Control of a personal transporter based on user position

Patent metadata

Field	Value
Publication number	US-10370052-B2
Application number	US-201815989269-A
Country	US
Kind code	B2
Filing date	May 25, 2018
Priority date	Sep 13, 2004
Publication date	Aug 6, 2019
Grant date	Aug 6, 2019

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.

First claim

What is claimed is:

1. A steerable personal transporter comprising:
a chassis;
two wheels mounted to the chassis;
two pivoting footplates, each of the pivoting footplates associated with one of the two wheels, each of the pivoting footplates sitting atop the chassis;
at least one sensor sensing the positions of the two pivoting footplates; and
a controller steering the transporter based at least on the positions.

2. The transporter as in claim 1 further comprising:
a platform between the two pivoting footplates and the chassis, the platform sliding laterally in line with linear accelerations of the transporter.

3. The transporter as in claim 2 further comprising:
a linear slide mechanism mounted between the platform and the chassis, the linear slide mechanism enabling the platform to slide laterally; and
blocks underlying the linear slide mechanism.

4. The transporter as in claim 3 further comprising:
ball plungers counterbalancing the combined weight of the platform and the linear slide mechanism.

5. The transporter as in claim 2 further comprising:
a ground rod, including linear ball bearings, mounted between the platform and the chassis, connecting the platform to the chassis.

6. The transporter as in claim 2 further comprising:
a sensor sensing the distance the platform slides.

7. The transporter as in claim 6 further comprising:
a measurement of shear force based at least on the distance, the steering of the transporter being based in part of the shear force.

8. The transporter as in claim 7 wherein the foot plates are sensitive to the shear force.

9. The transporter as in claim 1 wherein the foot plates move vertically up to about six inches.

10. The transporter as in claim 1 further comprising:
at least two rider detect switches sensing when a rider is upon the transporter.

Assignees

• Deka Products Lp

Inventors

• 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

Classifications

• B62J45/4151

  for sensing lateral inclination of the cycle · CPC title

• B62J45/4152

  for sensing longitudinal inclination of the cycle · CPC title

• B60L2220/46

  Wheel motors, i.e. motor connected to only one wheel · CPC title

• B62K11/007

  Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider · CPC title

• B60L2200/16

  Single-axle vehicles · CPC title