Apparatus and method for control of a vehicle

• US 9,477,228 B2
• Filed: 10/26/2015
• Issued: 10/25/2016
• Est. Priority Date: 11/06/2008
• Status: Active Grant

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway Incorporated (Ninebot Ltd.)
• Inventors: Field, J. Douglas, Gansler, Michael T., Heinzmann, John D., Stevens, Jon M.
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/922,571
• Publication Number:
  US 20160041558A1
• Time in Patent Office: 365 Days
• Field of Search: 701/22, 701/30.5, 701/38, 701/41, 701/124, 180/6.62, 180/7.1, 180/89.13, 180/65.8, 340/442, 340/443, 700/37, 700/40, 382/124, 318/432
• US Class Current: 1/1
• CPC Class Codes: B60N 2/045 Longitudinal adjustment by means of articulated rods supporting the seat, e.g. parallelogram mechanisms B60N2/38 takes precedence
• CPC Class Codes: B60N 2/06 slidable B60N2/12 , B60N2/2209 take precedence
• CPC Class Codes: B60N 2/10 tiltable B60N2/12 , B60N2/2875 take precedence
• CPC Class Codes: B62D 33/063 movable from one position into at least one other position, e.g. tiltable, pivotable about a vertical axis, displaceable from one side of the vehicle to the other
• CPC Class Codes: B62D 37/04 by means of movable masses
• CPC Class Codes: B62D 39/00 Vehicle bodies not otherwise provided for , e.g. safety vehicles safety equipment B60R21/00
• CPC Class Codes: B62J 17/08 Hoods protecting the rider
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G05D 1/0268 using internal positioning means
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y10S 181/401 Earth
• CPC Class Codes: Y10T 152/10765 Characterized by belt or breaker structure

Abstract

An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.

Claims

1. A vehicle for transporting a payload over a surface, comprising:

a platform;

a support, disposed on the platform, configured to support the payload;

an enclosure, coupled to the platform and the support, configured to at least partially enclose the payload when the payload is disposed on the support;

at least one surface-contacting element, coupled to the platform, configured to contact the surface and move the vehicle over the surface in response to received control signals; and

a drive controller, coupled to the at least one surface-contacting element, configured to dynamically control balancing of the vehicle by providing the control signals as a function of a position of the center of gravity of a combination comprising the vehicle and the payload disposed on the support,

wherein the support and the enclosure are further configured to move with respect to the platform.

2. The vehicle of claim 1, further comprising:

a sensor module configured to detect at least one vehicle parameter indicating a change in the position of the center of gravity of the combination.

3. The vehicle of claim 2, wherein the sensor module is further configured to sense the position of the center of gravity with respect to a fore-aft plane aligned with a fore-aft axis of the platform.

4. The vehicle of claim 3, wherein the payload includes a person and wherein the vehicle further comprises:

a sensor configured to sense a lateral movement of the person and the support with respect to the fore-aft axis.

5. The vehicle of claim 4, further comprising:

a controller coupled to the lateral movement sensor and the driver,

wherein the controller implements a control loop that uses input from the lateral movement sensor to provide output to the drive controller to enable the vehicle to turn laterally in response to the lateral movement of the person.

6. The vehicle of claim 1, wherein the payload includes a person and wherein the support further comprises a seat for the person, the vehicle further comprising:

one or more actuators connected to the seat,

wherein each actuator is configured to move the seat in response to a change in a force applied by the person to the seat.

7. The vehicle of claim 6, wherein the one or more actuators include a linear actuator configured to move the seat closer to or away from the platform or move the seat along a fore-aft axis of the platform.

8. The vehicle of claim 1, wherein the payload includes a person and the support and the enclosure are moveable with respect to the platform by operation of the person on the support.

9. The vehicle of claim 1, further comprising:

one or more rails coupled to the platform, the support and the enclosure, configured to allow the support and enclosure to slide along with respect to the platform.

10. vehicle for transporting a payload over a surface, the vehicle comprising:

a support for supporting a payload;

an enclosure for at least partially enclosing the payload;

two laterally disposed surface-contacting elements coupled to at least one of the enclosure or the support;

a drive coupled to the surface-contacting elements;

a controller coupled to the drive, for governing the operation of the drive at least in response to a position of the center of gravity of a combination of the vehicle and the payload positioned on the support to dynamically control balancing of the vehicle,

wherein the enclosure is coupled to the support and comprising a structure coupling the support and the enclosure to the surface-contacting elements, the structure allowing for variation in the position of the center of gravity, and

wherein the structure includes rails allowing the enclosure and support to slide with respect to the surface-contacting elements.

11. A vehicle for transporting a payload over a surface, the vehicle comprising:

a platform;

a support configured to support the payload;

an enclosure configured to at least partially enclose the payload when the payload is disposed on the support;

one or more rails coupled to the platform, the support and the enclosure, configured to allow the support and enclosure to slide along with respect to the platform;

two laterally disposed surface-contacting elements coupled to the platform;

a drive, disposed on the platform, coupled to the surface-contacting elements; and

a drive controller coupled to the drive, configured to dynamically control balancing of the vehicle by governing operation of the drive to control the surface-contacting elements as a function of a position of the center of gravity of a combination of the vehicle and the payload positioned on the support.