A method, system and apparatus for carrying a user including a board for supporting the user, a ground-contacting member coupled with the board, a motorized drive assembly coupled with the ground-contacting member and one or more sensors coupled with the drive assembly. In operation, the drive assem
A method, system and apparatus for carrying a user including a board for supporting the user, a ground-contacting member coupled with the board, a motorized drive assembly coupled with the ground-contacting member and one or more sensors coupled with the drive assembly. In operation, the drive assembly adjusts the velocity of the ground-contacting member based on one or more distances of the board from a surface below the board as detected by the sensors. As a result, the system is able to maintain a desired velocity when ascending, descending or traversing uneven ground without the need for excessive and sometimes impossible tilting of the board.
대표청구항▼
1. A vehicle for carrying a user comprising: a board having a plurality of detached sections coupled together by a hinge including a pin, wherein the sections are able to pivot about the pin of the hinge between a folded position where the board is bent and an unfolded position where the board is fl
1. A vehicle for carrying a user comprising: a board having a plurality of detached sections coupled together by a hinge including a pin, wherein the sections are able to pivot about the pin of the hinge between a folded position where the board is bent and an unfolded position where the board is flat, and further wherein the hinge is coupled to a top surface of the sections such that in the unfolded position an inner surface of the sections contact each other thereby preventing the sections from further pivoting;a ground-contacting member coupled with the board and configured to rotate about a central axis, wherein the pin of the hinge is aligned with the central axis and the board is offset below the central axis when in the unfolded position; anda motorized drive assembly coupled with the ground-contacting member, wherein the ground-contacting member rotates about an axle and the axle acts as a pin of the hinges, wherein the sections pivot about the axle. 2. The vehicle of claim 1, wherein the ground-contacting member rotates about a hollow axle having an exposed channel that extends though the hollow axle. 3. The vehicle of claim 1, wherein the board has one or more additional hinges that with the hinge rotatably couple together three of the sections of the board. 4. The vehicle of claim 1, wherein the board comprises one or more handles that are each defined by one of the group consisting of a hole that extends through the board or a channel that extends only partially into the bottom of the board. 5. The vehicle of claim 1, wherein two or more of the sections of the board house at least one electronic component of the drive assembly and the board further comprises one or more interfaces that electrically couple together two or more of the electronic components from different ones of the two or more of the sections when the board is in the unfolded position. 6. The vehicle of claim 1, further comprising one or more sensors coupled with the drive assembly, wherein the drive assembly adjusts the velocity of the ground-contacting member based on one or more distances of the board from a surface below the board as detected by the sensors. 7. The vehicle of claim 6, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle. 8. The vehicle of claim 7, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board. 9. The vehicle of claim 7, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation. 10. The vehicle of claim 6, wherein the drive assembly adjusts the velocity of the ground-contacting member based on the one or more distances by using the distances to calculate a pitch of the board with respect to the surface and applying a force to the ground-contacting member in order to achieve a predefined velocity of the ground-contacting member that corresponds to the pitch. 11. The vehicle of claim 10, wherein the pitch is calculated by determining a difference between the one or more distances and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface. 12. A method of operating a vehicle having an elongated board, the method comprising: providing a vehicle comprising: a board having a plurality of detached sections coupled together by a hinge including a pin, wherein the sections are able to pivot about the pin of the hinge between a folded position where the board is bent and an unfolded position where the board is flat, and further wherein the hinge is coupled to a top surface of the sections such that in the unfolded position an inner surface of the sections contact each other thereby preventing the sections from further pivoting;a ground-contacting member coupled with the board and configured to rotate about a central axis, wherein the pin of the hinge is aligned with the central axis and the board is offset below the central axis when in the unfolded position; anda motorized drive assembly coupled with the ground-contacting member;moving the board between the unfolded position into the folded position by pivoting the sections about the hinges, wherein ends of two of the sections that are on opposite sides of the board in the unfolded position are closer together in the folded position, wherein the ground-contacting member rotates about an axle and the axle acts as a pin of the hinges, wherein the sections pivot about the axle. 13. The method of claim 12, wherein the ground-contacting member rotates about a hollow axle having an exposed channel that extends though the hollow axle. 14. The method of claim 12, wherein the board has one or more additional hinges that with the hinge rotatably couple together three of the sections of the board. 15. The method of claim 12, wherein the board comprises one or more handles that are each defined by one of the group consisting of a hole that extends through the board or a channel that extends only partially into the bottom of the board. 16. The method of claim 12, wherein two or more of the sections of the board house at least one electronic component of the drive assembly and the board further comprises one or more interfaces that electrically couple together two or more of the electronic components from different ones of the two or more of the sections when the board is in the unfolded position. 17. The method of claim 12, wherein the vehicle further comprises one or more sensors coupled with the drive assembly, wherein the drive assembly adjusts the velocity of the ground-contacting member based on one or more distances of the board from a surface below the board as detected by the sensors. 18. The method of claim 17, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle. 19. The method of claim 18, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board. 20. The method of claim 18, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation. 21. The method of claim 17, wherein the drive assembly adjusts the velocity of the ground-contacting member based on the one or more distances by using the distances to calculate a pitch of the board with respect to the surface and applying a force to the ground-contacting member in order to achieve a predefined velocity of the ground-contacting member that corresponds to the pitch. 22. The method of claim 21, wherein the pitch is calculated by determining a difference between the one or more distances and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface. 23. A vehicle for carrying a user comprising: a board having a plurality of detached sections coupled together by a hinge including a pin, wherein the sections are able to pivot about the pin of the hinge between a folded position where the board is bent and an unfolded position where the board is flat, and further wherein the hinge is coupled to a top surface of the sections such that in the unfolded position an inner surface of the sections contact each other thereby preventing the sections from further pivoting;a ground-contacting member coupled with the board and configured to rotate about a central axis, wherein the pin of the hinge is aligned with the central axis and the board is offset below the central axis when in the unfolded position; anda motorized drive assembly coupled with the ground-contacting member. 24. The vehicle of claim 23, wherein the ground-contacting member rotates about a hollow axle having an exposed channel that extends though the hollow axle and further wherein the pin fits through the hollow axle. 25. The vehicle of claim 23, wherein the board has one or more additional hinges that with the hinge rotatably couple together three of the sections of the board. 26. The vehicle of claim 23, wherein the board comprises one or more handles that are each defined by one of the group consisting of a hole that extends through the board or a channel that extends only partially into the bottom of the board. 27. The vehicle of claim 23, wherein two or more of the sections of the board house at least one electronic component of the drive assembly and the board further comprises one or more interfaces that electrically couple together two or more of the electronic components from different ones of the two or more of the sections when the board is in the unfolded position. 28. The vehicle of claim 23, further comprising one or more sensors coupled with the drive assembly, wherein the drive assembly adjusts the velocity of the ground-contacting member based on one or more distances of the board from a surface below the board as detected by the sensors. 29. The vehicle of claim 28, wherein the board is elongated along a dimension in a fore-aft plane that aligns with the forward and reverse directions of travel of the vehicle. 30. The vehicle of claim 29, wherein one or more fore sensors of the sensors are positioned at the fore end of the elongated dimension of the board and one or more aft sensors of the sensors are positioned at the aft end of the elongated dimension of the board. 31. The vehicle of claim 28, wherein the drive assembly adjusts the velocity of the ground-contacting member based on the one or more distances by using the distances to calculate a pitch of the board with respect to the surface and applying a force to the ground-contacting member in order to achieve a predefined velocity of the ground-contacting member that corresponds to the pitch. 32. The vehicle of claim 31, wherein the pitch is calculated by determining a difference between the one or more distances and an average of two or more of the distances such that the drive assembly adjusts for unevenness in the surface. 33. The vehicle of claim 29, wherein the board as balanced by the ground-contacting member is unstable with respect to tipping along the fore-aft plane when the motorized drive assembly is not in operation, and the motorized drive assembly is configured to automatically balance the board with respect to tipping along the fore-aft plane when the motorized drive assembly is in operation.
Kamen Dean L. ; Ambrogi Robert R. ; Duggan Robert J. ; Heinzmann Richard K. ; Key Brian R. ; Dastous Susan D., Control loop for transportation vehicles.
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.
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.
Yoshimura Hiroshi (Hiroshima JPX) Marusue Toshihisa (Hiroshima JPX) Kitada Masahito (Hiroshima JPX) Kambara Hidetoshi (Hiroshima JPX), Control system with band brake actuator for automatic transmission.
Kamen Dean L. (Bedford NH) Ambrogi Robert R. (Manchester NH) Duggan Robert J. (Northwood NH) Heinzmann Richard K. (Francestown NH) Key Brian R. (Pelham NH) Skoskiewicz Andrzej (Manchester NH) Kristal, Human transporter.
Dean L. Kamen ; Robert R. Ambrogi ; Robert J. Duggan ; J. Douglas Field ; Richard Kurt Heinzmann ; Burl Amsbury ; Christopher C. Langenfeld, Personal mobility vehicles and methods.
Kamen Dean L. ; Ambrogi Robert R. ; Duggan Robert J. ; Field J. Douglas ; Heinzmann Richard Kurt ; Amesbury Burl ; Langenfeld Christopher C., Personal mobility vehicles and methods.
Kamen Dean L. ; Ambrogi Robert R. ; Duggan Robert J. ; Heinzmann Richard Kurt ; Key Brian R. ; Skoskiewicz Andrzej ; Kristal Phyllis K., Transportation vehicles and methods.
Arling, Richard W.; Kelly, W. Patrick; LeMay, Philip; Morrell, John B.; Pompa, Jonathan B.; Robinson, David W., Yaw control for a personal transporter.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.