| JP06040203 | INTERLOCKING LOCK MECHANISM FOR CASTER IN BED OR THE LIKE |
| JP2004034911 | CASTER |
| JP05087940 | VEHICLE |
| CLAIMS What is claimed is: 1. A vehicle comprising: a chassis frame; first and second driving wheels attached to the chassis frame, wherein the first and second driving wheels are attached at diagonally opposite ends of the chassis frame such that the axles of the first and second driving wheels are offset by a predetermined perpendicular distance, and wherein at least one of the first and second driving wheels impart movement to the vehicle; and first and second castor wheels attached to the chassis frame, wherein the first and second castor wheels are attached at other diagonally opposite ends of the chassis frame, and wherein the first and second driving wheels and the first and second castor wheels together provide stability to the vehicle through balancing weight of displaced center of gravity of an operator of the vehicle over the axles of the first and second driving wheels during maneuvering. 2. The vehicle of claim 1, further comprises: a first and second electric motors mounted at the first and second driving wheels respectively for rotating at least one of the said first and second driving wheels to impart movement to the vehicle; and a power source attached to the chassis frame for driving at least one of the first and second electric motors. 3. The vehicle of claim 1, further comprises: a steering means for delivering variable amount of power to the first and second electric motors. 4. The vehicle of claim 3, wherein the steering means enables the operator of the vehicle to steer the vehicle in right, left, straight and reverse directions by controlling amount and direction of power supplied to the first and second electric motors. 5. The vehicle of claim 4, wherein the steering means enables the operator of the vehicle to steer the vehicle in the right direction or the left direction based on a differential speed of the first driving wheel and the second driving wheel. 6. The vehicle of claim 5, wherein the steering means comprises a circuit selected from the group consisting of switch off type steering circuit, adder based steering circuit, and subtractor based steering circuit. 7. The vehicle of claim 1, further comprises: a handle attached to the chassis frame for providing support to the operator of the vehicle during maneuvering; and a seating platform attached to the chassis frame for carrying the operator. 8. The vehicle of claim 2, further comprises: a solar panel attached to the chassis frame for charging the power source using solar energy. 9. A personal transporter comprising: a frame; first and second driving wheels attached to the frame, wherein the first and second driving wheels are attached to the frame at diagonally opposite ends such that the axles of the first and second driving wheels are offset by a predetermined distance; first and second electric motors mounted at the first and second driving wheels respectively for rotating at least one of the first and second driving wheels to impart movement to the personal transporter; a steering means for delivering variable amount of power to the first and second electric motors to steer the personal transporter based on a differential speed mechanism; and first and second castor wheels attached to the chassis frame, wherein the first and second castor wheels are attached at other diagonally opposite ends of the frame, and wherein the first and second driving wheels and the first and second castor wheels together provide stability to the personal transporter through balancing weight of active center of gravity of an operator of the personal transporter over the axles of the first and second driving wheels during maneuvering. 10. The personal transporter of claim 9, further comprises: a handle attached to the frame for providing support to the operator of the personal transporter during maneuvering; and a foldable seating platform attached to the frame for carrying the operator. 1 1. The personal transporter of claim 9, further comprises: a power source attached to the frame for driving at least one of the first and second electric motors. 12. The personal transporter of claim 1 1, further comprises: a solar panel attached to the frame for charging the power source using solar energy. ' 13. The personal transporter of claim 9, wherein the steering means enables the operator of the personal transporter to steer the personal transporter in right, left, straight and reverse directions by controlling amount and direction of the power supplied to the first and second electric motors. 14. The personal transporter of claim 13, wherein the steering means enables the operator of the personal transporter to steer the personal transporter in right direction or left direction based on a differential speed of the first driving wheel and the second driving wheel. 15. The personal transporter of claim 14, wherein the steering means comprises a circuit selected from the group consisting of switch off type steering circuit, adder based steering circuit and subtractor based steering circuit. 16. The personal transporter of claim 9, wherein the first driving wheel and the first castor wheel provide stability to the operator by balancing the active center of gravity of the personal transporter within the frame when the personal transporter brakes are applied. 17. The personal transporter of claim 9, wherein the second driving wheel and the second castor wheel provide stability to the operator by balancing the displaced center of gravity of the personal transporter within the frame when the personal transporter gains acceleration or moves forward from still start. 18. The personal transporter of claim 14, wherein the first driving wheel and the second driving wheel provide stability to the operator by balancing the displaced center of gravity of the personal transporter within the frame when the personal transporter turns in right or left direction. 19. The personal transporter of claim 9, wherein each of the first and second driving wheels are attached to the frame using a shock absorber to absorb shocks from the respective first and second driving wheels. 20. The personal transporter of claim 9, wherein each of the first and second castor wheels are attached to the frame using a shock absorber to absorb shocks from the respective first and second driving wheels. 21. The personal transporter of claim 9, further comprises: a carriage attached to the frame. 22. The personal transporter of claim 1 1 , further comprises: ultra-capacitor banks interfaced with the power source to retrieve regenerative power generated during braking. |
FIELD OF TECHNOLOGY Embodiments of the disclosure generally relate to the field of transporter, and more particularly to a personal transporter.
BACKGROUND Considerable research has been done in the development of hybrid and electric vehicles both of which are based on electrical drives. Where hybrid vehicles can be used for long distance transportation, constraint on size and weight of battery limits the use of electric vehicles only for urban transportation. Also with congestion and stress on parking area, use of smaller electric vehicles like electric scooter with their efficient utilization through exchange stations can serve the needs of urban electric transportation. These vehicles which are emission free are battery driven systems. Sizing of batteries, selection of motors and use of appropriate electrical drives are performed depending upon the type and need of vehicle. Many electrical driven systems like hybrid bus, electric and hybrid cars like Toyota Prius, electric scooters, Segway ® , etc are already running on the roads. Electrical scooters are ones that are used mostly in congested areas for small distance travel.
Currently, Segway ® has launched personal transporters in the market that has become a means of transportation in shopping malls, university campus, production and manufacturing units, short distance travel from metro stations to homes, etc. A personal transporter is a battery operated electric vehicle designed mainly for urban transportation incorporating electric maneuvering using twin motors. However, these personal transporters are instable in operation during maneuvering, and in cases of frequent cycles of braking and acceleration. The instability is caused due to movement of inactive center of gravity and out of frame when brakes are applied or when the personal transporter is accelerated. This instability of the personal transporter may lead to accidents and may pose risk to the person riding on the personal transporter. SUMMARY
A dynamically stabilized personal transporter is disclosed. According to one aspect of the present invention, a vehicle includes a chassis frame, and first and second driving wheels attached to the chassis frame at diagonally opposite ends of the chassis frame such that the axles of the first and second driving wheels are offset by a predetermined perpendicular distance (x), wherein at least one of the first and second driving wheels impart movement to the vehicle. The vehicle includes first and second castor wheels attached to the chassis frame at other diagonally opposite ends of the chassis frame, wherein the first and second driving wheels and the first and second castor wheels together provide stability to the vehicle through balancing weight of displaced center of gravity of an operator of the vehicle over the axles of the first and second driving wheels during maneuvering. The vehicle includes a first and second electric motors mounted at the first and second driving wheels respectively for rotating at least one of the said first and second driving wheels to impart movement to the vehicle, and a power source attached to the chassis frame for driving at least one of the first and second electric motors. Moreover, the vehicle includes a steering means for delivering variable amount of power to the first and second electric motors.
According to another aspect of the present invention, a personal transporter includes a frame, and first and second driving wheels attached to the frame at diagonally opposite ends such that the axles of the first and second driving wheels are offset by a predetermined perpendicular distance (x). The personal transporter also includes first and second electric motors mounted at the first and second driving wheels respectively for rotating at least one of the first and second driving wheels to impart movement to the personal transporter, arid a steering means for delivering variable amount of power to the first and second electric motors to steer the personal transporter based on a differential speed mechanism.
The personal transporter also includes first and second castor wheels attached to the chassis frame at other diagonally opposite ends of the frame, wherein the first and second driving wheels and the first and second castor wheels together provide stability to the personal transporter through balancing weight of the active center of gravity of an operator of the personal transporter over the axles of the first and second driving wheels during maneuvering. Further, the personal transporter includes a power source attached to the frame for driving at least one of the first and second electric motors. Other features of the embodiments will be apparent from the accompanying drawings and from the detailed description that follows.
BRIEF DESCRIPTION OF THE VIEW OF THE DRAWINGS
Figure 1 illustrates a schematic diagram of a dynamically stabilized personal transporter, according to one embodiment.
Figure 2 illustrates a top view of the personal transporter showing arrangement of wheels, according to one embodiment.
Figure 3 illustrates a circuit diagram of a switch off type steering circuit, according to one embodiment. Figure 4 illustrates a circuit diagram of an adder based steering circuit, according to another embodiment. Figure 5 illustrates a circuit diagram of a subtractor based steering circuit, according to one embodiment. The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.
DETAILED DESCRIPTION OF THE INVENTION
A dynamically stabilized personal transporter is disclosed. The following description is merely exemplary in nature and is not intended to limit the present disclosure, applications, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.
The terms "chassis frame" and "frame" are interchangeably used through out the document. Also, the terms "dynamically stabilized personal transporter", "personal transporter", and "vehicle" are used interchangeably through out the document.
Figure 1 illustrates a schematic diagram of a dynamically stabilized personal transporter 100, according to one embodiment. In Figure 1, the personal transporter 100 includes a chassis frame 102 to which a first driving wheel 104, a second driving wheel 106, a first castor wheel 108, and a second castor wheel 1 10 are attached. In some embodiments, the a first driving wheel 104, second driving wheel 106, a first castor wheel 108 and a second castor wheel 1 10 are attached to the frame 102 using shock absorbers 124 for absorbing shocks from uneven road surface to provide better and smooth journey.
The first driving wheel 104 and the second driving wheel 106 are attached to the frame 102 at diagonally opposite ends. Also, the axles of the first driving wheel 104 and the second driving wheel 106 are offset by a predetermined distance. Similarly, the first castor wheel 108 and the second castor wheel 1 10 are attached to the frame 102 at other diagonally opposite ends as shown in Figure 1. The first castor wheel 108 and the second castor wheel 1 10 are mounted such that both the wheels 108 and 1 10 do not touch the ground unless brakes are applied or acceleration is provided. The arrangement of driving and castor wheels explained herein is shown in greater detail in Figure 2. A first electric motor 1 12 and a second electric motor 1 14 are mounted at the first driving wheel 104 and the second driving wheel 106, respectively. The first electric motor 1 12 and the second electric motor 1 14 is provided for rotating the first driving wheel 104 and the second driving wheel 106 to impart movement to the personal transporter 100. Exemplary electric motors may include a brushless direct current (DC) motor, a DC motor, an alternate current (AC) motor, a permanent magnet synchronous motor and the like. One can envision that, the personal transporter 100 can have oil based motor hub mounted on each of the first and second driving wheels 104 and 106 through gears or belt/chains, etc instead of using the electric motors 1 12 and 1 14.
The personal transporter 100 also includes a power source 1 16 attached to the chassis frame 102 for driving the first electric motor 1 12 and/or second electric motor 1 14. For example, the power source 1 16 may be a lead acid battery, lithium ion battery, nickel metal hydride battery and the like. The personal transporter 100 includes a solar panel 1 18 attached to the frame 102 for charging the power source 1 16 using the solar energy during day time. The solar panel 1 18 can be folded while moving in low ceiling areas. The personal transporter 100 also consists of ultra-capacitor banks 128 interfaced with the power source 1 16 to retrieve regenerative power generated during braking and provide huge burst of charge while moving forward from still start position. The personal transporter 100 further includes a handle 120 and a foldable seating platform 122 attached to the frame for providing support to an operator during maneuvering. The personal transporter 100 also includes steering switch 126 for steering the vehicle in desired directions. For example, the steering switch 126 may include a switch off type steering circuit, an adder based steering circuit or a subtractor based steering circuit, as will be illustrated in Figures 3, 4 and 5.
The steering switch 126 enables the operator to steer the personal transporter in right, left, straight and reverse directions by controlling amount and direction of the power supplied to the first electric motor 1 12 and the second electric motor 1 14. In one embodiment, the steering switch 126 enables the operator of the personal transporter 100 to steer the personal transporter 100 in right direction or left direction based on a differential speed of the first driving wheel 104 and the second driving wheel 106. The differential speed of the first driving wheel 104 and the second driving wheel 106 creates a net angular momentum and thereby turning the personal transporter 100 about an axis of gyration. Consider that, the operator has Inertia I. In such a case, the first driving wheel 104 carries takes a Ml and is moving with a speed V l, while the second driving wheel 106 carries a load M2 and moves with a speed V2. Then, the net angular momentum developed is given as:
(m l )(vl )r - (m2)(v2)R=Iw
As a result, the personal transporter 100 then turns with an angular speed (w). In an exemplary operation, when the personal transporter 100 moves forward from a still start position or accelerate, an active center of gravity is displaced backwards and falls out of the frame 102 owing to the inertia at rest. In such a case, the second driving wheel 106 and the second castor wheel 1 10 balances weight of the active center of gravity thereby providing stability to the operator. In another exemplary operation, when the personal transporter 100 is suddenly brought to rest or when brakes are applied, an active center of gravity is displaced forward and falls out of the frame 102 owing to the inertia at rest. In such a case, the first driving wheel 104 and the first castor wheel 108 balances weight of the active center of gravity thereby providing stability to the operator. In yet another exemplary operation, when the operator wishes to turn the personal transporter 100 in the right direction, operation of the steering switch 126 provides power to the first electric motor 1 12 associated with the first driving wheel 104 while cutting off power supplied to the second electric motor 1 14 associated with the second driving wheel 106. This causes differential speed in the first driving wheel 104 and the second driving wheel 106, thereby creating a net angular momentum and turning the personal transporter 100 about the axis of gyration in the right direction. The active center of gravity is balanced within the frame 102 due to the arrangement of wheels 104-1 10 while turning in the right direction. In further another exemplary operation, when the operator wishes to turn the personal transporter 100 in the left direction, operation of the steering switch 126 provides power to the second electric motor 1 14 associated with the second driving wheel 106 while cutting off power supplied to the first electric motor 1 12 associated with the first driving wheel 104. This causes differential speed in the second driving wheel 106 and the first driving wheel 104, thereby creating a net angular momentum and turning the personal transporter 100 about the axis of gyration in the left direction. The active center of gravity is balanced within the frame 102 due to the arrangement of wheels 104-1 10 while turning in left direction.
According to one or more embodiments described above, the arrangement of driving wheels and castor wheels provide stability to the personal transporter 100 through balancing weight of the active center of gravity of the operator of the personal transporter 100 over the axles of the first driving wheel 104 and the second driving wheel 106 during maneuvering. The personal transporter 100 can additionally include a carriage or trolley hook mounted on the frame 102 for carrying a luggage or additional passenger.
Figure 3 illustrates a circuit diagram of a switch off type steering circuit 300, according to one embodiment. In Figure 3, the switch off type steering circuit 300 includes two switches 302 and 304 connected to the first electric motor 1 12 and second electric motor 1 14 respectively. Each of the switches 302 and 304 are configured to receive speed signal from a throttle 306.
If the operator wishes the personal transporter 100 to move straight, then both the switches 302 and 304 are kept ON " . As a result, speed signals of equal magnitude are sent to the first electric motor 1 12 and the second electric motor 1 14. Thus, the first electric motor 1 12 and the second electric motor 1 14 drive the first driving wheel 104 and the second driving wheel 106 at the same speed. If the operator wishes the personal transporter 100 to turn in right direction, the switch 304 is kept in OFF position and the switch 302 is kept in ON position. As a result, speed signal is sent to the first electric motor 1 12 while keeping the second electric motor 1 14 in OFF position. Thus, a differential speed is created owing to clockwise angular momentum and the personal transporter 100 turns in the right direction.
Similarly, if the operator wishes the personal transporter 100 to turn in left direction, the switch 302 is kept in OFF position and the switch 304 is in ON position. As a result, speed signal is sent to the second electric motor 1 14 while keeping the first electric motor 1 12 in OFF position. Thus, a differential speed is created owing to anticlockwise angular momentum and the personal transporter 100 turns in the left direction.
Figure 4 illustrates a circuit diagram of an adder based steering circuit 400, according to another embodiment. In Figure 1, the adder based steering circuit
400 has throttles 402, 404 and 406 connected to operational amplifiers 408 and 410 using adder circuits.
The throttle 402 is used for moving the personal transporter 100 in forward direction and the throttles 404 and 406 are used turning the personal transporter 100 in right and left direction respectively. When the personal transporter 100 has to be moved forward, then the throttle 402 provides equal voltage to both the electric motors 1 12 and 1 14, and hence both the first and second driving wheels are driven at the same speed. When the throttle 404 is triggered, the voltage is added to the voltage delivered by the throttle 402. As a result, the first electric motor 1 12 receives higher voltage as compared to the second electric motor 1 14. Accordingly, the first electric motor 1 12 rotates faster than the second electric motor 1 14. As a consequence, a differential speed is generated owing to clockwise angular momentum, thereby turning the personal transporter in right direction.
Similarly, when the throttle 406 is triggered, a certain amount of voltage is added to the voltage delivered by the throttle 402. As a result, the second electric motor 1 14 receives higher voltage as compared to the first electric motor 1 12. Accordingly, the second electric motor 1 14 rotates faster than the first electric motor 1 12. As a consequence, a differential speed is generated owing to anticlockwise angular momentum, thereby turning the personal transporter in left direction. Figure 5 illustrates a circuit diagram of a subtractor based steering circuit 500, according to one embodiment. The subtractor based steering circuit 500 is similar to the adder based steering circuit 400 of Figure 4, except for polarity. For example, when the throttle 506 is triggered, the voltage is subtracted from the voltage delivered by the throttle 502. As a result, the first electric motor 1 12 receives higher voltage as compared to the second electric motor 1 14. Accordingly, the first electric motor 1 12 rotates faster than the second electric motor 1 14. As a consequence, a differential speed is generated owing to clockwise angular momentum, thereby turning the personal transporter in right direction. Similarly, when the throttle 504 is triggered, a certain amount of voltage is subtracted from the voltage delivered by the throttle 502. As a result, the second electric motor 1 14 receives higher voltage as compared to the first electric motor 1 12. Accordingly, the second electric motor 1 14 rotates faster than the first electric motor 1 12. As a consequence, a differential speed is generated owing to anti-clockwise angular momentum, thereby turning the personal transporter in left direction.
A skilled person will recognize that many suitable designs of the systems and processes may be substituted for or used in addition to the configurations described above. It should be understood that the implementation of other variations and modifications of the embodiments of the invention and its various aspects will be apparent to one ordinarily skilled in the art, and that the invention is not limited by the exemplary embodiments described herein and in the claims. Therefore, it is contemplated to cover the present embodiments of the invention and any and all modifications, variations, or equivalents that fall within the true spirit and scope of the basic underlying principles disclosed and claimed herein. The contents of all references cited are incorporated herein by reference in their entireties.
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