Dynamically stable transporter controlled by lean
First Claim
Patent Images
1. 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 thumbwheel positioned on the user interface for generating a signal indicative of steering control of the transporter;
a motorized drive arrangement for driving at least two laterally spaced ground contacting elements of the plurality of ground contacting elements;
and a controller for commanding the motorized drive arrangement based on a combination of the signal indicative of the tilt of the pivot element and the signal indicative of steering control of the transporter.
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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 such that the transporter is statically stable with respect to tipping in the fore-aft plane. 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 local distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.
80 Citations
12 Claims
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1. A transporter comprising:
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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 thumbwheel positioned on the user interface for generating a signal indicative of steering control of the transporter; a motorized drive arrangement for driving at least two laterally spaced ground contacting elements of the plurality of ground contacting elements; and a controller for commanding the motorized drive arrangement based on a combination of the signal indicative of the tilt of the pivot element and the signal indicative of steering control of the transporter. - View Dependent Claims (2, 3, 4, 5, 6)
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7. 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 a rotation axis of at least one of the ground contacting elements, the pivot element capable of pivoting around the rotation axis 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:
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flexibly coupling the pivot element to the support platform; causing a tilt of the pivot element by pivoting the pivot element around the rotation axis; and commanding the motorized drive arrangement based at least on the tilt. - View Dependent Claims (8, 9)
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10. 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 a rotation axis of at least one of the ground contacting elements, the pivot element capable of pivoting around the rotation axis 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:
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causing a tilt of the pivot element by pivoting the pivot element around the rotation axis; commanding the motorized drive arrangement based at least on the tilt; and providing an externally visible indication based on motion commanded. - View Dependent Claims (11, 12)
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Specification