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 vehicle for carrying a user, the vehicle comprising:
a ground-contacting module, the ground-contacting module including a platform, two laterally disposed wheels, and a motorized drive arrangement imparting a torque to the two laterally disposed wheels, the ground-contacting module being unstable with respect to tipping when the motorized drive arrangement is not powered;
a plurality of sensors, the plurality of sensors including a sensor arrangement detecting a weight distribution on the platform; and
a controller maintaining the vehicle in an automatically balanced state, the controller maintaining a plurality of control modes including at least a first mode specifying if the vehicle is transporting the user, the controller determining the torque to be applied to the two laterally disposed wheels to maintain the transporting in a desired direction when the transporter is in the first mode, the torque depending at least in part on data from the weight distribution.
2. The vehicle of claim 1 , wherein at least one of the sensor arrangement comprises an inertial sensor.
3. The vehicle of claim 1 , wherein the vehicle further comprises a battery supplying power to at least the motorized drive arrangement and controller.
4. The vehicle of claim 1 , wherein the plurality of sensors comprises at least one load sensor sensing the presence of the user on the platform.
5. The vehicle of claim 4 , wherein the at least one load sensor comprises a foot activated switch.
6. The vehicle of claim 4 , wherein the controller transitions the vehicle into an alternate mode of the plurality of control modes based at least in part on data from the at least one load sensor indicating an absence of the user on the platform.
7. The vehicle of claim 6 , wherein the controller, when in the alternate mode, determines the torque to be applied to the two laterally disposed wheels to maintain the vehicle balanced in place, the controller automatically applying the torque if the vehicle is in the alternate mode.
8. The vehicle of claim 1 further comprising a seat disposed upon the transporter, the seat being electronically coupled with the sensor arrangement.
9. The vehicle of claim 1 , wherein the plurality of sensors comprises at least one sensor sensing a tilt of at least a portion of the platform.
10. The vehicle of claim 1 , wherein the plurality of sensors comprises at least one sensor sensing a turning command input signal to the vehicle, the controller determining the torque required to move the vehicle, the torque based at least in part on the turning command input signal and a pitch sensed by at least one of the plurality of sensors.
11. A battery powered vehicle for carrying a user, the vehicle comprising:
a ground-contacting module, the ground-contacting module including a platform supporting the user, two laterally disposed wheels, and a motorized drive arrangement imparting a torque to the two laterally disposed wheels, the ground-contacting module being unstable with respect to tipping;
a plurality of sensors including
at least one sensor arrangement detecting a differential pressure exerted on the platform by the user;
at least one pitch sensor sensing the pitch of at least a portion of the vehicle;
at least one load sensor sensing the presence of the user on the platform;
at least one steering input sensor sensing a desired steering input signal of the vehicle; and
at least one inertial sensor; and
a controller automatically maintaining the vehicle in a balanced state, the controller maintaining a plurality of control modes, the control modes including at least a transporting mode specifying if the vehicle is transporting the user in a desired direction, the controller executing, when in the transporting mode, a control loop coupled to the motorized drive arrangement, the control loop determining the torque, the torque depending at least in part on the pitch, the differential pressure, and the desired steering input signal,
wherein the controller transitions the vehicle into a kickstand mode if the at least one load sensor senses an absence of the user on the platform, the control loop determining the torque to maintain the vehicle balanced in place when the vehicle is in the kickstand mode.
12. A method for transporting a user by a vehicle, the vehicle including a ground-contacting module including a platform, two laterally disposed wheels, a motorized drive arrangement, a plurality of sensors, and a controller in electronic communications with the plurality of sensors and the motorized drive arrangement, the ground-contacting module being unstable with respect to tipping when the motorized drive arrangement is not powered, the method comprising:
receiving, by the plurality of sensors, a weight distribution on the platform;
maintaining, by the controller, a plurality of control modes including a first mode specifying if the vehicle is transporting the user;
determining, by the controller, a torque to be applied to the two laterally disposed wheels by the motorized drive arrangement, the torque being applied when the vehicle is in the first mode, the torque maintaining the vehicle moving in a desired direction and in a balanced state, the torque based at least in part on the weight distribution; and
automatically commanding, by the controller, the motorized drive arrangement to supply the torque.
13. The method of claim 12 , wherein at least one of the plurality of sensors comprises an inertial sensor.
14. The method of claim 12 further comprising:
receiving, by at least the controller and the motorized drive arrangement, power from a battery.
15. The method of claim 12 further comprising:
detecting, by the plurality of sensors, a no weight condition on the platform.
16. The method of claim 12 further comprising:
detecting, by the plurality of sensors, a no weight condition on the platform;
determining, by the controller, the torque to maintain the vehicle balanced in place when the no weight condition exists on the platform; and
commanding, by the controller, the motorized drive arrangement to supply the torque.
17. The method of claim 12 further comprising:
detecting, by the plurality of sensors, tilt of a seat disposed upon the vehicle.
18. The method of claim 12 further comprising:
sensing, by the plurality of sensors, a desired turning command input signal specifying a desired direction of travel;
determining, by the controller, the torque to maintain the desired direction of travel, the torque based at least in part on the desired turning command input signal and a pitch sensed by at least one of the plurality of sensors; and
commanding, by the controller, the motorized drive arrangement to supply the torque.