Control of a personal transporter based on user position
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. A transporter for transporting a user, the transporter comprising:
a ground contacting module, the ground contacting module including at least one wheel, a user support platform, a motorized drive arrangement imparting a torque to the at least one wheel;
a plurality of sensors, at least one of the plurality of sensors including at least one sensor sensing a pitch of at least a portion of the transporter, at least one of the plurality of sensors including at least one tilt sensor sensing a tilt of the user support platform, the at least one tilt sensor generating a desired steering input signal based at least on the tilt; and
a controller determining the torque to be applied to the at least one ground contacting wheel, the torque based at least in part on the pitch and the desired steering input signal, the controller commanding the motorized drive arrangement to supply the torque, the motorized drive arrangement steering the transporter.
2. The transporter of claim 1 , wherein the at least one tilt sensor comprises an inertial sensor.
3. The transporter of claim 1 further comprising a battery supplying power to at least the motorized drive arrangement and the controller.
4. The transporter of claim 1 further comprising at least one load sensor sensing the user on the user support platform.
5. The transporter of claim 4 , wherein the controller transitions the transporter into a kickstand mode indicating an absence of the user on the user support platform, the transition being based at least in part on data from the load sensor.
6. The transporter of claim 1 further comprising a seat disposed upon the transporter, the seat being electronically coupled with the at least one tilt sensor.
7. The transporter of claim 1 , wherein the controller transitions the transporter to a kickstand mode indicating an absence of the user on the user support platform, the transition being based at least in part on data from the load sensor, the controller executing a control loop, the control loop being coupled to the motorized drive, the control loop determining the torque to be applied to the at least one wheel to maintain the transporter balanced in place when the transporter is in the kickstand mode, the control loop commanding the motorized drive arrangement to supply the torque.
8. The transporter of claim 1 , wherein the plurality of sensors comprises at least one sensor sensing pressure exerted by an appendage of the user.
9. The transporter of claim 1 , wherein the controller executes a control loop coupled to the motorized drive assembly, the control loop determining the torque to be applied to the at least one wheel, the torque based at least in part on the desired steering input signal and the pitch.
10. A method for transporting a user by a transporter, the transporter including a ground contacting module having at least one wheel, a user support platform, a motorized drive arrangement imparting a torque to the at least one wheel, a plurality of sensors, at least one of the plurality of sensors including an sensor sensing a pitch of at least a portion of the transporter, at least one of the plurality of sensors including at least one tilt sensor sensing a tilt of the user support platform generating a desired steering input signal, and a controller, the method comprising:
determining, by the controller, the torque to be applied to the at least one wheel, the torque based at least in part on the pitch and the desired steering input signal; and
commanding, by the controller, the motorized drive arrangement to supply the torque to steer the transporter.
11. The method of claim 10 , wherein the at least one tilt sensor comprises an inertial sensor.
12. The method of claim 10 further comprising:
receiving, at least by the controller and the motorized drive arrangement, power from a battery.
13. The method of claim 10 further comprising:
sensing, by at least one of the plurality of sensors, a user on the user support platform.
14. The method of claim 10 further comprising:
transitioning, by the controller, the transporter into a kickstand mode indicating an absence of the user on the user support platform, the transitioning based at least in part on data from the plurality of sensors.
15. The method of claim 10 further comprising:
receiving, by the at least one tilt sensor, the tilt based on a position of a seat coupled to the transporter.
16. The method of claim 10 further comprising
transitioning, by the controller, the transporter to a kickstand mode indicating an absence of the user on the user support platform, the transitioning based at least in part on data from the plurality of sensors;
determining, by a control loop coupled to the motorized drive arrangement, the torque to be applied to the at least one wheel to maintain the transporter balanced in place when the transporter is in the kickstand mode; and
commanding, by the control loop, the motorized drive arrangement to supply the torque.
17. The method of claim 10 further comprising:
sensing, by at least one of the plurality of sensors, force exerted by an appendage of the user.
18. The method of claim 10 further comprising:
determining, by a control loop coupled to the motorized drive assembly, the torque to be applied to the at least one wheel, the torque based at least in part on the desired steering input signal and the pitch; and
commanding, by the control loop, the motorized drive arrangement to supply the torque to steer the transporter.