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 load over a terrain, the vehicle comprising:
at least two ground-contacting elements;
at least one gyroscope detecting an orientation of the vehicle and characteristics of the terrain;
at least two motors associated with the at least two ground-contacting elements; and
a controller commanding the at least two motors to apply sufficient torque to spin the at least two ground-contacting elements based on the orientation and the terrain characteristics.
2. The vehicle as in claim 1 further comprising:
at least one sensor sensing movement of the load; and
at least one battery having a battery level, the at least one battery providing power to the vehicle.
3. The vehicle as in claim 2 wherein the controller commands the at least two motors to apply sufficient torque to spin the at least two ground-contacting elements based on the movement and the battery level.
4. The vehicle as in claim 2 wherein the controller detects the battery level, the controller limiting a top speed of the transporter based on the battery level.
5. The vehicle as in claim 2 wherein the at least one sensor further comprises:
a weight sensor detecting a weight shift of the load, the weight shift indicating a desired direction.
6. A method for driving a vehicle carrying a load over terrain, the vehicle having at least two ground-contacting elements, at least one gyroscope, at least two motors associated with the at least two ground-contacting elements, and a controller, the method comprising:
detecting, by the at least one gyroscope, an orientation of the vehicle and characteristics of the terrain;
sensing, by the at least one sensor, movement of the load;
providing, by the at least one battery, power to the transporter; and
commanding, by the controller, the at least two motors to apply sufficient torque to spin the at least two ground-contacting elements based on the movement and the battery level.
7. The method as in claim 6 further comprising:
detecting the battery level; and limiting a top speed of the transporter based on the battery level.
8. The method as in claim 6 further comprising:
detecting, by the at least one sensor, a weight shift of the load, the weight shift indicating a desired direction.