Control of a transporter based on attitude

Patent metadata

Field	Value
Publication number	US-2016264195-A1
Application number	US-201615150723-A
Country	US
Kind code	A1
Filing date	May 10, 2016
Priority date	Jul 12, 2002
Publication date	Sep 15, 2016
Grant date	—

Abstract

A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

First claim

What is claimed is:

1 . A transporter for transporting a load comprising:
a plurality of support platforms; at least one ground contacting element coupled to the transporter with an axle, at least one of the plurality of support platforms tiltable with respect to the axle; a motorized drive arrangement driving the at least one ground contacting element; at least one sensor generating at least one sensor signal indicative of a tilt of one of the plurality of support platforms; a controller commanding the motorized drive to apply a torque to the at least one ground contacting element based at least in part on the least one sensor signal.

2 . The transporter of claim 1 , wherein the transporter comprises an unstable vehicle with respect to tipping when the motorized drive arrangement is not powered.

3 . The transporter of claim 1 , wherein at least one point on one of the plurality of support platforms comprises a displaceable point with respect to a frame used to support the at least one ground contacting element.

4 . The transporter of claim 1 , further comprising the plurality of support platforms being tiltable based on a position of a center of mass of the load relative to the at least one ground contacting element.

5 . The transporter of claim 1 , further comprising the controller determining an inclination in the fore-aft plane of one of the plurality of support platforms.

6 . The transporter of claim 1 , the axle further comprising a parallel orientation to a lateral axis of the transporter, the at least one of the plurality of support platforms tiltable, in a fore-aft plane of the transporter, with respect to the axle.

7 . The transporter of claim 1 , wherein the torque comprises positive and negative values based on changes detected by the at least one sensor signal.

8 . A transporter comprising;
a plurality of support platforms; at least one ground contacting element coupled to the plurality of support platforms; a motorized drive arrangement for driving the at least one ground contacting element; at least one sensor generating at least one sensor signal indicative of a tilt of one of the plurality of support platforms; a controller commanding the motorized drive arrangement to apply a torque to one or more of the at least one ground contacting elements based on the at least one sensor signal.

9 . The transporter of claim 8 , wherein the at least one ground contacting element comprises a first ground contacting element and a second ground contacting element.

10 . The transporter of claim 8 , further comprising a pivot mechanism tiltably attaching one of the plurality of support platforms to another of the plurality of support platforms.

11 . The transporter of claim 8 , further comprising at least one of the plurality of support platforms tilting in a fore-aft plane relative to at least a portion of the transporter.

12 . The transporter of claim 11 , wherein the fore-aft plane comprises an orientation perpendicular to an axis of the at least one ground contacting element.

13 . The transporter of claim 8 , further comprising one of the plurality of support platforms tilting relative to another of the plurality of support platforms.

14 . The transporter of claim 8 , further comprising the at least one sensor signal being based at least in part on a tilt difference between one of the plurality of support platforms and another of the plurality of support platforms.

15 . The transporter of claim 8 , wherein the at least one ground contacting element comprises a first ground contacting element and a second ground contacting element, the first ground contacting element and second ground contacting element being laterally disposed.

16 . The transporter of claim 15 , wherein the motorized drive arrangement comprises a first motor driving the first ground contacting element and a second motor driving the second ground contacting element.

17 . The transporter of claim 16 , further comprising the controller determining, based at least in part on the at least one sensor signal, a desired first torque for the first motor separately from a desired second torque for the second motor.

18 . The transporter of claim 17 , wherein the desired first torque and the desired second torque comprise positive and negative values based on changes detected by the at least one sensor signal.

19 . The transporter of claim 8 , wherein the first ground contacting element and the second ground contacting element comprise wheels, the wheels rotating about a first wheel axle and a second wheel axle, at least one of the at least one sensor signals indicating a location of a fiducial point on the transporter, the fiducial point being in relation to at least one of the first wheel axle and the second wheel axle.

20 . The transporter of claim 8 , wherein the transporter comprises an unstable vehicle with respect to tipping when the motorized drive arrangement is not powered.

Assignees

• Deka Products Lp

Inventors

• Kamen Dean
• Heinzmann Richard Kurt
• Ambrogi Robert R

Classifications

• B60G2400/82

  Ground surface · CPC title

• B60K26/02

  of initiating means or elements · CPC title

• B62D51/001 Primary

  characterised by the vehicle control device (mechanical features of control devices in general G05G; arrangements of vehicle control devices in general B60K20/00, B60K23/00, B60K26/00) · CPC title

• B60G2400/05

  Attitude · CPC title

• B60G11/14

  having helical, spiral or coil springs only {(B60G11/006 takes precedence)} · CPC title