U.S. patent application number 12/185605 was filed with the patent office on 2008-11-20 for multiple-passenger transporter.
This patent application is currently assigned to DEKA Products Limited Partnership. Invention is credited to J. Douglas Field, John David Heinzmann, Dean L. Kamen.
Application Number | 20080284130 12/185605 |
Document ID | / |
Family ID | 24055333 |
Filed Date | 2008-11-20 |
United States Patent
Application |
20080284130 |
Kind Code |
A1 |
Kamen; Dean L. ; et
al. |
November 20, 2008 |
MULTIPLE-PASSENGER TRANSPORTER
Abstract
A transporter for transporting a first person and one or more
riders over a surface. The transporter includes a first support
platform for supporting the first person, the first support
platform having left and right sides and defining a fore-aft
vertical plane and a lateral plane. At least one ground-contacting
element is coupled to the first support platform such that the
first support platform is capable of tilting in the fore-aft plane
about a tilt axis. The at least one ground-contacting element is
driven by a motorized drive arrangement so as to cause locomotion
of the transporter. A controller commands the motorized drive
arrangement. The controller is configured so that at least one of
fore and aft sustained motion of the transporter is based at least
on fore-aft tilting of the first support platform. One or more
passenger platforms support one or more riders, the passenger
platforms coupled to the first support platform such that fore-aft
tilting of the first support platform is substantially independent
of the one or more passenger platforms.
Inventors: |
Kamen; Dean L.; (Bedford,
NH) ; Field; J. Douglas; (Bedford, NH) ;
Heinzmann; John David; (Manchester, NH) |
Correspondence
Address: |
MCCORMICK, PAULDING & HUBER LLP
185 ASYLUM ST., CITY PLACE II
HARTFORD
CT
06103
US
|
Assignee: |
DEKA Products Limited
Partnership
Manchester
NH
|
Family ID: |
24055333 |
Appl. No.: |
12/185605 |
Filed: |
August 4, 2008 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11233276 |
Sep 22, 2005 |
7407175 |
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12185605 |
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10618914 |
Jul 14, 2003 |
6969079 |
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11233276 |
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10164333 |
Jun 5, 2002 |
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10618914 |
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10626468 |
Jul 24, 2003 |
7000933 |
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11233276 |
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10164333 |
Jun 5, 2002 |
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10626468 |
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09516384 |
Mar 1, 2000 |
6435535 |
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10164333 |
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Current U.S.
Class: |
280/400 |
Current CPC
Class: |
B62D 51/02 20130101;
B62K 11/007 20161101; B62D 51/008 20130101; B62D 53/02 20130101;
B62D 63/067 20130101 |
Class at
Publication: |
280/400 |
International
Class: |
B62D 47/00 20060101
B62D047/00 |
Claims
1. A transporter for supporting a first user and at least one rider
over a surface, each rider having a first and second foot, the
transporter comprising: a first support platform for supporting the
first user, the first support platform having left and right sides
and defining a fore-aft vertical plane and a lateral plane; at
least one ground-contacting element coupled to the first support
platform such that the first support platform is capable of tilting
in the fore-aft plane; a motorized drive arrangement for driving
the at least one ground-contacting element so as to cause
locomotion of the transporter; a controller for commanding the
motorized drive arrangement, the controller configured so that at
least one of fore and aft motion of the transporter is based at
least on tilting of the first support platform; one or more second
support platforms for supporting the first foot and the second foot
of the at least one rider.
2. The transporter according to claim 1, wherein at least one right
ground-contacting element is coupled to at least one of the second
support platforms; and wherein at least one left ground-contacting
element is coupled to at least one of the second support
platforms.
3. The transporter according to claim 1, wherein at least one of
the second support platforms is coupled to the first support
platform such that fore-aft tilting of the first support platform
is substantially independent of the at least one of the second
support platforms.
4. The transporter according to claim 1, wherein the controller
commands the motorized drive arrangement such that stability of the
first platform is dynamically maintained.
5. The transporter according to claim 1, wherein the right and left
ground-contacting elements are one of a wheel, a ski and a
skid.
6. The transporter according to claim 1, wherein the first support
platform includes: a first pivot member characterized by a first
pivot axis proximate to said tilt axis for coupling at least one of
the second support platforms to the first support platform; wherein
the first pivot axis is perpendicular to the fore-aft plane.
7. A method of using a transporter to transport a first user and at
least one rider over a surface, the at least one rider having a
first and second foot, the method comprising: supporting the first
user on a first support platform, the first support platform
defining a fore-aft vertical plane and a lateral plane, the first
support platform coupled to at least one ground-contacting element
such that the first support platform is capable of tilting in the
fore-aft plane; supporting the first foot and the second foot of
the at least one rider on a second support platform, the second
support platform coupled to the first support platform such that
fore-aft tilting of the first support platform is substantially
independent of the second support platform, the second support
platform coupled to at least one right ground-contacting element
and the second support platform coupled to at least one left
ground-contacting element such that sustained motion of the
transporter is based at least on fore-aft tilting of the first
support platform.
8. The method according to claim 7, wherein controlling the
motorized drive arrangement is based at least on maintaining
dynamic stability of the first support platform.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation of U.S. patent
application Ser. No. 11/233,276 filed Sep. 22, 2005, which is a
divisional of U.S. patent application Ser. No. 10/618,914 filed
Jul. 14, 2003, which is a continuation-in-part of U.S. application
Ser. No. 10/164,333, filed Jun. 5, 2002. U.S. patent application
Ser. No. 11/233,276 is also a continuation-in-part of U.S. patent
application Ser. No. 10/626,468, filed Jul. 24, 2003, which is a
continuation-in-part of U.S. patent application Ser. No.
10/164,333, filed Jun. 5, 2002, which is a divisional of U.S.
patent application Ser. No. 09/516,384, filed Mar. 1, 2000, and
which is now U.S. Pat. No. 6,435,535. All of the aforementioned
patents and patent applications are hereby expressly incorporated
herein by reference in their entirety.
TECHNICAL FIELD AND BACKGROUND ART
[0002] The present invention generally relates to a transporter and
method for transporting one or more persons, and more particularly,
to a transporter whose sustained motion is controlled, at least in
part, by leaning.
[0003] A prior art, dynamically balanced transporter 18 whose
sustained motion may be controlled by a rider leaning, is shown, in
one embodiment, in FIG. 1, which is described, along with other
such transporters, in U.S. Pat. Nos. 5,701,965 and 5,971,091, both
of which are herein incorporated by reference. Transporter 18 is
statically unstable with respect to tipping in the fore-aft plane
and requires a control loop to maintain dynamic stability.
Transporter 18 includes a support platform 12 for supporting a
person 10 over the ground or other surface. A handlebar 14 is
attached to the support platform 12 for gripping by the person 10.
Ground-contacting elements 13, which may be wheels, are movably
attached to the support platform 12 and serve to suspend support
platform 12 over the ground. The person 10 stands or sits on the
support platform 12 such that transporter 18 of this embodiment may
be operated in a manner analogous to a scooter. A control loop is
provided so that leaning of the person 10 in a forward or backward
direction results in the application of torque to wheel 13 about
axle 15 thereby causing an acceleration of the transporter 18. The
control loop actively maintains stability of the transporter 18,
typically by keeping the center of mass of the vehicle above the
point of contact of the ground-contacting elements with the ground,
regardless of disturbances and forces operative on the transporter
18.
[0004] Another such prior art transporter whose motion is
controlled by leaning is shown in FIG. 2, which is described, along
with other such transporters, in U.S. provisional patent
application Ser. No. 60/395,589, which is herein incorporated by
reference. Unlike the transporter described in FIG. 1, transporter
20 in FIG. 2 is statically stable to tipping in the fore-aft plane.
Transporter 20 includes a support platform 21 for supporting a
person. Support platform 21 is flexibly coupled to wheels 23, 24,
such that the attitude of the support platform 21 is capable of
variation based on the load's center of mass relative to the
wheels. Such variation may, for example, be caused by an operator
leaning on the support platform 21. A sensor module 27, 28
generates a signal characterizing the attitude of the support
platform. Based at least on the attitude, a controller commands
sustained motion of transporter 20.
[0005] As discussed above, sustained motion of each of the
above-described transporters may be controlled, at least in part,
by a subject leaning on a support platform. However, a problem
arises when there is more than one rider. While it may be
relatively simple for a single rider to lean in a given direction
so as to control the motion of the transporter, placement of a
second person on the transporter may make it hard or impossible for
either person to govern motion of the device by leaning.
SUMMARY OF THE INVENTION
[0006] In a first embodiment of the invention there is provided a
transporter for transporting a first user and at least one
additional person, each referred to herein as a `rider`, over a
surface. The transporter includes a first support platform for
supporting the first person, the first support platform having left
and right sides and defining a fore-aft vertical plane and a
lateral plane. At least one ground-contacting element is coupled to
the first support platform such that the first support platform is
capable of tilting in the fore-aft plane about a tilt axis. The
ground-contacting element is driven by a motorized drive
arrangement so as to cause locomotion of the transporter. A
controller commands the motorized drive arrangement. The controller
is configured so that at least one of fore and aft sustained motion
of the transporter is based at least on fore-aft tilting of the
first support platform.
[0007] The at least one additional rider can be supported by one or
more passenger platforms. At least one of the passenger platforms
may be coupled to the first support platform such that fore-aft
tilting of the first support platform is substantially independent
of the passenger platforms. At least one auxiliary
ground-contacting element may be coupled to at least one passenger
platform.
[0008] In accordance with related embodiments of the invention, the
first support platform includes a pivot member. The pivot member is
characterized by a pivot axis proximate to said tilt axis for
coupling at least one of the passenger platforms to the first
support platform, the pivot axis being perpendicular to the
fore-aft plane. The pivot axis may coincide with said tilt
axis.
[0009] In other related embodiments of the invention, at least one
of the passenger platforms includes an arm having an end for
coupling to the pivot member. The arm may be shaped so as to avoid
contact with the first platform when the first platform is tilting.
The at least one auxiliary ground-contacting element may be a
wheel, ski, or skid, which may swivel about a vertical axis in
response to turns made by the transporter. The weight of the rider
may be borne primarily by the at least one auxiliary
ground-contacting element. At least one of the passenger platforms
may include at least one seat.
[0010] In accordance with further related embodiments of the
invention, at least one of the passenger platforms is coupled to
the first platform via a ball joint or a U-joint. At least one of
the passenger platforms may include a substantially vertical
support column. At least one of the passenger platforms may include
both a right support platform for supporting a rider's first foot,
and a left support platform for supporting the rider's second foot.
The controller may command the motorized drive arrangement such
that stability of the first support platform is dynamically
maintained.
[0011] In accordance with another embodiment of the invention,
there is provided a transporter for supporting a first user and at
least one rider over a surface, each rider having a first and
second foot. The transporter includes a first support platform for
supporting the first rider, the first support platform having left
and right sides and defining a fore-aft vertical plane and a
lateral plane. At least one ground-contacting element is coupled to
the first support platform such that the first support platform is
capable of tilting in the fore-aft plane. The at least one
ground-contacting element is driven by a motorized drive
arrangement so as to cause locomotion of the transporter. A
controller commands the motorized drive arrangement. The controller
is configured so that at least one of fore and aft motion of the
transporter is based at least on tilting of the first support
platform. The transporter also includes one or more right support
platforms for supporting the first foot of the at least one rider,
and one or more left support platforms for supporting the left foot
of the at least one rider.
[0012] In related embodiments of the invention, at least one of the
right support platforms and at least one of the left support
platforms are coupled to the first support platform such that
fore-aft tilting of the first support platform is substantially
independent of the at least one of the right support platforms and
the at least one of the left support platforms. At least one right
ground-contacting element may be coupled to at least one of the
right support platforms, and at least one left ground-contacting
element may be coupled to at least one of the left support
platforms. The controller may command the motorized drive
arrangement such that stability of the first platform is
dynamically maintained. The right and left ground-contacting
elements may be one of a wheel, a ski and a skid.
[0013] In another related embodiment of the invention, the first
support platform includes a first and second pivot member. The
first pivot member is characterized by a first pivot axis proximate
to said tilt axis for coupling at least one of the right support
platforms to the first support platform. The second pivot member is
characterized by a second pivot axis proximate to said tilt axis,
for coupling at least one of the left support platforms to the
first support platform. Both the first and second pivot axes are
perpendicular to the fore-aft plane.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The foregoing features of the invention will be more readily
understood by reference to the following detailed description,
taken with reference to the accompanying drawings, in which:
[0015] FIG. 1 is a side view of a prior art dynamically balancing
transporter whose sustained motion is controlled by leaning on a
support platform;
[0016] FIG. 2 is a side view of a prior art transporter, statically
stable in the fore-aft plane, whose sustained motion is controlled
by leaning on a support platform;
[0017] FIG. 3 is a side view of a transporter built for two or more
riders, in accordance with one embodiment of the invention;
[0018] FIG. 4 is a perspective view of a transporter built for two
or more riders, in accordance with one embodiment of the
invention;
[0019] FIG. 5 is a block diagram of a controller of a transporter,
in accordance with one embodiment of the invention;
[0020] FIGS. 6a and 6b show top views of a transporter that
includes a first support platform coupled to a second support
platform using a ball joint and universal joint, respectively, in
accordance with embodiments of the invention;
[0021] FIGS. 7a and 7b show bottom views of a transporter that
includes a first support platform coupled to a second support
platform using a scissors linkage, in accordance with one
embodiment of the invention;
[0022] FIG. 8 is a schematic view of multiple support platforms
driven by a first support platform of a transporter, in accordance
with one embodiment of the invention;
[0023] FIG. 9 is a transporter that includes a second and third
support platform, in accordance with one embodiment of the
invention; and
[0024] FIG. 10 is a transporter that includes second and third
support platforms positioned in non-obtrusive position, in
accordance with one embodiment of the invention.
DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS
[0025] In accordance with one embodiment of the invention, FIGS. 3
and 4 show a side and perspective view, respectively, of a
transporter 30 for transporting riders, over the ground or other
surface, which may be referred to herein generally as ground.
Transporter 30 may be a dynamically balanced transporter, or
alternatively, may be statically stable with respect to tipping.
Transporter 30 includes a first support platform. A first rider
may, for example, stand or sit on first support platform 31.
Attached to first support platform 31 may be a handlebar 32 that
can be gripped by a rider while situated on first support platform
31.
[0026] Coupled to first support platform 31 are one or more
ground-contacting elements 33, 34, which provide contact between
first support platform 31 and the ground. Ground-contacting
elements 33,34 may include, but are not limited to, arcuate
members, tracks, treads, and wheels (hereinafter the term "wheel"
will be used in the specification to refer to any such
ground-contacting elements).
[0027] First support platform 31 is characterized by a fore-aft
axis and a lateral axis. The fore-aft axis, X-X, is perpendicular
to the axis of the wheels, while the lateral axis, Y-Y, is parallel
to the axis of the wheels. Directions parallel to the axes X-X and
Y-Y are called the fore-aft and lateral directions,
respectively.
[0028] Wheels 33, 34 are coupled to first support platform 31 such
that first support platform 31 is capable of tilting in the
fore-aft plane about a tilt axis. First support platform 31 may be
coupled to the wheels 33, 34 by various means known in the art,
such as by a pivot mechanism, springs, or pneumatic pistons.
[0029] Motion of the transporter 30 is controlled, at least in
part, by fore-aft tilting of first support platform 31. To
determine fore-aft tilting of first support platform 31,
transporter 30 includes a sensor module. Sensor module includes at
least one sensor for generating a signal characteristic of the
fore-aft tilting of first support platform 31. The at least one
sensor may include, without limitation, a gyroscope, an
inclinometer, a load sensor, an attitude sensor, or a proximity
sensor, either alone or in combination.
[0030] A controller receives the signal characteristic of the
fore-aft tilting of first support platform 31 from the sensor
module. Based at least on this signal, the controller implements a
control algorithm to command a motorized drive arrangement that
drives the one or more wheels 33, 34 so as to cause locomotion of
transporter 30. The controller may also respond to commands from
other operator interfaces, such as a joystick or dial attached, for
example, to handlebar 32.
[0031] FIG. 5 is a block diagram of a controller 50 for controlling
the motorized drive of the transporter, in accordance with one
embodiment of the invention. Controller 50 interfaces with user
interface 51, a sensor module 52, and a wheel rotation sensor 53.
Controller 50 receives an input characteristic of the fore-aft
tilting of the support platform from sensor module 52. Based at
least on the input from sensor module 52, controller 50 commands at
least one motorized drive 55, 56. User interface 51 may include,
for example, controls for turning the controller 50 on or off. User
interface may also control a locking mechanism 32a for locking
wheels 33, 34 (see FIG. 4).
[0032] Controller 50 includes a control algorithm for determining
the amount of torque to be applied to the at least one wheel based
on the sensed fore-aft tilt of the support platform. The control
algorithm may be configured either in design of the system or in
real time, on the basis of current operating mode and operating
conditions as well as preferences of the user. Controller may
implement the control algorithm by using a control loop. The
operation of control loops is well known in the art of
electromechanical engineering and is outlined, for example, in
Fraser & Milne, Electro-Mechanical Engineering, IEEE Press
(1994), particularly in Chapter 11, "Principles of Continuous
Control" which is incorporated herein by reference.
[0033] As an example, and not meant to be limiting, the control
algorithm may take the form: [0034] Torque Command to Wheel=K
[.theta.+O] [0035] where K=gain, [0036].theta.=fore-aft tilt of the
first support platform, and [0037] O=offset.
[0034] The fore-aft tilt of first support platform, .theta., may be
in the form of an error term defined as the desired fore-aft tilt
of the first support platform minus the measured fore-aft tilt of
the first support platform attitude. The gain, K, may be a
predetermined constant, or may be entered/adjusted by the operator
through user interface 51. Responsiveness of the transporter to
fore-aft tilting of the first support platform can be governed by
K. For example, if K is increased, a rider will perceive a stiffer
response in that a small change in platform tilt will result in a
large torque command. Offset, O, may be incorporated into the
control algorithm to govern the torque applied to the motorized
drive, either in addition to, or separate from, the direct effect
of .theta. Thus, for example, the user may provide an input by
means of a user interface of any sort, the input being treated by
the control system equivalently to a change, for example, in
fore-aft tilting of the first support platform.
[0035] Thus, referring back to FIGS. 3 and 4, motion of the
transporter 30 may be controlled by a subject leaning on the first
support platform 31 so as to cause the first support platform 31 to
tilt in the fore-aft plane. Depending on the control algorithm, an
initial change in the tilt of the platform 31, such that platform
31 is tilted forward, may result in positive torque being applied
to one or more wheels 33, 34, causing the wheels 33, 34 to move
forward. Likewise, an initial change in the tilt of the platform
31, such that platform 31 is tilted backward, may result in a
negative torque applied to one or more wheels 33, 34, causing the
wheels 33, 34 to move in the aft direction. If the subject then
remains in his changed position on the platform such that platform
tilt remains the same, the motor will continue to torque at the
same rate.
[0036] In accordance with one embodiment of the invention, a
passenger platform 35 is coupled to the first support platform 31
such that fore-aft tilting of the first support platform 31 is
substantially decoupled from the passenger platform 35. In the
embodiment shown in FIGS. 3 and 4, support platform 31 includes a
pivot member 39 that is characterized by a pivot axis 38. Passenger
platform 35 has an arm 36 pivotally attached, at pivot end 37, to
the pivot member 39, allowing arm 36 to rotate about the pivot axis
38 which is horizontal and perpendicular to the fore/aft-vertical
plane (i.e. the plane of the paper in FIG. 3). Pivot axis 38 may be
positioned proximate to, or may coincide with, the tilt axis of the
first support platform 31, so as to minimize the effect that
tilting first support platform 31 has on passenger platform 35. Arm
36 may be shaped to avoid contact with first support platform 31
when the rear edge of first support platform 31 is rotated
upward.
[0037] Passenger platform 35 is capable of supporting a second
rider. The second rider may, for example, stand or sit on passenger
platform 35. Attached to the passenger platform 35 may be a
vertical support column 311 that can be gripped by a rider while
situated on passenger platform 35. In various embodiments, a seat
is coupled to passenger platform 35.
[0038] Passenger platform 35 is supported by at least one auxiliary
ground-contacting element 310. Auxiliary ground-contacting
element(s) 310 may include, but are not limited to, arcuate
members, tracks, treads, skis, and wheels. Auxiliary
ground-contacting element(s) may swivel about a vertical axis 312
in response-to turns made by the transporter 30.
[0039] During normal operation, pivot member 39 may be free to
pivot in the fore/aft vertical plane, and motion is controlled by
the subject leaning on the first support platform 31. In a fault
condition, where transporter 30 loses the ability to maintain
dynamic stability, pivot member 39 may be locked, by activation of
a solenoid, for example, in such a manner to prevent passenger
platform 35 from tilting forward and transporter 30 from tipping
backward. The lock mechanism may be activated, in accordance with
various embodiments of the invention, by a control signal or by a
power failure. The implementation of the pivot lock and activation
of the lock is well known to one of ordinary skill in the
mechanical art.
[0040] Referring now to FIG. 6a, a bottom view of a transporter 60
is shown of a further embodiment of the invention in which the
passenger platform 35 is attached to the first support platform 31
via a ball joint 62, allowing rotation about all axes. Auxiliary
ground-contacting element(s) 310 supporting the passenger platform
35 may thus be non-castering. In another embodiment, FIG. 6b shows
a bottom view of transporter 61 in which passenger platform 35 is
attached to the first support at a universal joint 63, permitting
rotation about both pitch and yaw axes. Both of the embodiments of
FIGS. 6a and 6b effectively decouple passenger platform 35 from
fore/aft leaning of first support platform 31.
[0041] FIGS. 7a and 7b are a bottom view of a transporter 70 in
which passenger platform 35 is coupled to first support platform 31
via a scissors linkage 72, in accordance with another embodiment of
the invention. Referring first to FIG. 7a, scissors linkage 72 may
be coupled to first support platform 31 by means of a hitch 73 that
pivots about horizontal (pitch) axis 74 to allow leaning of the
transporter. In the embodiment shown in FIGS. 7a and 7b, passenger
platform 35 is supported by one or more auxiliary ground-contacting
elements 310, such as a track, tread, ski, or wheel (as noted
above, hereinafter the term "wheel" will be used in the
specification to refer to any such ground-contacting element).
Wheel 310 pivots about a vertical (yaw) axis 76 to allow it to
track as the transporter executes turns. Scissor linkage 72
provides for steering of wheel 310 to allow for tight turns made by
transporter 70. In fact, as depicted in FIG. 7b, transporter 70 may
be rotated in place, as shown by arrows 77, to the degree that
wheel 310 is perpendicular to line 78 connecting the center 79 of
wheel axis 710 of first support platform 31 to vertical axis 76 of
steerability of wheel 310, at which point transporter 70 may turn
in place.
[0042] In the above-described embodiments, first support platform
31 and passenger platform 35 may have a characteristic transverse
linear dimension substantially comparable to the shoulder width of
a rider. Since the leaning of the respective trailer and
transporter components are effectively decoupled, a rider standing
on the passenger platform 35 need merely hold onto the rider of the
first support platform 31 (i.e. the driver of the transporter 30)
in order to maintain balance. Additionally, by exerting force on
the rider of the first support platform 31, it is possible for the
rider on the passenger platform 35 to drive the transporter 30.
[0043] In accordance with various embodiments of the invention,
multiple passenger platforms may be attached to the first support
platform. For example, the multiple passenger platforms 35 may
attached in a serial configuration to the first support platform
31, as shown in FIG. 8. Motion of each of the passenger platforms
35 is controlled via the first support platform 31 via leaning, as
described above. Passenger platforms may also be coupled to the
left and/or right side of the first support platform 31.
[0044] FIG. 9 is a transporter 90 that includes two passenger
platforms coupled to the first support platform 91, in accordance
with one embodiment of the invention. A left support platform 92 is
coupled to the first support platform 91 for supporting a first
foot of a second rider riding on the second support platform 92,
while a right support platform 93 is coupled to the first support
platform 91 for supporting the second foot of the second rider.
Both the left support platform 92 and right support platform 93 may
be coupled to the first support platform 91, such that fore-aft
tilting of the first support platform 91 is substantially
independent of the platforms 91 and 92. Left and right support
platforms 92 and 93 may be coupled to the first support platform 91
using, without limitation, a pivot member, a ball joint, a
universal joint, or a scissors linkage, as described in above
embodiments.
[0045] Each of the support platforms 92 and 93 may be supported by
one or more ground contacting elements 94 and 95. Ground-contacting
elements 94 and 95 may be, without limitation, an arcuate member, a
track, a tread, a ski, or a wheel. Left and right support platforms
92 and 93 may be positioned in an unobtrusive position when not in
use, such as when only a single rider is using transporter. For,
example, in one embodiment, both the left support platform 92 and
the right support platform 93 can be rotated in a direction A
around pivot members 1003 1004, respectively, as shown in FIG. 10.
A locking mechanism can then be used to lock support platforms 92
and 93, such that support platforms 92 and 93 are in a fixed
vertical position when not in use.
[0046] In accordance with another embodiment of the invention, the
passenger platform 35, as shown in FIGS. 3-7, or both the left
support platform 92 and right support platform 93, as shown in
FIGS. 9 and 10, are coupled to first support platform such that the
tilting of the first support platform in the fore-aft plane is not
decoupled from the passenger platform 35, or left and right support
platforms 92 and 93, respectively. In such embodiments, the
passenger platform 35 or left and right support platforms 92 and 93
may not be supported by ground-contacting elements. To account for
the additional weight of support platforms, and additional riders,
that would tend to tilt the first support platform in the aft
direction, the first rider may have to lean further forward or
stand more towards the front of the first support platform. First
support platform may also include a weight transfer mechanism, so
as to adjust tilt of the first support platform in the fore/aft
plane when the first user and riders are, for example, in an
initial or comfortable position. Passenger platform 35 or
left/right support platforms 92 and 93 may be cantilevered to first
support platform, such that when the platforms 35 and 92 and 93 are
not in use, they are in an unobtrusive position, similar to the
embodiment shown in FIG. 10. When in use, the weight of the second
rider on the passenger platform 35 or support platforms 92 and 93
allow the second rider to be supported in an upright position.
[0047] The described embodiments of the invention are intended to
be merely exemplary and numerous variations and modifications will
be apparent to those skilled in the art. All such variations and
modifications are intended to be within the scope of the present
invention.
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