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US 12,420,168 B2Granted
Lean-to-steer devices with active steering responses
OwnerCorey C. Smithinventor
Life of this patent
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Abstract
Steering responses for a lean-to-steer device can be provided by controlling the steering angle of at least one wheel by a steering actuator that is operated by a controller. The controller receives signals that are indicative to the current operating conditions and adjusts the steering angle for at least one wheel responsive to the signals.
Claims22
A lean to steer device comprising:
- a body with an upper support surface for supporting an operator, said body having a longitudinal axis and a transverse axis;
- 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 about the longitudinal axis relative to said first wheel, said first wheel mounting structure being configured to allow said first wheel to pivot with respect to a first steering axis to alter the inclination of the first wheel axis relative to the longitudinal axis;
- a steering actuator that is operable to adjust the angular position of said first wheel about the first steering 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;
- and
- a controller that receives signals responsive to the current operating conditions of the device from at least one sensor, said controller directing said steering actuator to adjust the angular position of said first wheel about the first steering axis in response to the at least one sensor signal,
- wherein said controller, in at least one mode of operation, adjusts the angular position of the first wheel about the first steering axis to balance forces in the direction parallel to the lateral transverse axis by directing said steering actuator to adjust the angular position of the first wheel about the first steering axis such that the resulting component of force in the direction parallel to the lateral axis due to apparent centrifugal force is within 25% to 175% of the magnitude of the component of gravitational forces in the direction parallel to the transverse axis.
5 more elements
A lean to steer device comprising:
- a body with an upper support surface for supporting an operator, said body having a longitudinal axis and a transverse axis;
- 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 about the longitudinal axis relative to said first wheel, said first wheel mounting structure being configured to allow said first wheel to pivot with respect to a first steering axis to alter the inclination of the first wheel axis relative to the longitudinal axis;
- a steering actuator that is operable to adjust the angular position of said first wheel about the first steering 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;
- and
- a controller that receives signals responsive to the current operating conditions of the device from at least one sensor, said controller directing said steering actuator to adjust the angular position of said first wheel about the first steering axis in response to the at least one sensor signal,
- wherein said controller, in at least one mode of operation, adjusts the angular position of the first wheel about the first steering axis to cause the net lateral forces due to the mass of the operator to form a vector that intersects the support surface of the body.
5 more elements
A lean to steer device comprising:
- a body with an upper support surface for supporting an operator, said body having a longitudinal axis and a transverse axis;
- 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 about the longitudinal axis relative to said first wheel, said first wheel mounting structure being configured to allow said first wheel to pivot with respect to a first steering axis to alter the inclination of the first wheel axis relative to the longitudinal axis;
- a steering actuator that is operable to adjust the angular position of said first wheel about the first steering 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;
- and
- a controller that receives signals responsive to the current operating conditions of the device from at least one sensor, said controller directing said steering actuator to adjust the angular position of said first wheel about the first steering axis in response to the at least one sensor signal,
- wherein said controller, in at least one mode of operation, adjusts the angular position of the first wheel about the first steering axis to cause the net lateral forces due to the mass of the operator to form a vector that is within 30° of a vector that intersects the longitudinal axis.
5 more elements
Dependencies are inferred from the claim text.