Control of a personal transporter based on user position
First Claim
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1. A vehicle for carrying a load comprising:
- a ground-contacting module including a platform, the ground-contacting module further including two wheels and a motorized drive arrangement;
a plurality of sensors in electronic communication with the controller and the ground-contacting module; and
a controller maintaining the vehicle in a balanced state, the controller maintaining a plurality of control modes including at least a first mode specifying an absence of the load on the platform, the first mode specifying that the vehicle is maintained at a position, the controller determining a first torque to be applied to the two wheels to maintain vehicle balance when the controller is in the first mode, the controller automatically entering the first mode based at least in part on data from at least one of the plurality of sensors, the controller providing the first torque to the motorized drive arrangement when the controller is in the first mode.
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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.
381 Citations
20 Claims
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1. A vehicle for carrying a load comprising:
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a ground-contacting module including a platform, the ground-contacting module further including two wheels and a motorized drive arrangement; a plurality of sensors in electronic communication with the controller and the ground-contacting module; and a controller maintaining the vehicle in a balanced state, the controller maintaining a plurality of control modes including at least a first mode specifying an absence of the load on the platform, the first mode specifying that the vehicle is maintained at a position, the controller determining a first torque to be applied to the two wheels to maintain vehicle balance when the controller is in the first mode, the controller automatically entering the first mode based at least in part on data from at least one of the plurality of sensors, the controller providing the first torque to the motorized drive arrangement when the controller is in the first mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle for carrying a load, the vehicle comprising:
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a ground-contacting module including a platform, two laterally disposed wheels, a motorized drive arrangement imparting a first torque to the two laterally disposed wheels; a plurality of sensors in electronic communication with the controller and the ground-contacting module; and a controller maintaining the vehicle in a balanced state, the controller maintaining a plurality of control modes including at least a kickstand mode specifying an absence of the load on the platform, the kickstand mode specifying that the vehicle is maintained at a position, the controller executing a control loop determining the first torque to be applied to the two laterally disposed wheels to maintain the vehicle balanced in place, the controller automatically entering the kickstand mode based at least in part on data from at least one of the plurality of sensors, the controller automatically providing the first torque to the motorized drive arrangement when the controller is in the kickstand mode. - View Dependent Claims (12, 13, 14, 15)
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16. A method for controlling a vehicle, the vehicle including a ground-contacting module in an initial unbalanced state, a controller in electronic communication with the ground-contacting module, and a plurality of sensors in electronic communication with the ground-contacting module and the controller, the method comprising:
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receiving, by the controller, data from the plurality of sensors indicating a riderless mode specifying when a load is absent from the vehicle; determining, by the controller, a first torque to be applied to the ground-contacting module to balance the vehicle at a position, the first torque based at least in part on the data when the vehicle is in the riderless mode; and automatically applying, by the controller, the first torque to the ground-contacting module. - View Dependent Claims (17, 18, 19, 20)
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Specification