Control of a personal transporter based on user position
View Patent ↗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.
1. An apparatus 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 comprising:
a. an input for receiving specification by the rider of a specified direction of travel;
b. an indicating means for reflecting to the rider a desired instantaneous body orientation based at least on current lateral acceleration of the vehicle.
2. An apparatus in accordance with claim 1 , wherein the indicating means comprises a handlebar pivotable with respect to the vehicle, the handlebar driven in response to vehicle turning.
3. An apparatus in accordance with claim 1 , wherein the input of a specified direction includes an input of a user specified yaw value.
4. An apparatus in accordance with claim 1 , wherein the input of a specified direction includes an input of a user specified yaw rate value.
5. An apparatus in accordance with claim 1 , where the input of a specified direction includes an input of a user specified fore/aft direction.
6. An apparatus in accordance with claim 1 , wherein the input for receiving user specification includes a pressure sensor disposed to detect orientation of the user.
7. An apparatus in accordance with claim 1 , wherein the input for receiving user specification includes an ultrasonic sensor disposed to detect orientation of the user.
8. An apparatus in accordance with claim 1 , wherein the input for receiving user specification includes a force sensor disposed on a platform supporting the user for detecting weight distribution of the user.
9. An apparatus in accordance with claim 1 , wherein the vehicle includes a handlebar, the controller further comprising a powered pivot for positioning the handlebar based at least upon one of lateral acceleration and roll angle of the vehicle.
10. An apparatus in accordance with claim 1 , further comprising a position loop for commanding a handlebar position substantially proportional to a difference in the square of the velocity of a first wheel and the square of the velocity of a second wheel.
11. A transporter for transporting a rider, the transporter having at least one primary ground-contacting element, the transporter characterized by a roll angle and comprising:
a. an input for receiving specification by a user of at least one of a specified direction of travel and a specified velocity value;
b. a processor for generating a command signal based at least on the user specification; and
c. an indicating means for reflecting to the rider a desired instantaneous body orientation based at least on current lateral acceleration of the transporter.
12. A transporter in accordance with claim 11 , wherein the indicating means comprises a handlebar pivotable with respect to the transporter, the handlebar driven in response to vehicle turning.
13. A transporter in accordance with claim 11 , wherein the input of a specified direction includes an input of a user specified yaw value.
14. A transporter in accordance with claim 11 , wherein the input of a specified direction includes an input of a user specified yaw rate value.
15. A transporter in accordance with claim 11 , where the input of a specified direction includes an input of a user specified fore/aft direction.
16. A transporter in accordance with claim 11 , wherein the input for receiving user specification includes a pressure sensor disposed to detect orientation of the user.
17. A transporter in accordance with claim 11 , wherein the input for receiving user specification includes an ultrasonic sensor disposed to detect orientation of the user.
18. A transporter in accordance with claim 11 , wherein the input for receiving user specification includes a force sensor disposed on a platform supporting the user for detecting weight distribution of the user.
19. A transporter in accordance with claim 11 , further comprising
a handlebar; and
a powered pivot for positioning the handlebar based at least upon one of lateral acceleration and roll angle of the transporter.
20. A transporter in accordance with claim 11 , further comprising a position loop for commanding a handlebar position substantially proportional to a difference in the square of the velocity of a first wheel and the square of the velocity of a second wheel.
21. A method 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 method comprising:
a. receiving specification by the rider of a specified direction of travel;
b. sensing a current lateral acceleration of the vehicle;
c. calculating a desired instantaneous body orientation based at least on current lateral acceleration of the vehicle; and
d. reflecting the desired instantaneous body orientation to the rider.
22. A method in accordance with claim 21 , wherein sensing current lateral acceleration of the vehicle includes deriving lateral acceleration from wheel velocities.
23. A method in accordance with claim 21 , wherein receiving specification by the rider includes receiving input of a specified yaw value.
24. A method in accordance with claim 21 , further comprising commanding a handlebar position substantially proportional to a difference in the square of the velocity of a first wheel and the square of the velocity of a second wheel.