Dynamically stable transporter controlled by lean
First Claim
Patent Images
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 tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft plane;
a plurality of ground contacting elements coupled to the support platform with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane;
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 based upon the tilt in the fore-aft plane of the platform; and
a controller for commanding the motorized drive arrangement based on the load distribution;
wherein the controller commands the motorized drive arrangement so as to cause an acceleration of the transporter, the transporter further including an externally visible indicator for providing an indication based on the acceleration, the indication being externally visible.
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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 load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.
43 Citations
26 Claims
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1. A transporter comprising:
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a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft plane; a plurality of ground contacting elements coupled to the support platform with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane; 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 based upon the tilt in the fore-aft plane of the platform; and a controller for commanding the motorized drive arrangement based on the load distribution; wherein the controller commands the motorized drive arrangement so as to cause an acceleration of the transporter, the transporter further including an externally visible indicator for providing an indication based on the acceleration, the indication being externally visible. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. 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 with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane, the transporter further including a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:
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determining a tilt in the fore-aft plane with respect to the ground of the loaded support, the load distribution determining the tilt in the fore-aft plane; sensing a roll angle in the lateral plane of the loaded support platform; and commanding the motorized drive arrangement based at least on the tilt in the fore-aft plane indicative of the load distribution. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A vehicle comprising:
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a first platform defining fore-aft and lateral planes; a plurality of ground contacting elements coupled to the first platform with at least two ground contacting elements disposed in the fore-aft plane such that the first platform is statically stable with respect to tipping in the fore-aft plane; a second platform for supporting a rider, the second platform located above the first platform and tiltably coupled in the fore-aft plane thereto; a sensor module interposed between the first platform and the second platform, the sensor module generating a weight shift signal indicative of weight shifting by the rider on the second platform based on a tilt of the second platform in at least the fore-aft plane; 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 signal generated by the sensor indicative of the weight shift. - View Dependent Claims (22, 23)
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24. A transporter comprising:
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a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft plane; a plurality of ground contacting elements coupled to the support platform with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane; 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 based upon the tilt in the fore-aft plane of the platform; and a controller for commanding the motorized drive arrangement based on the load distribution; 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; and wherein the user interface is selected from the group of user interfaces consisting of a joystick and a dial.
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25. 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 with at least two ground contacting elements disposed in the fore-aft plane such that the transporter is statically stable with respect to tipping in the fore-aft plane, the transporter further including a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:
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determining a tilt in the fore-aft plane with respect to the ground of the loaded support, the load distribution determining the tilt in the fore-aft plane; commanding the motorized drive arrangement based at least on the tilt in the fore-aft plane indicative of the load distribution; and providing an externally visible indication based on motion commanded. - View Dependent Claims (26)
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Specification