초록 ▼

A personal transporter that provides both for propulsion by a user, and, at the same time, for dynamic stabilization by means of a powered actuator. A pitch variable such as pitch or time rate of change of pitch is sensed and used to determine the torque provided to a wheel, whether in a co-rotating

A personal transporter that provides both for propulsion by a user, and, at the same time, for dynamic stabilization by means of a powered actuator. A pitch variable such as pitch or time rate of change of pitch is sensed and used to determine the torque provided to a wheel, whether in a co-rotating or counter-rotating direction, in order to maintain stability of the transporter with respect to tipping in the fore-aft plane.

대표청구항 ▼

What is claimed is: 1. A personal transporter propelled by a user, the personal transporter comprising: a. a platform for supporting the user; b. a ground-contacting module having a first ground-contacting element movable about an axis for propelling the platform with respect to an underlying surfa

What is claimed is: 1. A personal transporter propelled by a user, the personal transporter comprising: a. a platform for supporting the user; b. a ground-contacting module having a first ground-contacting element movable about an axis for propelling the platform with respect to an underlying surface; c. a power train for coupling power through solely mechanical means from the user to the ground-contacting element for impelling the ground-contacting element about its axis; d. a first sensor for sensing a value of a pitch variable of the personal transporter; e. a powered actuator for providing torque to the ground-contacting element in addition to any torque provided by the user; and f. a controller for governing the powered actuator based at least on the value of the pitch variable in such a manner as to maintain stable operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the ground-contacting element. 2. The personal transporter according to claim 1, wherein the platform is a seat. 3. The personal transporter according to claim 1, wherein the ground-contacting element is a wheel. 4. The personal transporter according to claim 1, wherein the powered actuator includes a motor. 5. The personal transporter according to claim 1, wherein the first sensor includes an inclinometer. 6. The personal transporter according to claim 1, wherein the first sensor includes a gyroscope. 7. The personal transporter according to claim 1, wherein the powered actuator includes a brake. 8. The personal transporter according to claim 1, further comprising a second ground-contacting element. 9. The personal transporter according to claim 8, further comprising a second sensor for sensing the speed of the first ground-contacting element with respect to the underlying surface and a third sensor for sensing the speed of the second ground-contacting element with respect to the underlying surface. 10. A method for propelling a personal transporter having a wheel and a power train for conveying power from a user to the wheel, the method comprising: a. sensing a value of a pitch variable of the personal transporter in the fore-aft plane with respect to gravity; and b. providing torque to the wheel, based at least on the value of the pitch variable of the personal transporter, in addition to a torque provided by the user through solely mechanical means, in such a manner as to maintain stable operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the wheel. 11. The method according to claim 10, wherein the step of sensing the value of the pitch variable includes measuring the pitch. 12. The method according to claim 10, wherein the step of sensing the value of the pitch variable includes measuring the time rate of change of the pitch. 13. The method according to claim 10, wherein provision of torque to the wheel does not cancel out pitch under normal conditions of locomotion. 14. The method according to claim 10, wherein the step of providing torque to the wheel includes providing braking to the wheel, in addition to any braking provided by the user. 15. A method for propelling a personal transporter having wheels and a power train for conveying power from a user to the wheels, the method comprising: a. sensing a value of a pitch variable of the personal transporter in the fore-aft plane with respect to gravity; b. sensing a value of a rate of rotation for each wheel; and c. providing torque to the wheels, based at least on the value of the pitch variable of the personal transporter and on the values of the rates of wheel rotation, in addition to a torque provided by the user through solely mechanical means, in such a manner as to maintain stable linear operation of the personal transporter in an operating position that would be unstable with respect to tipping in the fore-aft plane but for provision of torque to the wheels.