresponding to the input received;

c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal; and

d. decelerating the transporter after a specified distance, with respect to a fiducial reference, of riderless travel;

wherein the step of applying a torque employs a control algorithm substantially identical to that which maintains balance of the transporter with an onboard rider.

16. The method in accordance with claim 15, wherein the fiducial reference is reset when a sensed velocity of the transporter falls below a specified threshold.

17. A method for conducting a riderless balancing transporter having two laterally disposed wheels and a motorized drive for dynamically stabilizing the transporter in balanced operation, the balancing transporter having a user input, the method comprising:

a. receiving an input via the user input;

b. generating a control signal corresponding to the input received;

c. applying a torque to the laterally disposed wheels by means of the motorized drive so as propel the balancing transporter on the basis of at least the control signal; and

d. limiting a transporter velocity based upon sensing riderless locomotion;

wherein the step of applying a torque employs a control algorithm substantially identical to that which maintains balance of the transporter with an onboard rider.