Dynamically balanced in-line wheel vehicle

Abstract

A family of vehicles is presented which exploit dynamic controls to stabilize in-line two wheeled vehicles. The stabilization results in improved safety at high speeds and on uncooperative surfaces. Stabilization affords balance at zero speed without auxiliary support means. Transformational wheel base length affords high visibility at low speeds and low drag at high speeds. In wheel chair configurations transforming wheel base length allows navigation up and down stairs.

1 . A vehicle, comprising:
 a body portion;   a first wheel connected to the body portion wherein the first wheel is steerable;   a second wheel inline with the first wheel that is also connected to the body portion wherein the first and second wheels are spaced apart from each other;   one or more sensors that sense a balance of the vehicle and generate sensor signals; and   a control system that, based on the sensor signals, automatically controls the steerable wheel to maintain the balance of the vehicle.   
   
   
       2 . The vehicle of  claim 1 , wherein the one or more sensors further comprise a solid state gyro, a level sensor, an optical sensors or an accelerometer. 
   
   
       3 . The vehicle of  claim 1 , wherein the second wheel is steerable by the control system. 
   
   
       4 . The vehicle of  claim 1  further comprising a driver control that controls the balance of the vehicle above a predetermined speed. 
   
   
       5 . The vehicle of  claim 1  further comprising a manual steering mechanism that allows the driver of the vehicle to steer the vehicle. 
   
   
       6 . The vehicle of  claim 5 , wherein the control system transitions between manual steering and automated control of the steering. 
   
   
       7 . The vehicle of  claim 1  further comprising one or more additional wheels in-line with the first wheel. 
   
   
       8 . The vehicle of  claim 7  further comprising one or more additional body portions wherein each additional body portion further comprises one or more of the additional wheels in-line with the first wheel. 
   
   
       9 . The vehicle of  claim 1  further comprising a transforming wheelbase mechanism that moves the first wheel inline and relative to the second wheel to change the wheelbase of the vehicle. 
   
   
       10 . The vehicle of  claim 9  further comprising an upright position with the first and second wheels close to each other for rider entry into the vehicle, a middle position with the first and second wheels moved away from each other for slow speed travel and a low position with the first and second wheels moved apart at a maximum distance for high speed travel. 
   
   
       11 . The vehicle of  claim 9 , wherein the wheelbase transforming mechanism further comprises a scissor mechanism. 
   
   
       12 . The vehicle of  claim 9 , wherein the wheelbase transforming mechanism further comprises a four bar mechanism. 
   
   
       13 . The vehicle of  claim 9 , wherein the wheelbase transforming mechanism further comprises a slider mechanism. 
   
   
       14 . The vehicle of  claim 12 , wherein the wheelbase transforming mechanism further comprises a gas spring that counterbalances the force required to transform the wheelbase. 
   
   
       15 . The vehicle of  claim 1 , wherein the body portion further comprises a canopy. 
   
   
       16 . The vehicle of  claim 15 , wherein the canopy further comprises a first portion and a second portion that move to allow entry of an occupant of the vehicle. 
   
   
       17 . The vehicle of  claim 1 , wherein the body portion further comprises a conformal seating portion that molds to the occupant of the vehicle. 
   
   
       18 . The vehicle of  claim 17 , wherein the conformal seating portion further comprises a plurality of beads. 
   
   
       19 . The vehicle of  claim 18 , wherein the conformal seating portion further comprises a mechanism to lock the plurality of beads in place during a collision. 
   
   
       20 . The vehicle of  claim 19 , wherein the mechanism to lock the plurality of beads in place further comprises a vacuum. 
   
   
       21 . The vehicle of  claim 19 , wherein the mechanism to lock the plurality of beads in place further comprises a material selection or a mixture of materials or of bead size that results in a non-Newtonian fluid. 
   
   
       22 . The vehicle of  claim 1  further comprising a user interface to control the vehicle. 
   
   
       23 . The vehicle of  claim 21 , wherein the user interface further comprises haptic driver feedback. 
   
   
       24 . The vehicle of  claim 1  further comprising a mechanism for indicating a direction of travel of the vehicle. 
   
   
       25 . The vehicle of  claim 24 , wherein the mechanism for indicating a direction of travel of the vehicle further comprises a laser. 
   
   
       26 . The vehicle of  claim 1  further comprising an anti-skid sensor that prevents skidding of the first and second wheels. 
   
   
       27 . The vehicle of  claim 26 , wherein the anti-skid sensor further comprises an optical sensor that measures a slip of the first and second wheels. 
   
   
       28 . The vehicle of  claim 1 , wherein the body portion further comprises a climate control system. 
   
   
       29 . The vehicle of  claim 28 , wherein the climate control system further comprises a full body contact climate control system. 
   
   
       30 . The vehicle of  claim 1 , wherein the vehicle further comprises one of a litter, a reconnaissance vehicle, a troop transport and a weapon transport. 
   
   
       31 . A vehicle, comprising:
 a body portion;   a first wheel connected to the body portion wherein the first wheel is steerable;   a second wheel inline with the first wheel that is also connected to the body portion wherein the first and second wheels are spaced apart from each other;   one or more sensors that sense a balance of the vehicle and generate sensor signals; and   a control system that, based on the sensor signals, automatically adjusts the distance between the first wheel and the second wheel to provide a transformable wheelbase.   
   
   
       32 . The vehicle of  claim 31  further comprising an upright position with the first and second wheels close to each other for rider entry into the vehicle, a middle position with the first second wheels moved away from each other for slow speed travel and a low position with the first and second wheels moved apart at a maximum distance for high speed travel. 
   
   
       33 . The vehicle of  claim 31 , wherein the wheelbase transforming mechanism further comprises a scissor mechanism. 
   
   
       34 . The vehicle of  claim 31 , wherein the wheelbase transforming mechanism further comprises a four bar mechanism. 
   
   
       35 . The vehicle of  claim 31 , wherein the wheelbase transforming mechanism further comprises a slider mechanism. 
   
   
       36 . The vehicle of  claim 34 , wherein the wheelbase transforming mechanism further comprises a gas spring that counterbalances the force required to transform the wheelbase. 
   
   
       37 . The vehicle of  claim 31 , wherein the one or more sensors further comprise a solid state gyro, a level sensor, an optical sensors or an accelerometer. 
   
   
       38 . The vehicle of  claim 31 , wherein the second wheel is steerable by the control system. 
   
   
       39 . The vehicle of  claim 31  further comprising a driver control that controls the balance of the vehicle above a predetermined speed. 
   
   
       40 . The vehicle of  claim 31  further comprising a manual steering mechanism that allows the driver of the vehicle to steer the vehicle. 
   
   
       41 . The vehicle of  claim 40 , wherein the control system transitions between manual steering and automated control of the steering. 
   
   
       42 . The vehicle of  claim 31  further comprising one or more additional wheels in-line with the first wheel. 
   
   
       43 . The vehicle of  claim 42  further comprising one or more additional body portions wherein each additional body portion further comprises one or more of the additional wheels in-line with the first wheel. 
   
   
       44 . The vehicle of  claim 31 , wherein the body portion further comprises a canopy. 
   
   
       45 . The vehicle of  claim 44 , wherein the canopy further comprises a first portion and a second portion that move to allow entry of an occupant of the vehicle. 
   
   
       46 . The vehicle of  claim 31 , wherein the body portion further comprises a conformal seating portion that molds to the occupant of the vehicle. 
   
   
       47 . The vehicle of  claim 46 , wherein the conformal seating portion further comprises a plurality of beads. 
   
   
       48 . The vehicle of  claim 47 , wherein the conformal seating portion further comprises a mechanism to lock the plurality of beads in place during a collision. 
   
   
       49 . The vehicle of  claim 48 , wherein the mechanism to lock the plurality of beads in place further comprises a vacuum. 
   
   
       50 . The vehicle of  claim 48 , wherein the mechanism to lock the plurality of beads in place further comprises a material selection or a mixture of materials or of bead size that results in a non-Newtonian fluid. 
   
   
       51 . The vehicle of  claim 31  further comprising a user interface to control the vehicle. 
   
   
       52 . The vehicle of  claim 51 , wherein the user interface further comprises haptic driver feedback. 
   
   
       53 . The vehicle of  claim 31  further comprising a mechanism for indicating a direction of travel of the vehicle. 
   
   
       54 . The vehicle of  claim 53 , wherein the mechanism for indicating a direction of travel of the vehicle further comprises a laser. 
   
   
       55 . The vehicle of  claim 31  further comprising an anti-skid sensor that prevents skidding of the first and second wheels. 
   
   
       56 . The vehicle of  claim 55 , wherein the anti-skid sensor further comprises an optical sensor that measures a slip of the first and second wheels. 
   
   
       57 . The vehicle of  claim 31 , wherein the body portion further comprises a climate control system. 
   
   
       58 . The vehicle of  claim 57 , wherein the climate control system further comprises a full body contact climate control system. 
   
   
       59 . The vehicle of  claim 31 , wherein the vehicle further comprises one of a litter, a reconnaissance vehicle, a troop transport and a weapon transport. 
   
   
       60 . A dynamically balancing wheelchair, comprising:
 a seating portion;   a first wheel connected to the body portion wherein the first wheel is steerable;   a second wheel inline with the first wheel that is also connected to the body portion wherein the first and second wheels are spaced apart from each other;   one or more sensors that sense a balance of the vehicle and generate sensor signals; and   a control system that, based on the sensor signals, automatically controls the steerable wheel to maintain the balance of the vehicle.   
   
   
       61 . The wheelchair of  claim 60 , wherein the control system further comprises a control system that, based on the sensor signals, automatically adjusts the distance between the first wheel and the second wheel to provide an transformable wheelbase. 
   
   
       62 . The wheelchair of  claim 61  further comprising an upright position with the first and second wheels close to each other to elevate the seating portion and a middle position with the first and second wheels moved away from each other for slow speed travel. 
   
   
       63 . The wheelchair of  claim 60 , wherein the one or more sensors further comprise a solid state gyro, a level sensor, an optical sensors or an accelerometer. 
   
   
       64 . The wheelchair of  claim 60 , wherein the second wheel is steerable by the control system. 
   
   
       65 . The wheelchair of  claim 60 , wherein the first wheel further comprises a ball bot drive. 
   
   
       66 . The wheelchair of  claim 65 , wherein the ball bot drive further comprises a ball and one or more drive assemblies that move the ball in one or more directions. 
   
   
       67 . The wheelchair of  claim 60 , wherein the first wheel further comprises an omni wheel drive. 
   
   
       68 . The wheelchair of  claim 60  further comprising one or more safety skirts attached to the bottom of the wheelchair. 
   
   
       69 . A human powered vehicle, comprising:
 a seating portion;   a first wheel connected to the body portion wherein the first wheel is steerable;   a second wheel inline with the first wheel that is also connected to the body portion wherein the first and second wheels are spaced apart from each other, the second wheel being powered by human energy;   one or more sensors that sense a balance of the vehicle and generate sensor signals; and   a control system that, based on the sensor signals, automatically controls the steerable wheel to maintain the balance of the vehicle.   
   
   
       70 . The vehicle of  claim 69  further comprising a pair of swinging arms connected to the first wheel to provide positive caster. 
   
   
       71 . The vehicle of  claim 69 , wherein the second wheel is a rear wheel. 
   
   
       72 . The vehicle of  claim 69 , wherein the second wheel is a front wheel. 
   
   
       73 . A robot, comprising:
 a body portion;   a first wheel connected to the body portion wherein the first wheel is steerable;   a second wheel inline with the first wheel that is also connected to the body portion wherein the first and second wheels are spaced apart from each other;   one or more sensors that sense a balance of the robot and generate sensor signals; and   a control system that, based on the sensor signals, automatically controls the steerable wheel to maintain the balance of the vehicle.   
   
   
       74 . The robot of  claim 73 , wherein the second wheel is steerable by the control system. 
   
   
       75 . The robot of  claim 73  further comprising a second body portion and a third wheel wherein the body portion and the second body portion are articulated with respect to each other.