Enhanced control of a transporter

• US 7,740,099 B2
• Filed: 07/09/2007
• Issued: 06/22/2010
• Est. Priority Date: 06/04/1999
• Status: Expired due to Term

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway Incorporated (Ninebot Ltd.)
• Inventors: Field, J. Douglas, Stevens, Jon M., Gansler, Michael T., LeMay, Philip
• Primary Examiner(s): Morris; Lesley
• Assistant Examiner(s): Yeagley; Daniel
• Application Number:
  US11/774,876
• Publication Number:
  US 20070296170A1
• Time in Patent Office: 1,079 Days
• Field of Search: 180/7.1, 180/272, 180/282
• US Class Current: 180/282
• 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: B60G 17/016 characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input B60G17/017 takes precedence
• CPC Class Codes: B60G 2300/084 Ridable lawn mowers
• CPC Class Codes: B60G 2300/12 Cycles; Motorcycles
• CPC Class Codes: B60G 2300/26 Carts
• CPC Class Codes: B60G 2300/50 Electric vehicles; Hybrid vehicles
• CPC Class Codes: B60G 2400/0512 Pitch angle
• CPC Class Codes: B60G 2400/0513 Yaw angle
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/32 Torque on propulsion shaft
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2600/172 Weighting coefficients or factors
• CPC Class Codes: B60G 2600/1877 Adaptive Control
• CPC Class Codes: B60G 2600/20 Manual control or setting means
• CPC Class Codes: B60G 2600/604 low pass
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/016 : Yawing condition
• CPC Class Codes: B60G 2800/213 : by applying forward/backward torque on each wheel individually
• CPC Class Codes: B60G 2800/912 : Attitude Control; levelling control
• 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 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 2240/22 : Yaw angle
• CPC Class Codes: B60L 2240/421 : Speed
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60L 2240/461 : Speed
• CPC Class Codes: B60L 2240/463 : Torque
• CPC Class Codes: B60L 2250/18 : by enquiring driving style
• CPC Class Codes: B60L 2260/34 : Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 2260/42 : by adaptive correction
• 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: 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: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A transporter that includes a platform for supporting a load and at least one primary ground-contacting element. The transporter includes an actuator for applying torque to the at least one primary ground-contacting element for propelling the transporter with respect to a surface. The transporter also includes a controller for controlling the actuator, the controller includes an input for receiving specification by a user of a desired direction of travel based on a position of a member with respect to a fiducial axis, a differentiator for calculating a rate of change of the position of the member with respect to the fiducial axis, and a processor for generating a yaw command signal based at least on the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user.

Claims

1. A method for controlling yaw of a balancing transporter, comprising:

receiving an input from a user based on a position of a member with respect to a fiducial axis;

calculating a rate of change of the position of the member with respect to the fiducial axis; and

generating a yaw command signal based on at least the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user to reduce the effect that the rate of change of the position of the member has on the yaw command signal for a beginner user.

2. The method of claim 1, wherein the user provides an input signal to the transporter to vary the weighting of the rate of change of the position of the member.

3. A method for controlling yaw of a balancing transporter, comprising:

receiving an input from a user based on a position of a member with respect to a fiducial axis;

calculating a rate of change of the position of the member with respect to the fiducial axis; and

generating a yaw command signal based on at least the position of the member and the rate of change of the position of the member which is weighted based on the level of experience of the user to increase the effect that the rate of change of the position of the member has on the yaw command signal for an experienced user.

4. The method of claim 3, wherein the user provides an input signal to the transporter to vary the weighting of the rate of change of the position of the member.