Personal mobility vehicles and methods

Abstract

A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided.

What is claimed is:  
     
         1 . A vehicle for carrying a payload including a user, the vehicle comprising: 
 a. a ground-contacting module including two substantially coaxial wheels;    b. a platform supporting the user in a standing position substantially astride both wheels; and    c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system; the motorized drive arrangement causing, when powered, automatically balanced operation of the system.    
     
     
         2 . A vehicle for carrying a payload including a user, the vehicle comprising: 
 a. a platform which supports the user;    b. a ground-contacting module, to which the platform is mounted, which propels the user in desired motion over an underlying surface;    c. a proximity sensor for determining the presence of the user on the device; and    d. a safety switch, coupled to the proximity detector, for inhibiting operation of the ground-contacting module unless the proximity sensor has determined the presence of the user on the device.    
     
     
         3 . A device according to  claim 2 , wherein the proximity sensor is a member, mechanically coupled to the safety switch, having an operating position and a non-operating position, wherein the member is in the non-operating position in the absence of the user from the device and the member is moveable to the operating position when the user is on the device.  
     
     
         4 . A device according to  claim 3 , wherein the member includes a plate, disposed on the device, for receiving a foot of the user, and wherein placement of the foot on the plate causes it to move into the operating position.  
     
     
         5 . A device according to  claim 2 , wherein the proximity detector is electronic.  
     
     
         6 . A device according to  claim 2 , wherein the proximity detector includes a semiconductor device.  
     
     
         7 . A device according to  claim 2 , further comprising: 
 d. a motorized drive arrangement, coupled to the ground-contacting module; the motorized drive arrangement causing, when powered, automatically balanced and stationary operation of the device unless the proximity sensor has determined the presence of the user on the device.    
     
     
         8 . A vehicle for carrying a payload including a user, the vehicle comprising: 
 a. a platform which supports the user;    b. a ground-contacting module, to which the platform is mounted, which propels the user in desired motion over an underlying surface;    c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system wherein the motorized drive arrangement has a present power output and a specified maximum power output and, in operation, has balancing margin determined by the difference between the maximum power output and the present power output of the drive arrangement;    d. a balancing margin monitor, coupled to the motorized drive arrangement, for generating a signal characterizing the balancing margin; and    e. an alarm, coupled to the balancing margin monitor, for receiving the signal characterizing the balancing margin and for warning when the balancing margin falls below a specified limit.    
     
     
         9 . A device according to  claim 8 , wherein the alarm includes ripple modulation of the power output of the motorized drive arrangement.  
     
     
         10 . A device according to  claim 8 , wherein the alarm is audible.  
     
     
         11 . A device for carrying a payload including a user, the device comprising: 
 a. a platform which supports the user in a standing position,    b. a ground-contacting module, mounted to the platform, including at least one ground-contacting member and defining a fore-aft plane;    c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system in an operating position that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered;    d. a user-operated mode control having first and second modes;    e. a user input control that receives an indication from the user of one of (i) a specified pitch of the device under conditions of motion at uniform velocity and (ii) steering command, depending on the mode of the mode control.    
     
     
         12 . A device for carrying a payload including a user, the device comprising: 
 a. a platform which supports the user in a standing position,    b. a ground-contacting module, mounted to the platform, including a plurality of laterally disposed ground-contacting members and defining a fore-aft plane;    c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system in an operating position that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered; and    d. a user drive mode selector that on indication from the user causes the motorized drive to operate the ground-contacting members at a uniform user-controllable speed so as to permit a dismounted user to guide the vehicle running under its own power.    
     
     
         13 . A vehicle for carrying a user, the user being a standing person, the vehicle comprising: 
 a. a ground-contacting module which supports a payload including the standing person, the ground-contacting module contacting an underlying surface substantially at a single region of contact; and    b. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system.    
     
     
         14 . A vehicle in accordance with  claim 13 , the ground-contacting module including a uniball.  
     
     
         15 . A method of using a vehicle to carry a user, the user being a standing person, the method comprising: 
 a. standing on a platform that supports a payload including a standing person, the platform mounted to a ground-contacting module including two substantially coaxial wheels; and    b. operating a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system.    
     
     
         16 . A method of using a vehicle to carry a payload including a user, the method comprising: 
 a. standing on a platform supporting the user, the platform mounted to a ground-contacting module, which propels the user in desired motion over an underlying surface;    b. using a proximity sensor to determine the presence of the user on the device; and    c. inhibiting operation of the ground-contacting module unless the proximity sensor has determined the presence of the user on the device.    
     
     
         17 . A method according to  claim 16 , wherein the proximity sensor is a member, having an operating position and a non-operating position, wherein the member is in the non-operating position in the absence of the user from the device and the member is moveable to the operating position when the user is on the platform.  
     
     
         18 . A method according to  claim 17 , wherein the member includes a plate, disposed on the device, for receiving a foot of the user, and wherein placement of the foot on the plate causes it to move into the operating position.  
     
     
         19 . A method according to  claim 17 , wherein the proximity detector is electronic.  
     
     
         20 . A method according to  claim 17 , wherein the proximity detector includes a semiconductor device.  
     
     
         21 . A method according to  claim 17 , further comprising: 
 d. operating a motorized drive arrangement, coupled to the ground-contacting module; the motorized drive arrangement causing, when powered, automatically balanced and stationary operation of the device unless the proximity sensor has determined the presence of the user on the device.    
     
     
         22 . A method of using a vehicle to carry a payload including a user, the method comprising: 
 a. standing on a platform supporting the user, the platform mounted to a ground-contacting module, which propels the user in desired motion over an underlying surface;    b. operating a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system wherein the motorized drive arrangement has a present power output and a specified maximum power output and, in operation, has balancing margin determined by the difference between the maximum power output and the present power output of the drive arrangement;    c. monitoring the balancing margin and generating a signal characterizing the balancing margin; and    d. receiving the signal characterizing the balancing margin and generating an alarm to warn when the balancing margin falls below a specified limit.    
     
     
         23 . A method according to  claim 22 , wherein the alarm includes ripple modulation of the power output of the motorized drive arrangement.  
     
     
         24 . A method according to  claim 22 , wherein the alarm is audible.  
     
     
         25 . A method for carrying a payload including a user, the method comprising: 
 a. assuming a position on a platform which supports a payload including the user, the platform being coupled to a ground-contacting module, the module including at least one ground-contacting member and defining a fore-aft plane;    b. operating a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system in an operating position that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered; and    c. operating a user-operated mode control to select one of first and second modes;    d. providing via a user input control an indication of one of (i) a specified pitch of the device under conditions of motion at uniform velocity and (ii) steering command, depending on whether the first mode or the second mode has been selected.    
     
     
         26 . A method for carrying a payload including a user, the method comprising: 
 a. providing a device having 
 i. a platform which supports the user in a standing position,  
 ii. a ground-contacting module, mounted to the platform, including a plurality of laterally disposed ground-contacting members and defining a fore-aft plane;  
 iii. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system in an operating position that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered; and  
   b. causing the motorized drive to operate the ground-contacting members at a user-controllable speed so as to permit a dismounted user to guide the vehicle running under its own power.    
     
     
         27 . A method of using a vehicle to carry a user, the user being a standing person, the method comprising: 
 a. standing on a ground-contacting module which supports a payload including a person standing thereon, the ground-contacting module contacting an underlying surface substantially at a single region of contact; and    b. operating a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system.    
     
     
         28 . A method in accordance with  claim 27 , wherein the ground-contacting module includes a uniball.