CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION
First Claim
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1. A vehicle for carrying a payload including a user, the vehicle comprising:
- a. a platform which supports the user;
b. a ground-contacting module, to which the platform is mounted, which propels the user in desired motion over an underlying surface;
c. a motorized drive arrangement, coupled to the ground-contacting module;
the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered;
the motorized drive arrangement causing, when powered, automatically balanced operation of the system wherein the vehicle has a present velocity and a maximum operating velocity, determined by a requirement of acceleration to maintain balance and, in operation, has a balancing margin determined by the difference between the maximum operating velocity and the present velocity of the vehicle;
d. a balancing margin monitor, coupled to the ground-contacting module, for generating a signal characterizing the balance margin; and
e. an alarm, coupled to the balancing margin monitor, for receiving the signal characterizing the balancing margin and for warning when the balancing margin falls below a specified limit.
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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.
16 Citations
1 Claim
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1. A vehicle for carrying a payload including a user, the vehicle comprising:
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a. a platform which supports the user; b. a ground-contacting module, to which the platform is mounted, which propels the user in desired motion over an underlying surface; c. a motorized drive arrangement, coupled to the ground-contacting module;
the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered;
the motorized drive arrangement causing, when powered, automatically balanced operation of the system wherein the vehicle has a present velocity and a maximum operating velocity, determined by a requirement of acceleration to maintain balance and, in operation, has a balancing margin determined by the difference between the maximum operating velocity and the present velocity of the vehicle;d. a balancing margin monitor, coupled to the ground-contacting module, for generating a signal characterizing the balance margin; and e. an alarm, coupled to the balancing margin monitor, for receiving the signal characterizing the balancing margin and for warning when the balancing margin falls below a specified limit.
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Specification