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Title: US6789640: Yaw control for a personal transporter
[ Derwent Title ]

Country: US United States of America

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17 pages

 
Inventor: Arling, Richard W.; Windham, NH
Kelly, W. Patrick; Goffstown, NH
LeMay, Philip; Bedford, NH
Morrell, John B.; Bedford, NH
Pompa, Jonathan B.; La Jolla, CA
Robinson, David W.; Manchester, NH

Assignee: DEKA Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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Published / Filed: 2004-09-14 / 2002-12-03

Application Number: US2002000308850
IPC Code: Advanced: A63C 17/12; B62K 3/00;
IPC-7: B60K 28/14;

ECLA Code: B62K3/00D; A63C17/12;

U.S. Class: 180/282; 180/218; 318/586;

Field of Search: 180/041,171,170,218,271,7.1,21,65.1-65.3,282,338 280/5.513,5.507 318/586,584

Priority Number:
2002-12-03  US2002000308850
2000-10-13  US2000000687789
2002-06-14  US2002000388846P

Abstract:     A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value; processing the yaw error value to obtain a yaw command signal; and applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control. The yaw command signal may include component terms quadratic in the pitch error and/or a function of a common wheel rotational velocity. A control input mechanism is wirelessly coupled to the controller of the balancing transporter so as to maintain the sealed integrity of a user interface.

Attorney, Agent or Firm: Bromberg & Sunstein LLP ;

Primary / Asst. Examiners: Morris, Lesley D.; Luby, Matthew
INPADOC Legal Status: Show legal status actions          Buy Now: Family Legal Status Report

       
Related Applications: Go to Result Set: 5 patent(s) that list this one as related
Application Number Filed Patent Pub. Date  Title
US2000000687789 2000-10-13    2003-06-24  Steering control of a personal transporter


       
Parent Case:     The present application is a continuation-in-part of copending U.S. patent application Ser. No. 09/687,789, filed Oct. 13, 2000, now U.S. Pat. No. 6,581,714, and additionally claims priority from U.S. Provisional Patent Application No. 60/388,846, filed Jun. 14, 2002, both of which applications are incorporated herein by reference.

Family: Show 348 known family members
First Claim:
Show all 7 claims		 What is claimed is:     1. A method for providing yaw control for a balancing transporter having two laterally disposed ground-contacting wheels, the method comprising:
  • a. receiving a user input of a desired yaw value;
  • b. comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value;
  • c. processing the yaw error value to obtain a yaw command signal; and
  • d. applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control.
    •


Background / Summary: Show background / summary

Drawing Descriptions: Show drawing descriptions

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Forward References: Show 16 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (16)   |   Backward references (97)   |   Citation Link

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    • Continuity Data:
    Application Number Filed Notes
    US2002000308850 2002-12-03  is a related to the prior publication
         US20050121866A1 issued 2005-06-09  Control of a personal transporter based on user position
    US2002000308850 2002-12-03  is a related to the prior publication
         US20070296170A1 issued 2007-12-27  Enhanced Control of a Transporter
    US2002000308850 2002-12-03  is a related to the prior publication
         US20080018443A1 issued 2008-01-24  Control of a Personal Transporter Based on User Position
    US2002000308850 2002-12-03  is a related to the prior publication
         US20100222994A1 issued 2010-09-02  Enhanced Control of a Transporter
    US2002000308850 2002-12-03  is a related to the prior publication
         US20110012721A1 issued 2011-01-20  CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION
    12879650   is a continuation of
    US2007000863640  2007-09-28
         US7812715 issued 2010-10-12   Control of a personal transporter based on user position
    12776618   is a division of
    US2007000774876  2007-07-09
         US7740099 issued 2010-06-22   Enhanced control of a transporter
    US2002000308850 2002-12-03  is a non-provisional of provisional
    US2006000819165P  2006-07-07
    US2007000863640 2007-09-28  is a division of
    US2004000939955  2004-09-13   (granted)
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    US2007000774876 2007-07-09  is a continuation in part of
    US2004000939955  2004-09-13   (granted)
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    11863640   is a division of
    US2004000939955  2004-09-13
         US7275607 issued 2007-10-02 2007-10-02  Control of a personal transporter based on user position
    11863640   is a division of
    US2004000939955  2004-09-13
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    11774876   is a continuation in part of
    US2004000939955  2004-09-13
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    US2002000308850 2002-12-03  is a non-provisional of provisional
    US2002000388846P  2002-06-14
    US2004000939955 2004-09-13  is a continuation in part of
    >US2002000308850<  2002-12-03   (granted)
         US6789640 issued 2004-09-14   Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    >US2002000308850<  2002-12-03
         US6789640 issued 2004-09-14 2004-09-04  Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    >US2002000308850<  2002-12-03
         US6789640 issued 2004-09-14 2004-09-14  Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    >US2002000308850<  2002-12-03
         US6789640 issued 2004-09-14   Yaw control for a personal transporter
    US2004000939955 2004-09-13  is a continuation in part of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2004000939955   is a continuation of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2004000939955   is a continuation in part of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    >US2002000308850<   is a continuation in part of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2002000044590 2002-01-11  is a division of
    US2000000635936  2000-08-10   (granted)
         US6367817 issued 2002-04-09   Personal mobility vehicles and methods
    US2002000044590   is a division of
    US2000000635936  2000-08-10
         US6367817 issued 2002-04-09 2002-04-09  Personal mobility vehicles and methods
    US2002000044590   is a division of
    US2000000635936  2000-08-10
         US6367817 issued 2002-04-09   Personal mobility vehicles and methods
    US2000000635936 2000-08-10  is a division of
    US1999000325978  1999-06-04   (granted)
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods
    US2000000635936   is a division of
    US1999000325978  1999-06-04
         US6302230 issued 2001-10-16 2001-10-16  Personal mobility vehicles and methods
    US2000000635936   is a division of
    US1999000325978  1999-06-04
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods


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