Lean-to-steer device with motorized steering responses
Continuous or discontinuous steering responses for a lean-to-steer device can be provided by controlling the steering angle of at least one wheel by a steering motor that is operated by a controller. The controller receives signals from a tilt sensor to calculate an appropriate steering angle for the at least one wheel. When a speed sensor is also provided, the controller can calculate a steering angle to match the curve radius of motion to the pendulum angle corresponding to the indicated speed and tilt.
1. A motorized lean-to-steer device comprising:
a body for supporting a user;
a first wheel rotatable about a first wheel axis;
a first wheel mounting structure that attaches said first wheel to said body while allowing said body to tilt relative to said first wheel about a longitudinal axis while said first wheel axis remains horizontal, said first wheel mounting structure being configured to allow said first wheel to pivot about a vertical steering axis to alter the inclination of the first wheel axis relative to a vertical plane containing the longitudinal axis;
a second wheel mounted with respect to said body so as to rotate about a second wheel axis that is displaced from said first wheel axis along the longitudinal axis; said second wheel being configured and mounted so as to allow said body to tilt about the longitudinal axis;
a tilt sensor for monitoring the degree of tilt of said body relative to said first wheel about the longitudinal axis;
a steering motor for adjusting the angular position of said first wheel about the steering axis; and
a controller that receives a tilt signal from said tilt sensor and controls said steering motor to adjust the angular position of said first wheel about the steering axis in response to the tilt signal,
said controller acting to provide a first response function adjusting the angular position of said first wheel responsive to the tilt signal when the degree of tilt indicated by the tilt signal is within a first tilt range, and
said controller acting to provide a second response function adjusting the angular position of said first wheel responsive to the tilt signal when the degree of tilt indicated by the tilt signal is within a second tilt range,
wherein said second response function is different from said first response function.
2. The lean-to-steer device of claim 1 further comprising:
a drive motor operably coupled to drive one of said first wheel and said second wheel.
3. The lean-to-steer device of claim 1 further comprising:
an operator interface that allows an operator to select the parameters of the first tilt range and the second tilt range.
4. The lean-to-steer device of claim 1 wherein said first response function provides a proportional increase in angle of said first wheel from a center position in response to increasing increase in angle of tilt of said body from a central position.
5. The lean-to-steer device of claim 1 further comprising:
a speed sensor that provides a signal indicating the current speed of the device across the underlying surface; and
a tilt set point routine for said controller, said tilt set point routine operating to establish the first tilt range and the second tilt range, responsive to the speed signal.
6. A motorized lean-to-steer device comprising:
a body for supporting a user;
a first wheel rotatable about a first wheel axis;
a first wheel mounting structure that attaches said first wheel to said body while allowing said body to tilt relative to said first wheel about a longitudinal axis while said first wheel axis remains horizontal, said first wheel mounting structure being configured to allow said first wheel to pivot about a vertical steering axis to alter the inclination of the first wheel axis relative to a vertical plane containing the longitudinal axis;
a second wheel mounted with respect to said body so as to rotate about a second wheel axis that is displaced from said first wheel axis along the longitudinal axis; said second wheel being configured and mounted so as to allow said body to tilt about the longitudinal axis;
a tilt sensor for monitoring the degree of tilt of said body relative to said first wheel about the longitudinal axis;
a speed sensor that provides a signal indicating the current speed of the device across the underlying surface;
a steering motor for adjusting the angular position of said first wheel about the steering axis; and
a controller that receives a tilt signal from said tilt sensor and controls said steering motor to adjust the angular position of said first wheel about the steering axis in response to both the tilt signal and the speed signal.
7. The lean-to-steer device of claim 6 wherein said controller acting to provide a first response function adjusting the angular position of said first wheel responsive to the tilt signal when the degree of tilt indicated by the tilt signal is within a first tilt range, and acting to provide a second response function adjusting the angular position of said first wheel responsive to the tilt signal when the degree of tilt indicated by the tilt signal is within a second tilt range,
wherein said second response function is different from said first response function.
8. The lean-to-steer device of claim 6 further comprising:
a drive motor operably coupled to drive one of said first wheel and said second wheel.
9. The lean-to-steer device of claim 7 further comprising:
an operator interface that allows an operator to select the parameters of the first tilt range and the second tilt range.
10. The lean-to-steer device of claim 1 wherein said first response function provides a proportional increase in angle of said first wheel from a center position in response to increasing increase in angle of tilt of said body from a central position.
11. The lean-to-steer device of claim 7 further comprising:
a tilt set point routine for said controller, said tilt set point routine operating to establish the first tilt range and the second tilt range, responsive to the speed signal.