Control of a transporter based on attitude
A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.
1. A transporter for transporting a load over a surface, the transporter comprising:
a support platform for supporting the load, the support platform characterized by a fore-aft axis and a lateral axis;
at least one ground-contacting element coupled to the support platform in such a manner that the orientation of the support platform is capable of variation with respect to at least a first component of the transporter that remains in a substantially fixed vertical position relative to the surface, the surface being beneath and in contact with the at least one ground-contacting element, the orientation referred to as an attitude;
a motorized drive arrangement for driving the at least one ground-contacting element;
a sensor module for generating an attitude signal characterizing the attitude of the support platform; and
a controller for commanding the motorized drive arrangement to apply a torque to one or more of the ground-contacting elements as a function of the attitude of the support platform based upon the attitude signal generated by the sensor module.
2. The transporter according to claim 1 , wherein the attitude signal is indicative of an angle of inclination of the support platform in a fore-aft plane.
3. The transporter according to claim 2 , wherein the angle of inclination of the support platform in the fore-aft plane is used to control motion of the transporter in the fore-aft plane.
4. The transporter according to claim 3 , wherein changes in the angle of inclination of the support platform in the fore-aft plane are used to control motion of the transporter in the fore-aft plane.
5. The transporter according to claim 4 , wherein the one or more ground contacting elements includes a wheel supported by a frame, and the at least one first component is fixed relative to the frame.
6. The transporter according to claim 1 , wherein the attitude signal is indicative of an angle of inclination of the support platform in a lateral plane.
7. The transporter according to claim 6 , wherein the angle of inclination of the support platform in the lateral plane is used to control steering of the transporter.
8. The transporter according to claim 7 , wherein changes in the angle of inclination of the support platform in the lateral plane are used to control steering of the transporter.
9. The transporter according to claim 8 , wherein the one or more ground contacting elements includes a wheel supported by a frame, and the at least one first component is fixed relative to the frame.
10. The transporter according to claim 1 , wherein the attitude signal is indicative of angles of inclination of the support platform in both fore-aft and lateral planes.
11. The transporter according to claim 10 , wherein the angle of inclination of the support platform in the lateral plane is used to control steering of the transporter.
12. The transporter according to claim 11 , wherein the one or more ground contacting elements includes a wheel supported by a frame, and the at least one first component is fixed relative to the frame.
13. A method for controlling a transporter having a support platform for supporting a load, the support platform characterized by an attitude with respect to at least a first component of the transporter that remains in a substantially fixed vertical position relative to the surface beneath the transporter, the transporter including at least one ground contacting element flexibly coupled to the support platform in such a manner that the attitude of the platform is capable of variation, the transporter further including a motorized drive arrangement for driving the at least one ground contacting element, the method comprising: generating a signal characterizing the attitude of the support platform; and commanding the motorized drive arrangement to apply a torque to one or more of the ground-contacting elements as a function of the attitude based upon the signal.
14. A method according to claim 13 , wherein generating the signal includes determining an inclination of the support platform in a fore-aft plane.
15. A method according to claim 14 , wherein generating the signal includes determining a change in the inclination of the support platform in the fore-aft plane.
16. A method according to claim 13 , wherein generating the signal includes determining an inclination of the support platform in a lateral plane.
17. A method according to claim 16 , wherein generating the signal includes determining a change in the inclination of the support platform in the lateral plane.
18. A method according to claim 13 , wherein generating the signal includes determining an inclination of the support platform in fore-aft and lateral planes.
19. A method according to claim 18 , wherein generating the signal includes determining a change in the inclination of the support platform in the fore-aft and lateral planes.