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 comprising:
at least one wheel;
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 being a pitch sensor sensing a pitch of at least a portion of the transporter; and
a controller executing a control loop, the control loop generating, based at least in part on the sensed pitch, a control signal controlling the motorized drive arrangement, the control signal specifying, for the motorized drive arrangement, a torque, the control loop altering the control signal to pitch the transporter in a direction different from a current direction of travel of the transporter if a current speed of the transporter exceeds a first threshold.
2. The transporter as in claim 1 further comprising:
a battery voltage monitor monitoring a voltage of a battery, the battery providing power to the motorized drive arrangement; and
providing a first alarm when the battery voltage reaches a second threshold.
3. The transporter as in claim 1 wherein the controller comprises:
executing a pitch command signal to maintain front-to-back balance.
4. The transporter as in claim 1 wherein the plurality of sensors comprises a gyroscope collecting gyroscope data.
5. The transporter as in claim 4 wherein the controller comprises:
stabilizing the at least one wheel based on the gyroscope data.
6. The transporter as in claim 1 further comprising:
leg contact surfaces.
7. The transporter of claim 6 , wherein the second threshold comprises a speed below a speed limit.
8. The transporter as in claim 1 further comprising:
foot platforms.
9. The transporter of claim 1 , wherein the first threshold is less than a maximum speed of the transporter.
10. The transporter of claim 9 , wherein the control signal reduces the torque when the current speed of the transporter reaches the second threshold.
11. The transporter of claim 1 , wherein the lean sensor comprises a pitch sensor for sensing pitch of at least a portion of the transporter.
12. The transporter of claim 1 , wherein the drive arrangement drives the at least one wheel up to a maximum speed, the maximum speed being greater than the first threshold.
13. The transporter of claim 1 , wherein the drive arrangement applies the torque until the current speed of the transporter reaches a second threshold.
14. A method for limiting the speed of a transporter, the transporter including a ground contacting module, at least one ground contacting wheel, and a motorized drive arrangement, the transporter being unstable with respect to tipping in a foreaft plane of the transporter when the motorized drive arrangement is not powered, the method comprising:
supplying, by the motorized drive arrangement, a torque to the at least one ground contacting wheel to maintain stability of the transporter in the fore-aft plane;
determining, by a controller, a current speed of the transporter;
determining, by the controller, a current maximum operating threshold for the transporter; and
commanding, by the controller, the motorized drive arrangement to supply the torque to the at least one ground contacting wheel to move the transporter in a direction different from a current direction of travel of the transporter if the current speed is greater than the current maximum operating threshold.
15. A transporter comprising:
at least one wheel;
a drive arrangement for imparting torque to the at least one wheel;
a plurality of sensors, at least one of the plurality of sensors being a lean sensor for sensing a lean of at least a portion of the transporter; and
a controller for executing a control loop, the control loop generating, based at least in part on the sensed lean, a control signal controlling the drive arrangement, the control signal specifying a torque to the drive arrangement, the drive arrangement applying the torque to tilt the transporter in a direction opposite a current direction of travel of the transporter if a current speed of the transporter exceeds a first threshold.
16. A transporter comprising:
at least one wheel;
a drive arrangement imparting torque to the at least one wheel;
a battery supplying power to the drive arrangement;
a plurality of sensors, at least one of the plurality of sensors being a battery sensor, the battery sensor sensing at least one characteristic of the battery, the battery sensor providing a battery sensor signal based on the at least one characteristic, at least one of the plurality of sensors being a lean sensor sensing a sensed lean of at least a portion of the transporter;
a controller for executing a control loop, the control loop generating, based at least in part on the sensed lean, a control signal controlling the drive arrangement, the control signal specifying a torque to the drive arrangement, the drive arrangement applying the torque to the at least one wheel, the controller monitoring the battery sensor signal, the controller generating an alarm if the battery sensor signal is greater than a threshold.
17. The transporter of claim 16 , wherein the alarm is a visual alarm.
18. The transporter of claim 16 , wherein the alarm is a tactile alarm.
19. The transporter of claim 16 , wherein the alarm is a rumbling alarm.
20. The transporter of claim 16 , wherein the controller generates the alarm by modulating the drive arrangement.