Control of a personal transporter based on user position

CAFC
  • US 9,188,984 B2
  • Filed: 07/30/2014
  • Issued: 11/17/2015
  • Est. Priority Date: 06/04/1999
  • Status: Expired due to Fees
First Claim
Patent Images

1. A transporter for transporting a user, the transporter comprising:

  • a platform supporting the user;

    at least one wheel;

    a motorized drive arrangement imparting a torque to the at least one wheel;

    a plurality of sensors, at least one of the plurality of sensors being a pitch sensor sensing a pitch of at least a portion of the transporter; and

    a controller executing a control loop, the control loop generating, based at least in part on the sensed pitch, a control signal for controlling the motorized drive arrangement, the control signal specifying, for the motorized drive arrangement, the torque, the controller altering the control signal to pitch the transporter in a direction opposite a current direction of travel of the transporter if a current speed of the transporter exceeds a threshold.

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