[특허]Control of a personal transporter based on user position

DEKA Products Limited Partnership

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특허 상세정보

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내보내기 페이스북 공유 트위터 공유 카카오톡 공유

Control of a personal transporter based on user position

특허상세정보
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-0619806 (2015-02-11)
등록번호	US-9529365 (2016-12-27)
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 : 1 인용 특허 : 304

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 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....

대표
청구항
▼

1. A method for controlling a transporter, the transporter having at least one ground-contacting element, a handlebar supported by the at least one ground-contacting element, and a controller operatively communicating with the at least one ground-contacting element, the method comprising: receiving, by the controller, a desired yaw and a desired yaw rate, the desired yaw and the desired yaw rate being based on a body orientation of a load on the transporter;computing, by the controller, a desired direction of motion of the transporter based on the received desired yaw and the received desired yaw rate;receiving, by the controller, a pitch of the transporter;computing, by the controller, a pitch command signal based on the pitch;computing, by the controller, a command signal based on the desired direction and the pitch command signal; andproviding, by the controller, the command signal to maintain balance of the transporter and motion in the desired direction. 2. The method as in claim 1 further comprising: computing, by the controller, the command signal based on the body orientation and roll of the transporter sensed by a plurality of sensors in electronic communication with the controller, the command signal modified by a deadband. 3. The method as in claim 1 further comprising: computing, by the controller, the command signal based at least in part on a yaw error value, the yaw error value being the difference between an instantaneous yaw value and the desired yaw. 4. The method as in claim 1 further comprising: receiving, by the controller, a lean of the transporter with respect to gravity; andcomputing, by the controller, the command signal K(φHB−φRoll) where K=a constant, φHB=an angle between the handlebar and the ground-contacting element, and φRoll=the received lean. 5. The method as in claim 1 wherein the handlebar comprises an inclined or horizontally mounted pivot handlebar. 6. The method as in claim 1 wherein the handlebar is biased to a central position by at least one damper. 7. The method as in claim 1 further comprising: receiving, by the controller, a rotational orientation of the handlebar; andcomputing, by the controller, the desired direction based at least in part on the rotational orientation. 8. The method as in claim 1 further comprising: computing, by the controller, a yaw component of the command signal by: applying a first gain to the yaw component of the command signal at a first range of speeds; andapplying a second gain to the yaw component of the command signal at a second range of speeds. 9. The method as in claim 1 further comprising: filtering, by the controller, a yaw component of the command signal based on a roll rate of the transporter. 10. The method as in claim 1 further comprising: low-pass filtering, by the controller, the desired yaw if a roll rate of the transporter is greater than a pre-selected rate. 11. The method as in claim 10 further comprising: computing, by the controller, a yaw component of the command signal based on F*(the desired yaw)+(1×F)*(the filtered desired yaw) where F=a continuously varying signal. 12. A system for controlling a transporter, the system comprising: at least one ground-contacting element;a handlebar supported by the at least one ground-contracting element; anda controller operatively communicating with the at least one ground-contacting element, the controller including: receiving a desired yaw and a desired yaw rate of the transporter, the desired yaw and the desired yaw rate being based on a body orientation of a load on the transporter;computing a desired direction of motion of the transporter based on the received desired yaw and the received desired yaw rate;receiving a pitch of the transporter;computing a pitch command signal based on the pitch;computing a command signal based on the desired direction and the pitch command signal; andproviding the command signal to maintain balance of the transporter and motion in the desired direction. 13. The system as in claim 12 wherein the controller further includes: computing, by the controller, the command signal based on the body orientation and roll of the transporter sensed by a plurality of sensors in electronic communication with the controller, the command signal modified by a deadband. 14. The system as in claim 12 wherein the controller further includes: executing a ramp function reversing a yaw command component of the command signal when the transporter moves in reverse. 15. The system as in claim 12 wherein the controller further includes: receiving a lean of the transporter with respect to gravity; andcomputing the command signal K(φHB−φRoll) where K=a constant, φHB=an angle between the handlebar and the at least one ground-contacting element, and φRoll=the received lean. 16. The system as in claim 12 wherein the controller further includes: computing a yaw component of the command signal by applying a first gain to the yaw component of the command signal at a first range of speeds; andapplying a second gain to the yaw component of the command signal at a second range of speeds. 17. The system as in claim 12 wherein the controller further includes: receiving, from shaft sensors, the position of the handlebar with respect to vertical, or with respect to a direction fixed with respect to at least a portion of the transporter. 18. The system as in claim 12 wherein the controller further includes: filtering a yaw component of the command signal based on a roll rate of the transporter. 19. The system as in claim 12 wherein the controller further includes: low-pass filtering the desired yaw if a roll rate of the transporter is greater than a pre-selected rate. 20. The system as in claim 11 wherein the controller further comprises: receiving a relative height offset of at least one handlebar segment disposed upon the transporter, the desired direction based at least in part on the relative height offset.

이 특허에 인용된 특허 (304)

이 특허를 인용한 특허 피인용횟수: 1

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.. Control of a personal transporter based on user position. USP2018059983587.

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Control of a personal transporter based on user position

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Control of a personal transporter based on user position

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이 특허에 인용된 특허 (304)

이 특허를 인용한 특허 피인용횟수: 1

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