Pressure control steering

• US 10,144,478 B2
• Filed: 01/17/2017
• Issued: 12/04/2018
• Est. Priority Date: 11/25/2016
• Status: Active Grant

• Current Assignee: Hangzhou Chic Intelligent Technology Co., Ltd.
• Original Assignee: Hangzhou Chic Intelligent Technology Co., Ltd.
• Inventors: Ying, Jiawei, Lin, Yunfei
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/408,322
• Publication Number:
  US 20180148121A1
• Time in Patent Office: 686 Days
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/24 Steering angle
• CPC Class Codes: B60L 2250/22 by presence detection
• 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 2204/00 Adaptations for driving cycles by electric motor for driving electrically assisted bicycles B62M6/00
• CPC Class Codes: G01L 5/225 to foot actuated controls, e.g. brake pedals
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A personal transport vehicle may include a first wheel and a second wheel, a first motor configured to drive the first wheel, and a second motor configured to drive the second wheel. The vehicle may also include at least one platform for supporting a driver, a plurality of pressure sensors to detect pressure applied by the driver on the platform, and a control circuit coupled to the plurality of pressure sensors to determine a pressure differential across the plurality of pressure sensors. The control circuit may generate, based on the pressure differential, control signals for the first motor and the second motor to drive the first wheel and the second wheel to turn the vehicle.

Claims

1. A personal transport vehicle comprising:

a first wheel and a second wheel;

a first motor configured to drive the first wheel;

a second motor configured to drive the second wheel;

at least one platform for supporting a driver;

a plurality of pressure sensors configured to detect pressure applied by the driver on the platform; and

a control circuit coupled to the plurality of pressure sensors and configured to determine a pressure differential across the plurality of pressure sensors;

wherein the pressure differential compares the pressure detected in a first footpad and in a second footpad, the control circuit generates, based on the pressure differential, control signals for the first motor and the second motor to drive the first wheel and the second wheel to turn the vehicle.

2. The vehicle of claim 1, wherein the plurality of pressure sensors are respectively disposed in the first footpad and the second footpad.

3. The vehicle of claim 1, wherein the plurality of pressure sensors include at least two pressure sensors positioned under the first footpad and at least two pressure sensors under the second footpad, and the pressure differential compares the difference between the pressure detected by the two pressure sensors positioned under the first footpad and the difference between the pressure detected by the two pressure sensors positioned under the second footpad.

4. The vehicle of claim 1, wherein the control circuit includes a PID controller.

5. The vehicle of claim 1, wherein the control signals for the first motor are different from the control signals for the second motor.

6. The vehicle of claim 1, wherein the control signals are pulse-width modulated (PWM) currents.

7. The vehicle of claim 1, wherein the control circuit further generates control signals to stop the vehicle.

8. A personal transport vehicle comprising:

a first wheel and a second wheel;

a first motor configured to drive the first wheel;

a second motor configured to drive the second wheel;

at least one platform for supporting a driver;

a balance sensor to detect the tilt of the platform;

a plurality of pressure sensors configured to detect pressure applied by the driver on the platform; and

a control circuit coupled to the balance sensor and to the plurality of pressure sensors and configured to determine a platform tilt and a pressure differential across the plurality of pressure sensors;

wherein the pressure differential compares the pressure detected in a first footpad and in a second footpad, the control circuit generates, based on the platform tilt and the pressure differential, control signals for the first motor and the second motor to drive the first wheel and the second wheel to turn the vehicle.

9. The vehicle of claim 8, wherein the plurality of pressure sensors are respectively disposed in the first footpad and the second footpad.

10. The vehicle of claim 8, wherein the pressure differential compares the pressure detected in the first footpad and in the second footpad.

11. The vehicle of claim 8, wherein the plurality of pressure sensors include at least two pressure sensors positioned under the first footpad and at least two pressure sensors under the second footpad, and the pressure differential compares the difference between the pressure detected by the two pressure sensors positioned under the first footpad and the difference between the pressure detected by the two pressure sensors positioned under the second footpad.

12. The vehicle of claim 8, wherein the control circuit includes a PID controller.

13. The vehicle of claim 8, wherein the control signals for the first motor are different from the control signals for the second motor.

14. The vehicle of claim 8, wherein the control signals are pulse-width modulated (PWM) currents.

15. The vehicle of claim 8, wherein the control circuit further generates control signals to stop the vehicle.

16. The vehicle of claim 8, wherein the balance sensor is one or more of an accelerometer, a gyroscope, or a tilt sensor.

17. A method of controlling a personal transport vehicle comprising:

detecting a pressure applied by a driver on a platform of the vehicle using a plurality of pressure sensors;

comparing the pressure detected in a first footpad and in a second footpad and determining a pressure differential across the plurality of pressure sensors;

generating, based on the pressure differential, control signals for a first motor and a second motor to drive a first wheel and a second wheel to turn the vehicle.

18. The method of claim 17, further comprising detecting a tilt of the platform of the vehicle.

19. The method of claim 18, wherein the control signals are further based on the tilt of the platform of the vehicle.

20. The method of claim 17, wherein the control signals generated for the first motor are different from the control signals generated for the second motor.

21. The method of claim 17, wherein the control signals are pulse-width modulated (PWM) currents.