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 method for integrating human control with steering requirements of a balancing transporter, the method comprising:
receiving a desired direction and velocity of the balancing transporter based at least on a detected body orientation of the user; and
generating a command signal to the balancing transporter, the command signal being based at least on the desired direction and velocity and a pitch signal, the pitch signal being based at least on a pitch error, the command signal maintaining balance of the balancing transporter and achieving the steering requirements of the balancing transporter to move the balancing transporter in the desired direction and velocity.
2. The method as in claim 1 further comprising:
detecting the body orientation by at least one process selected from the group consisting of ultrasonic body position sensing, foot force sensing, handlebar lean, active handlebar, mechanical sensing of body position, and linear slide directional input.
3. The method as in claim 1 further comprising:
receiving, from the user, a desired yaw value, a desired yaw rate, or a desired fore/aft direction for the balancing transporter.
4. The method as in claim 3 further comprising:
computing a yaw signal based at least in part on the difference between an instantaneous yaw value of the balancing transporter and the desired yaw value specified by the user.
5. A system for controlling steering of a balancing transporter comprising:
a sensor receiving a desired direction and velocity of the balancing transporter based at least on a detected body orientation of the user; and
a processor generating a command signal to the balancing transporter, the command signal being based at least on the desired direction and velocity and a pitch signal, the pitch signal being based at least on a pitch error, the command signal maintaining balance of the balancing transporter and controlling the steering of the balancing transporter to move the balancing transporter in the desired direction and velocity.
6. The system as in claim 5 further comprising:
an ultrasonic body position sensor detecting the body orientation.
7. The system as in claim 5 further comprising:
a foot force sensor detecting the body orientation.
8. The system as in claim 5 further comprising:
a handlebar operably coupled to the balancing transporter; and
a handlebar lean sensor associated with the handlebar, the handlebar lean sensor detecting the body orientation.
9. The system as in claim 5 further comprising:
a handlebar operably coupled to the balancing transporter; and
an active handlebar sensor associated with the handlebar, the active handlebar sensor detecting the body orientation.
10. The system as in claim 5 further comprising:
a mechanical sensor detecting the body orientation.
11. The system as in claim 5 further comprising:
a linear slide directional input sensor detecting the body orientation.
12. The system as in claim 5 wherein the processor receives, from the user, a desired yaw value, a desired yaw rate, or a desired fore/aft direction for the balancing transporter.
13. The system as in claim 12 wherein the processor computes a yaw signal based at least in part on the difference between an instantaneous yaw value of the balancing transporter and the desired yaw value specified by the user.