Control of a personal transporter based on user position
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B60Q-001/00
G05D-001/02
A63C-017/01
A63C-017/08
A63C-017/12
B62D-037/00
B62D-051/00
B62D-051/02
B62D-061/00
B62K-001/00
B62K-003/00
B60L-015/20
G08B-006/00
G05D-001/08
출원번호
US-0446969
(2014-07-30)
등록번호
US-9188984
(2015-11-17)
발명자
/ 주소
Kamen, Dean
Ambrogi, Robert R.
Dattolo, James J.
Duggan, Robert J.
Field, J. Douglas
Heinzmann, Richard Kurt
McCambridge, Matthew M.
Morrell, John B.
Piedmonte, Michael D.
Rosasco, Richard J.
출원인 / 주소
DEKA Products Limited Partnership
대리인 / 주소
McCormick, Paulding & Huber LLP
인용정보
피인용 횟수 :
9인용 특허 :
154
초록▼
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 r
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.
대표청구항▼
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
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; anda 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. 2. The transporter of claim 1, wherein the controller alters of the control signal until the transporter reaches a dropout speed. 3. The transporter of claim 2, wherein the dropout speed is less than the threshold. 4. The transporter of claim 1, wherein the threshold is less than a maximum speed of the transporter. 5. The transporter of claim 1, wherein, to alter the control signal, the controller adds a pitch modification to the sensed pitch fed to the control loop. 6. The transporter of claim 5, wherein the pitch modification is based at least in part on the difference between the current speed and the threshold. 7. The transporter of claim 1, wherein if the threshold is exceeded, the controller generates an alarm. 8. A transporter for transporting a user comprising: a platform;two wheels;a motorized drive arrangement imparting a torque to each of the two wheels, the transporter being unstable with respect to tipping in a fore-aft plane of the transporter when the motorized drive arrangement is not powered;a plurality of sensors providing data inputs to a control loop, at least one of the plurality of sensors being a pitch sensor sensing a pitch of at least a portion of the transporter, the pitch sensor generating pitch data; anda controller, the controller executing the control loop generating a control signal, the control signal controlling the motorized drive arrangement based at least in part on the pitch data, the control signal determining the torque to be applied to the two wheels, the controller adding a pitch modification to the pitch data if a current speed of the transporter exceeds a threshold. 9. The transporter of claim 8, wherein the controller adds the pitch modification to the pitch data and the controller reduces the pitch modification until the current speed is in a pre-selected relationship with a dropout speed. 10. The transporter of claim 9, wherein the dropout speed is below the threshold and the threshold is less than a maximum speed of the transporter. 11. The transporter of claim 8, wherein the pitch modification is based at least in part on a difference between the integration over time of the current speed and the threshold. 12. The transporter of claim 8, wherein the controller pitches the transporter in a direction opposite to a current direction of travel of the transporter based on the pitch modification. 13. The transporter of claim 8, wherein if the threshold is exceeded, the controller generates an alarm, the alarm comprising a tactile alarm. 14. The transporter of claim 8, wherein the controller accelerates the transporter based on the pitch modification. 15. A method for limiting the speed of a transporter, the transporter including a ground contacting module, a platform, at least one ground contacting wheel, a motorized drive arrangement, and at least one pitch sensor sensing a pitch of at least a portion of the transporter, the transporter being unstable with respect to tipping in a fore-aft plane of the transporter when the motorized drive arrangement is not powered, the method comprising: supplying, by the motorized drive arrangement, a torque to the at least one ground contacting wheel to maintain stability of the transporter in the fore-aft plane;determining, by the controller, a current speed of the transporter;determining, by the controller, a current maximum operating threshold for the transporter; andcommanding, by the controller, the motorized drive arrangement to supply the torque to the at least one ground contacting wheel to pitch the transporter in a direction opposite a current direction of travel of the transporter if the current speed is greater than the current maximum operating threshold. 16. The method of claim 15, further comprising: executing, by the controller, a control loop coupled to the motorized drive arrangement to supply the torque to maintain stability of the transporter. 17. The method of claim 15, further comprising: determining, by the controller, the torque based at least in part on the sensed pitch. 18. The method of claim 16, further comprising: calculating, by the controller, a pitch modification value to pitch the transporter in the direction opposite the current direction of travel of the transporter based at least in part on the current speed and the current maximum operating threshold; andproviding, by the controller, the pitch modification value to the control loop. 19. The method of claim 18, further comprising: reducing, by the controller, the pitch modification value if the current speed is less than the current maximum operating threshold. 20. The method of claim 15, further comprising: generating, by the controller, an alarm if the current speed is greater than the current maximum operating threshold.
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