Control of a personal transporter based on user position

• US 9,983,587 B2
• Filed: 12/20/2016
• Issued: 05/29/2018
• Est. Priority Date: 09/13/2004
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Kamen, Dean, Ambrogi, Robert R., Dattolo, James J., Duggan, Robert J., Field, J. Douglas, Heinzmann, Richard Kurt, McCambridge, Matthew M., Morrell, John B., Piedmonte, Michael D., Rosasco, Richard J.
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US15/385,077
• Publication Number:
  US 20170115664A1
• Time in Patent Office: 525 Days
• Field of Search: 340905, 340441, 340936, 340439, 701 93, 701117, 701119, 180170, 246182 R
• 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. A method for integrating human control with steering requirements of a balancing transporter, the method comprising:

receiving a desired direction and velocity of the balancing transporter based at least on a detected body orientation of the user; and

generating a command signal to the balancing transporter, the command signal being based at least on the desired direction and velocity and a pitch signal, the pitch signal being based at least on a pitch error, the command signal maintaining balance of the balancing transporter and achieving the steering requirements of the balancing transporter to move the balancing transporter in the desired direction and velocity.

2. The method as in claim 1 further comprising:

detecting the body orientation by at least one process selected from the group consisting of ultrasonic body position sensing, foot force sensing, handlebar lean, active handlebar, mechanical sensing of body position, and linear slide directional input.

3. The method as in claim 1 further comprising:

receiving, from the user, a desired yaw value, a desired yaw rate, or a desired fore/aft direction for the balancing transporter.

4. The method as in claim 3 further comprising:

computing a yaw signal based at least in part on the difference between an instantaneous yaw value of the balancing transporter and the desired yaw value specified by the user.

5. A system for controlling steering of a balancing transporter comprising:

a sensor receiving a desired direction and velocity of the balancing transporter based at least on a detected body orientation of the user; and

a processor generating a command signal to the balancing transporter, the command signal being based at least on the desired direction and velocity and a pitch signal, the pitch signal being based at least on a pitch error, the command signal maintaining balance of the balancing transporter and controlling the steering of the balancing transporter to move the balancing transporter in the desired direction and velocity.

6. The system as in claim 5 further comprising:

an ultrasonic body position sensor detecting the body orientation.

7. The system as in claim 5 further comprising:

a foot force sensor detecting the body orientation.

8. The system as in claim 5 further comprising:

a handlebar operably coupled to the balancing transporter; and

a handlebar lean sensor associated with the handlebar, the handlebar lean sensor detecting the body orientation.

9. The system as in claim 5 further comprising:

a handlebar operably coupled to the balancing transporter; and

an active handlebar sensor associated with the handlebar, the active handlebar sensor detecting the body orientation.

10. The system as in claim 5 further comprising:

a mechanical sensor detecting the body orientation.

11. The system as in claim 5 further comprising:

a linear slide directional input sensor detecting the body orientation.

12. The system as in claim 5 wherein the processor receives, from the user, a desired yaw value, a desired yaw rate, or a desired fore/aft direction for the balancing transporter.

13. The system as in claim 12 wherein the processor computes a yaw signal based at least in part on the difference between an instantaneous yaw value of the balancing transporter and the desired yaw value specified by the user.