Control of a personal transporter based on user position

• US 7,812,715 B2
• Filed: 09/28/2007
• Issued: 10/12/2010
• Est. Priority Date: 06/04/1999
• Status: Expired due to Fees

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Rosasco, Richard J., Kamen, Dean, Ambrogi, Robert R., Field, J. Douglas, Morrell, John B., Duggan, Robert J., Heinzmann, Richard Kurt, Piedmonte, Michael D., Dattolo, James J., McCambridge, Matthew M.
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US11/863,640
• Publication Number:
  US 20080018443A1
• Time in Patent Office: 1,110 Days
• Field of Search: 340/427, 340/428, 340/429, 340/441, 180/171, 180/271, 180/282, 180/285
• US Class Current: 340/439
• 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. An apparatus 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 comprising:

a. an input for receiving specification by the rider of a specified direction of travel;

b. an indicating means for reflecting to the rider a desired instantaneous body orientation based at least on current lateral acceleration of the vehicle.

2. An apparatus in accordance with claim 1, wherein the indicating means comprises a handlebar pivotable with respect to the vehicle, the handlebar driven in response to vehicle turning.

3. An apparatus in accordance with claim 1, wherein the input of a specified direction includes an input of a user specified yaw value.

4. An apparatus in accordance with claim 1, wherein the input of a specified direction includes an input of a user specified yaw rate value.

5. An apparatus in accordance with claim 1, where the input of a specified direction includes an input of a user specified fore/aft direction.

6. An apparatus in accordance with claim 1, wherein the input for receiving user specification includes a pressure sensor disposed to detect orientation of the user.

7. An apparatus in accordance with claim 1, wherein the input for receiving user specification includes an ultrasonic sensor disposed to detect orientation of the user.

8. An apparatus in accordance with claim 1, wherein the input for receiving user specification includes a force sensor disposed on a platform supporting the user for detecting weight distribution of the user.

9. An apparatus in accordance with claim 1, wherein the vehicle includes a handlebar, the controller further comprising a powered pivot for positioning the handlebar based at least upon one of lateral acceleration and roll angle of the vehicle.

10. An apparatus in accordance with claim 1, further comprising a position loop for commanding a handlebar position substantially proportional to a difference in the square of the velocity of a first wheel and the square of the velocity of a second wheel.

11. A transporter for transporting a rider, the transporter having at least one primary ground-contacting element, the transporter characterized by a roll angle and comprising:

a. an input for receiving specification by a user of at least one of a specified direction of travel and a specified velocity value;

b. a processor for generating a command signal based at least on the user specification; and

c. an indicating means for reflecting to the rider a desired instantaneous body orientation based at least on current lateral acceleration of the transporter.

12. A transporter in accordance with claim 11, wherein the indicating means comprises a handlebar pivotable with respect to the transporter, the handlebar driven in response to vehicle turning.

13. A transporter in accordance with claim 11, wherein the input of a specified direction includes an input of a user specified yaw value.

14. A transporter in accordance with claim 11, wherein the input of a specified direction includes an input of a user specified yaw rate value.

15. A transporter in accordance with claim 11, where the input of a specified direction includes an input of a user specified fore/aft direction.

16. A transporter in accordance with claim 11, wherein the input for receiving user specification includes a pressure sensor disposed to detect orientation of the user.

17. A transporter in accordance with claim 11, wherein the input for receiving user specification includes an ultrasonic sensor disposed to detect orientation of the user.

18. A transporter in accordance with claim 11, wherein the input for receiving user specification includes a force sensor disposed on a platform supporting the user for detecting weight distribution of the user.

19. A transporter in accordance with claim 11, further comprising

a handlebar;

and

a powered pivot for positioning the handlebar based at least upon one of lateral acceleration and roll angle of the transporter.

20. A transporter in accordance with claim 11, further comprising a position loop for commanding a handlebar position substantially proportional to a difference in the square of the velocity of a first wheel and the square of the velocity of a second wheel.

21. A method 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 method comprising:

a. receiving specification by the rider of a specified direction of travel;

b. sensing a current lateral acceleration of the vehicle;

c. calculating a desired instantaneous body orientation based at least on current lateral acceleration of the vehicle; and

d. reflecting the desired instantaneous body orientation to the rider.

22. A method in accordance with claim 21, wherein sensing current lateral acceleration of the vehicle includes deriving lateral acceleration from wheel velocities.

23. A method in accordance with claim 21, wherein receiving specification by the rider includes receiving input of a specified yaw value.

24. A method in accordance with claim 21, further comprising commanding a handlebar position substantially proportional to a difference in the square of the velocity of a first wheel and the square of the velocity of a second wheel.