WO2008147091A1

WO2008147091A1 - Transporter and the controlling method thereof

Info

Publication number: WO2008147091A1
Application number: PCT/KR2008/002946
Authority: WO
Inventors: Bong Hyung Park
Original assignee: Bong Hyung Park
Priority date: 2007-05-28
Filing date: 2008-05-27
Publication date: 2008-12-04
Also published as: KR100833338B1; EP2170470A1; CN101932365A

Abstract

Provided is a transporter having a board base plate, a propulsion unit mounted to the board base plate to be in propulsion motion, a steering unit mounted to the board base plate to control a direction, a microprocessor controlling the propulsion unit and the steering unit, a power source unit supplying power, a board upper plate spaced a predetermined gap from an upper portion of the board base plate, the board upper plate being vertically movable according to a load applied by a driver riding thereon, and a plurality of sensors respectively disposed on a front side, a rear side, a left side, and a right side between the board base plate and the board upper plate and sensing a vertical movement of the board upper plate to respectively output signal values cor¬ responding to the vertical movement. The microprocessor receives the signal values and controls speed and direction based on the signal values. Thus, the driver changes each portion to which his/her weight is applied, to control the speed and direction without using a separate manual controlling device.

Description

TRANSPORTER AND THE CONTROLLING METHOD

THEREOF

Technical Field

[1] The present disclosure relates to a transporter and a method of controlling the same, and more particularly, to a transporter and a method of controlling the same, which are adapted to freely control speed and direction thereof with a sensor, according to the intention of a driver, without a separate manual controlling device. Background Art

[2] Recently, air pollution caused by exhaust fumes of transports including automobiles, and traffic congestion due to limited road networks relative to increasing traffic become more severe.

[3] To solve the air pollution, fuel cell vehicles including hydrogen fuel cell vehicles are developed, but not become practical. Also, to solve the traffic congestion, the construction of new roads, the extension of existing roads, and the construction of subways, high-speed electric railroads, air fields and harbors are performed yearly, but not equal to exponentially increasing traffic. Although the use of public transport has also been suggested, but it may be inconvenient and inefficient for respective individuals to use the public transport just for the moving within a close range.

[4] Thus, there is a great need for a transport taking up small space in the state where a driver rides thereon by freely riding, driving, and moving on his/her own when necessary, and adapted to move within a close range without exhaust fumes. Disclosure of Invention Technical Problem

[5] Accordingly, the present disclosure provides a transporter and a method of controlling the same, which are adapted to freely control speed and direction thereof with a sensor, according to the intention of a driver, without a separate manual controlling device. Technical Solution

[6] To achieve the objects of the present invention, there is provided a transporter having a board base plate, a propulsion unit mounted to the board base plate to be in propulsion motion, a steering unit mounted to the board base plate to control a direction, and a power source unit supplying power, the transporter including: a microprocessor controlling the propulsion unit and the steering unit; a board upper plate spaced a predetermined gap from an upper portion of the board base plate, the board upper plate being vertically movable according to a load applied by a driver riding thereon; and a plurality of sensors respectively disposed on a front side, a rear side, a left side, and a right side between the board base plate and the board upper plate and sensing a vertical movement of the board upper plate to respectively output signal values corresponding to the vertical movement, wherein the microprocessor receives the signal values, and calculates a variation of the signal value of the sensor on the front side in a predetermined period and a variation of the signal value of the sensor on the rear side in the predetermined period, and calculates a difference between the variations, and inputs the difference to the propulsion unit, to control speed of the propulsion motion using an output corresponding to the difference, and the microprocessor calculates a variation of the signal value of the sensor on the left side in a predetermined period and a variation of the signal value of the sensor on the right side in the predetermined period, and calculates a difference between the variations, and inputs the difference to the steering unit, to control a direction using a displacement corresponding to the difference.

[7] There is also provided a transporter having a board base plate, a propulsion unit mounted to the board base plate to be in propulsion motion, a steering unit mounted to the board base plate to control a direction, and a power source unit supplying power, the transporter including: a microprocessor controlling the propulsion unit and the steering unit; a board upper plate spaced a predetermined gap from an upper portion of the board base plate, the board upper plate being vertically movable according to a load applied by a driver riding thereon; and a plurality of sensors respectively disposed on a front side or a rear side, and a left side or a right side, between the board base plate and the board upper plate and sensing a vertical movement of the board upper plate to respectively output signal values corresponding to the vertical movement; wherein the microprocessor receives the signal values, and calculates a variation of the signal value of the sensor on the front side or the rear side in a predetermined period and inputs the variation to the propulsion unit, to control speed of the propulsion motion using an output corresponding to the variation, and the microprocessor calculates a variation of the signal value of the sensor on the left side or the right side in a predetermined period, and calculates the variation, and inputs the variation to the steering unit, to control a direction using a displacement corresponding to the variation.

[8] The sensor may include at least one of a pressure sensor, an optical sensor, and a magnetic sensor. The pressure sensor may be disposed on an inner side of both a housing having a predetermined diameter and extending from the board base plate and a housing having a predetermined diameter extending from the board upper plate, and a compression spring having a predetermined spring coefficient may be disposed around the housings. Also, the optical sensor may include a light-emitting part and a light-receiving part, and the light-emitting part may be disposed between the board base plate and the board upper plate, and the light-receiving part may be disposed to correspond to the light-emitting part, and a blocking plate having an inclined surface connected to the board upper plate may be disposed between the light-emitting part and the light-receiving part. Also, the magnetic sensor may be disposed between the board base plate and the board upper plate, and include: a steel plate including an upper end connected to the board upper plate, and a lower end spaced a predetermined gap from the upper end and facing the upper end and connected to the board base plate, the steel plate having a predetermined magnetic permeability to form a magnetic circuit; and a hall element disposed on the lower end of the steel plate.

[9] There is also provided a method of controlling a transporter including a board, a propulsion unit mounted to the board to be in propulsion motion, a microprocessor controlling the propulsion unit, and a plurality of sensors respectively disposed on a front side and a rear side of the board and respectively sensing a load applied by a driver riding on the board and the sensors respectively outputting signal values corresponding to the sensed load, the method including: respectively outputting, by the sensor on the front side and the sensor on the rear side, the signal values and transmitting the signal values to the microprocessor; receiving, by the microprocessor, the signal values, and calculating a variation of the signal value of the sensor on the front side in a predetermined period and a variation of the signal value of the sensor on the rear side in the predetermined period, and calculating a difference between the variations; and inputting, by the microprocessor, the difference to the propulsion unit to drive the propulsion unit; and accelerating the propulsion motion using an output corresponding to the difference when the difference is greater than zero; and keeping the propulsion motion at the same speed as that determined before the predetermined period when the difference is equal to zero; and decelerating the propulsion motion using an output corresponding to the difference when the difference is less than zero.

[10] There is also provided a method of controlling a transporter including a board, a steering unit mounted to the board to control a direction, a microprocessor controlling the steering unit, and a plurality of sensors respectively disposed on a left side and a right side of the board and respectively sensing a load applied by a driver riding on the board and the sensors respectively outputting signal values corresponding to the sensed load, the method including: respectively outputting, by the sensor on the left side and the sensor on the right side, the signal values and transmitting the signal values to the microprocessor; receiving, by the microprocessor, the signal values, and calculating a variation of the signal value of the sensor on the left side in a predetermined period and a variation of the signal value of the sensor on the right side in the predetermined period, and calculating a difference between the variations; and inputting, by the microprocessor, the difference to the steering unit to drive the steering unit; and changing the direction using a displacement corresponding to the difference when the difference is not zero; and keeping the direction in a direction determined before the predetermined period when the difference is equal to zero.

[11] There is also provided a method of controlling a transporter including a board, a propulsion unit mounted to the board to be in propulsion motion, a microprocessor controlling the propulsion unit, and at least one sensor disposed on a front side or a rear side of the board and sensing a load applied by a driver riding on the board and the sensor outputting a signal value corresponding to the sensed load, the method including: outputting, by the sensor on the front side or the rear side, the signal value and transmitting the signal value to the microprocessor; receiving, by the microprocessor, the signal value, and calculating a variation of the signal value in a predetermined period; and inputting, by the microprocessor, the variation to the propulsion unit to drive the propulsion unit; and accelerating the propulsion motion using an output corresponding to the variation when the variation is greater than zero; and keeping the propulsion motion at the same speed as that determined before the predetermined period when the variation is equal to zero; and decelerating the propulsion motion using an output corresponding to the variation when the difference is less than zero.

[12] There is also provided a method of controlling a transporter including a board, a steering unit mounted to the board to control a direction, a microprocessor controlling the steering unit, and at least one sensor disposed on a left side or a right side of the board and sensing a load applied by a driver riding on the board and the sensor outputting a signal value corresponding to the sensed load, the method including: outputting, by the sensor on the left side or the right side, the signal value and transmitting the signal value to the microprocessor; receiving, by the microprocessor, the signal value, and calculating a variation of the signal value in a predetermined period; and inputting, by the microprocessor, the variation to the steering unit to drive the steering unit; and changing the direction using a displacement corresponding to the variation when the variation is not zero; and keeping the direction in a direction determined before the predetermined period when the variation is equal to zero.

[13] The calculating of the variation may include multiplying, by the microprocessor, the calculated variation by a predetermined constant, and the constant may be arbitrarily set to control a sensitivity of controlling the transporter.

Advantageous Effects

[14] As described above, in accordance with the present disclosure, a transporter and a method of controlling the same are adapted to freely control speed and direction thereof with a simple structure including a sensor, according to the intention of a driver, without a separate manual controlling device. Accordingly, the transporter and the method of controlling the same are adapted for small space in the state where a driver rides thereon by freely riding, driving, and moving on his/her own when necessary, and for moving within a close range without exhaust fumes. Brief Description of the Drawings

[15] FIG. 1 is a schematic view illustrating a transporter in accordance with an exemplary embodiment.

[16] FIG. 2 is a side view illustrating the transporter of FIG. 1.

[17] FIG. 3 is a partial enlarged view of FIG. 2, illustrating an exemplary configuration of a sensor used for a system in accordance with an exemplary embodiment.

[18] FIGS. 4A through 4C are sectional views illustrating optical sensors disposed on four sides between a board base plate and a board upper plate in accordance with another exemplary embodiment.

[19] FIGS. 5 A and 5B are sectional views illustrating magnetic sensors disposed on four sides between a board base plate and a board upper plate in accordance with yet another exemplary embodiment.

[20] FIG. 6 is a flowchart illustrating a method of controlling acceleration and deceleration motions of a transporter in accordance with an exemplary embodiment.

[21] FIG. 7 is a flowchart illustrating a method of controlling left and right motions of the transporter in accordance with the exemplary embodiment of FIG. 6.

[22] FIG. 8 is a flowchart illustrating a method of controlling acceleration and deceleration motions of a transporter in accordance with another exemplary embodiment.

[23] FIG. 9 is a flowchart illustrating a method of controlling left and right motions of the transporter in accordance with the exemplary embodiment of FIG. 8. Best Mode for Carrying Out the Invention

[24] Hereinafter, specific embodiments will be described in detail with reference to the accompanying drawings.

[25] Transporters according to the present disclosure may include various related art transporters, and particularly, include a standing transporter on which a driver stands for riding. Such a standing transporter is basically a roller board type, which may be driven by a motor.

[26] FIGS. 1 and 2 illustrate a transporter 1 including a plane-shaped board base plate 10 according to an exemplary embodiment.

[27] Referring to FIGS. 1 and 2, the transporter 1 includes the board base plate 10. A driver stands on the board base plate 10 with his/her both feet or one foot on an upper portion thereof for riding. The board base plate 10 may have an oval, super oval, rectangular, or circular shape, but the shape is not limited thereto. Desirably, the board base plate 10 has the super oval shape.

[28] Steering wheels 12 including a couple of wheels, and propulsion wheels 14 including a couple of wheels are mounted on a lower side of the board base plate 10. Also, a storage battery 16, a steering device 18 for steering the steering wheels 12, and a propulsion-driving device 20 for driving the propulsion wheels 14 are disposed on the lower side of the board base plate 10. The storage battery 16 is connected as a power source of the steering device 18 and the propulsion-driving device 20. Also, a controller 40 is installed on the lower side of the board base plate 10, and a predetermined microprocessor is provided to the controller 40 (hereinafter, referred to as a "microprocessor"). The microprocessor 40, driven by the storage battery 16 as the power source, receives the output of sensors 32a, 32b, 32c and 32d that will be described later, and then controls input current of the propulsion-driving device 20 and the steering device 18 based on the received output, thereby controlling acceleration, deceleration, left turn, and right turn of the transporter 1.

[29] An upper side of the board base plate 10 is provided with a board upper plate 22. A driver places his/her both feet on the board upper plate 22 to stand for riding. Supports 26 and 28 having horizontal openings 24 extend downward from front and rear ends of the board upper plate 22, and coupling parts 30 extending from front and rear ends of the board base plate 10 are inserted into the horizontal openings 24 of the supports 26 and 28, so that the board base plate 10 and the board upper plate 22 are coupled to each other. At this point, it is desirable that the board base plate 10 and the board upper plate 22 are allowed to vertically move within a limited range. To this end, in this embodiment, a vertical size of the horizontal openings 24 is greater than the thickness of the coupling parts 30 of the board base plate 10 such that the board upper plate 22 are vertically movable within the limited range, relative to the board base plate 10.

[30] The sensors 32a, 32b, 32c and 32d are disposed between the board base plate 10 and the board upper plate 22. Here, in accordance with this embodiment, the sensors 32a, 32b, 32c and 32d are respectively disposed on a front side, a rear side, a left side, and a right side between the board base plate 10 and the board upper plate 22 to form a four- sensor system (refer to FIG. 1). Alternatively, in accordance with another embodiment, among the sensors 32a, 32b, 32c and 32d, one 32a may be disposed on the front side or one 32b may be disposed on the rear side, and one 32c may be disposed on the left side or one 32d may be disposed on the right side, to form a two-sensor system. Alternatively, in accordance with yet another embodiment, among the sensors 32a, 32b, 32c and 32d, one 32a may be disposed on the front side, or one 32b may be disposed on the rear side, or one 32c may be disposed on the left side, or one 32d may be disposed on the right side, to form a single-sensor system.

[31] Also, the sensors 32a, 32b, 32c and 32d may include a pressure sensor, a magnetic sensor, an optical sensor, or a combination thereof. Here, such pressure sensors may include at least one of: mechanical pressure sensors including an elastic full dome- type, a diaphragm-type, and a bell jar-type pressure sensors; electric pressure sensor including an electrostatic capacity-type pressure sensor, a piezoresistive-type pressure sensor with a strain gauge, a piezoelectric-type pressure sensor with an organic or inorganic piezoelectric element, a linear variable differential transformer (LVDT), and an inductive coil-type pressure sensor; a piezoresistive-type or electrostatic capacity- type semiconductor pressure sensor; and a combination thereof. In accordance with another embodiment, such magnetic sensors may include at least one of a magnetic head, a hall element, a semiconductor or ferromagnetic material magneto resistance device. Also, in accordance with yet another exemplary embodiment, such optical sensors may include at least one of a photodiode, a phototransistor, an image sensor module, a photo IC, a CdS photocell, and a photo coupler.

[32] FIG. 3 is a cross-sectional view illustrating pressure sensors used as the sensors 32a,

32b, 32c, and 32d on the four sides between the board base plate 10 and the board upper plate 22 in accordance with an exemplary embodiment.

[33] Referring to FIG. 3, the pressure sensors 32a, 32b, 32c, and 32d are disposed in both a housing 34, having a small diameter and extending from the board base plate 10, and a housing 36, having a large diameter and extending from the board upper plate 22, and a compression spring 38 having a predetermined spring coefficient is disposed around the housings 34 and 36. In here, referring to FIG. 1, a driver stands with his/her both feet or one foot on an upper portion of the board upper plate 22 and intentionally applies a pressure corresponding to his/her weight on at least one of front, rear, left, and right sides of the board upper plate 22 with the both feet or the foot. Accordingly, the respective pressure sensors 32a, 32b, 32c, and 32d, in real time, sense the pressure applied through the board upper plate 22, and output voltages of the pressure, and convert the voltages into digital signals through an A/D converter (not shown), and transmit the signals to the microprocessor 40. Then, the microprocessor 40 receives the output voltages and periodically checks the voltages and recognizes, with a predetermined algorithm, a motion command (i.e., acceleration, deceleration, left turn, and right turn motions) of the driver. Then, the microprocessor 40 inputs corresponding command signals (e.g., input current) to the propulsion-driving device 20 and/or the steering device 18, to control the transporter 1 such that the transporter 1 is moved according to the intention of the driver. Such a controlling method will be described in detail with reference to FIGS. 6 through 9.

[34] FIGS. 4A through 4C are sectional views illustrating optical sensors, as the sensors

32a, 32b, 32c, and 32d, disposed on the four sides between the board base plate 10 and the board upper plate 22 in accordance with another exemplary embodiment. [35] Referring to FIGS. 4A through 4C, the optical sensors 32a, 32b, 32c, and 32d are adapted to obtain a voltage output proportional to the variation in the quantity of light, which includes a light-emitting part 42 and a light-receiving part 44. The light-emitting part 42 is disposed between the board base plate 10 and the board upper plate 22, and the light-receiving part 44 is disposed to correspond to the light-emitting part 42. A blocking plate 48, having an inclined surface 46 provided to the board upper plate 22, is disposed between the light-emitting part 42 and the light-receiving part 44. The quantity of light that the light-receiving part 44 receive is varied by the inclined surface 46 of the blocking plate 48 vertically moving according to movement of the board upper plate 22 relative to the board base plate 10, and a voltage output proportional to the variation in the quantity of the light is provided. Thus, as described above, the voltage is converted into digital signals through an A/D converter (not shown), and transmitted to the microprocessor 40. Then, the microprocessor 40 receives the output voltages and periodically checks the voltages and recognizes, with a predetermined algorithm, a motion command (i.e., acceleration, deceleration, left turn, and right turn motions) of the driver. Then, the microprocessor 40 inputs corresponding command signals (e.g., input current) to the propulsion-driving device 20 and/or the steering device 18, to control the transporter 1 such that the transporter 1 is moved according to the intention of the driver. Such a controlling method will be described in detail with reference to FIGS. 6 through 9.

[36] FIGS. 5A through 5B are sectional views illustrating magnetic sensors, as the sensors

32a, 32b, 32c, and 32d, disposed on the four sides between the board base plate 10 and the board upper plate 22 in accordance with yet another exemplary embodiment.

[37] Referring to FIGS. 5A and 5B, the magnetic sensors 32a, 32b, 32c, and 32d receive a voltage output proportional to the increase and decrease of magnetic flux, and are disposed between the board base plate 10 and the board upper plate 22. Upper and lower ends 50 and 52 are spaced apart through a gap and face each other to form a "C"-shaped steel plate 54. The steel plate 54 is formed of an elastic material having high magnetic permeability to form a magnetic circuit. A hall element 58 is disposed on the lower end 52 of the upper and lower ends 50 and 52 forming the gap. When the upper end 50 of the steel plate 54 comes closer to the facing lower end 50 by a downward motion of the board upper plate 22, the gap becomes narrow and, magneto resistance of the magnetic circuit is decreased, and magnetic flux linkage of the hall element 58 is increased, such that a voltage, proportional to the magnetic flux, is induced at an output end of the hall element 58. Accordingly, the magnetic sensors 32a, 32b, 32c, and 32d generate the voltage output proportional to the increase and decrease of the magnetic flux, and, as described above, the voltage is converted into digital signals through an A/D converter (not shown), and transmit the signals to the microprocessor 40. Then, the microprocessor 40 receives the output voltages and periodically checks the voltages and recognizes, with a predetermined algorithm, a motion command (i.e., acceleration, deceleration, left turn, and right turn motions) of the driver. Then, the microprocessor 40 inputs corresponding command signals (e.g., input current) to the propulsion-driving device 20 and/or the steering device 18, to control the transporter 1 such that the transporter 1 is moved according to the intention of the driver. Such a controlling method will be described in detail with reference to FIGS. 6 through 9.

[38] FIG. 6 is a flowchart illustrating a method of controlling acceleration and deceleration motions of the transporter 1 in accordance with an exemplary embodiment.

[39] First, in operation S601, when a power switch (not shown) of the transporter 1 is turned on by a driver, initial values of output values V and V of the front and rear

^{J r} 32a 32b side sensors 32a and 32b are reset to zero by the microprocessor 40.

[40] Then, in operation S602, by the front and rear side sensors 32a and 32b, a variable

(e.g., input value), intentionally varied by the driver, is sensed in real time, and then the output values V 32a and V 32b are output in real time and then transmitted to the mi- croprocessor 40. [41] Then, in operation S603, by the microprocessor 40, respective differences ΔV 32a and

ΔV 32b between the transmitted out ^rput values V 32a and V 32b and ^r previously ^J transmitted values V 32a_old and V 32b_old are calculated in a predetermined period or real time, and then a difference ΔV — ΔV between the differences ΔV and ΔV is

32a 32b 32a 32b calculated.

[42] At this point, in operation S604, when the difference ΔV — ΔV is greater than

"0", in operation S605, an input current value "I" is, by the microprocessor 40, calculated from a below equation 1 and then input to the propulsion-driving device 20 to increase output of the propulsion-driving device 20 such that the transporter 1 is accelerated. At this point, a value k of the equation 1 is intentionally set through the microprocessor 40 by the driver to freely control output sensitivity of the propulsion- driving device 20 to variations received from the front side and rear side sensors 32a and 32b.

[43] I = I old + k 32a,32b (ΔV 32a — ΔV 32b ) (equation 1)

[44] (where, I is a previous input current value, and k is a control constant) old 32a,32b

[45] In operation S606, when the difference ΔV — ΔV is equal to "0", in operation

S607, the previous input current value I old is input to the propulsion-driving device 20 by the microprocessor 40 such that the transporter 1 is in uniform motion. [46] When the difference ΔV — ΔV is less than "0", in operation S608, the input current value "I" is, by the microprocessor 40, calculated from a below equation 2 and then input to the propulsion-driving device 20 to decrease output of the propulsion- driving device 20 such that the transporter 1 is decelerated. At this point, the value k is set by the driver as described above.

32a,32b

[47] I = I — k (ΔV — ΔV ) (equation 2) old 32a,32b 32b 32a

[48] Then, in operation S609, as long as the power switch is kept in "on" state, the above described operations S602 through S608 are continuously performed by the microprocessor 40.

[49] FIG. 7 is a flowchart illustrating a method of controlling left and right turn motions of the transporter 1 in accordance with the exemplary embodiment of FIG. 6.

[50] First, in operation S701, when the power switch (not shown) of the transporter 1 is turned on by a driver, initial values of output values V and V of the left and right

^{J r} 32c 32d ^& side sensors 32c and 32d are reset to zero by the microprocessor 40.

[51] Then, in operation S702, by the left and right side sensors 32c and 32d, a variable

(e.g., input value), intentionally varied by the driver, is sensed in real time, and then the output values V 32c and V 32d are output in real time and then transmitted to the mi- croprocessor 40.

[52] Then, in operation S703, by the microprocessor 40, respective differences ΔV and

ΔV 32d between the transmitted out ^rput values V 32c and V 32d and ^r previously ^J transmitted values V 32c_old , V 32d_old are calculated in a predetermined period or real time, and then a difference ΔV 32c — ΔV 32d between the differences ΔV 32c and ΔV 32d is calculated.

[53] At this point, in operation S704, when the difference ΔV — ΔV is greater than

"0", in operation S705, an input current value "I" is, by the microprocessor 40, calculated from a below equation 3 and then input to the steering device 18 such that the transporter 1 is directed at a predetermined angle on the left or right side. At this point, the predetermined angle is controlled in proportion to the input current value "I". Also, a value k of the equation 3 is intentionally set through the microprocessor 40 by the driver to freely control output sensitivity of the steering device 18 to variations received from the left side and right side sensors 32c and 32d.

[54] I = I + k (ΔV — ΔV ) (equation 3) old 32c,32d 32c 32d

[55] In operation S706, when the difference ΔV — ΔV is equal to "0", in operation

S707, the previous input current value I is input to the steering device 18 by the mi- old croprocessor 40 such that the transporter 1 is moved in the same direction as the previous one. [56] When the difference ΔV 32c — ΔV 32d is less than "0",' in o rperation S708, the in fput current value "I" is, by the microprocessor 40, calculated from a below equation 4 and then input to direct the transporter 1 at a predetermined angle on the left or right side. At this point, the predetermined angle is controlled in proportion to the input current value "I", and the value k 32c,32d is set by ^J the driver as described above.

[57] I = I old — k 32c,32d (ΔV 32d — ΔV 32c ) (equation 4) [58] Then, in operation S709, as long as the power switch is kept in "on" state, the above described operations S702 through S708 are continuously performed by the microprocessor 40.

[59] As described above, in accordance with the exemplary embodiment, the acceleration, deceleration, left turn, and right turn motions of the transporter 1 can be controlled according to the output values from the front side, rear side, left side, and right side sensors 32a, 32b, 32c and 32d. Also, in accordance with another exemplary embodiment, the object of the present disclosure can be achieved using a two-sensor system including the front side or rear side sensor 32a or 32b, and the left side or right side sensor 32c or 32d, which will now be described below.

[60] FIG. 8 is a flowchart illustrating a method of controlling acceleration and deceleration motions of the transporter 1 in accordance with another exemplary embodiment. Sensors in accordance with this exemplary embodiment, include the front side or rear side sensor 32a or 32b, and the left side or right side sensor 32c or 32d, in the board base plate 10 to achieve the two-sensor system, as described above.

[61] First, in operation S801, when the power switch (not shown) of the transporter 1 is turned on by ^J a driver, an initial value of an out ^rput value V 32a or V 32b of the front or rear side sensor 32a or 32b is reset to zero by the microprocessor 40.

[62] Then, in operation S802, by the front or rear side sensor 32a or 32b, a variable (e.g., input value), intentionally varied by the driver, is sensed in real time, and then the output value V or V is output in real time and then transmitted to the micro-

32a 32b processor 40. [63] Then, in operation S803, by the microprocessor 40, a difference ΔV or ΔV

32a 32b between the transmitted output value V or V and a previously transmitted value V or V is calculated in a predetermined period or real time.

32a_old 32b_old

[64] At this point, in operation S 804, when the difference ΔV or ΔV is greater than

32a 32b

"0", in operation S805, an input current value "I" is, by the microprocessor 40, calculated from a below equation 5 and then input to the propulsion-driving device 20 to increase output of the propulsion-driving device 20 such that the transporter 1 is accelerated. At this point, as described above, a value k or k of the equation 5 is in-

32a 32b tentionally set through the microprocessor 40 by the driver to freely control output sensitivity of the propulsion-driving device 20 to variations received from the front side or rear side sensor 32a or 32b. [65] I = I old + (k 32a or k 32b )x(ΔV 32a orΔV 32b ) (equation 5)

[66] (where, I old is a ^r previous in ^Γput current value, and k 32a or k 32b is a control constant)

[67] In operation S806, when the difference ΔV or ΔV is equal to "0", in operation

S 807, the previous input current value I old is input to the propulsion-driving device 20 by the microprocessor 40 such that the transporter 1 is in uniform motion. [68] When the difference ΔV or ΔV is less than "0", in operation S8O8, the input

32a 32b current value "I" is, by the microprocessor 40, calculated from a below equation 6 and then input to the propulsion-driving device 20 to decrease output of the propulsion- driving device 20 such that the transporter 1 is decelerated. At this point, the value k

32a or k is set by the driver as described above.

32b ^J

[69] I = I old + (k 32a or k 32b )x(ΔV 32a or ΔV 32b ) (eq ⁿuation 6)

[70] Then, in operation S809, as long as the power switch is kept in "on" state, the above described operations S802 through S8O8 are continuously performed by the microprocessor 40.

[71] FIG. 9 is a flowchart illustrating a method of controlling left and right turn motions of the transporter 1 in accordance with the exemplary embodiment of FIG. 8.

[72] First, in operation S901, when the power switch (not shown) of the transporter 1 is turned on by a driver, an initial value of an output value V or V of the left side or

^{J r} 32c 32d right side sensor 32c or 32d is reset to zero by the microprocessor 40.

[73] Then, in operation S902, by the left or right side sensor 32c or 32d, a variable (e.g., input value), intentionally varied by the driver, is sensed in real time, and then the out ^rput value V 32c or V 32d is out ^rput in real time and then transmitted to the micro- processor 40. [74] Then, in operation S903, by the microprocessor 40, a difference ΔV or ΔV between the transmitted output value V 32c or V 32d and a previously transmitted value V or V is calculated in a predetermined period or real time.

32c_old 32d_old

[75] At this point, in operation S904, when the difference ΔV or ΔV is greater than

32c 32d

"0", in operation S905, an input current value "I" is, by the microprocessor 40, calculated from a below equation 7 and then input to the steering device 18 such that the transporter 1 is directed at a predetermined angle on the left or right side. At this point, the predetermined angle is controlled in proportion to the input current value "I". Also, a value k or k of the equation 7 is intentionally set through the microprocessor 40 by the driver to freely control output sensitivity of the steering device 18 to variations received from the left side or right side sensor 32c and 32d. [76] I = I + (k or k )x(ΔV or ΔV ) (equation 7) old 32c 32d 32c 32d

[77] In operation S906, when the difference ΔV or ΔV is equal to "0", in operation

S907, the previous input current value I is input to the steering device 18 by the mi- old croprocessor 40 such that the transporter 1 is moved in the same direction as the previous one. [78] When the difference ΔV or ΔV is less than "0", in operation S908, an input current value "I" is, by the microprocessor 40, calculated from a below equation 8 and then input to direct the transporter 1 at a predetermined angle on the left or right side. At this point, the predetermined angle is controlled in proportion to the input current value "I", and the value k or k is set by the driver as described above.

32c 32d ^J

[79] I = I old + (k 32c or k 32d )x(ΔV 32c or ΔV 32d ) (eq ⁿuation 8)

[80] Then, in operation S909, as long as the power switch is kept in "on" state, the above described operations S902 through S908 are continuously performed by the microprocessor 40.

[81] As described above, in accordance with this exemplary embodiment, the front side or rear side sensor 32a or 32b, and the left side or right side sensor 32c or 32d form the two-sensor system. Thus, the acceleration, deceleration, left turn, and right turn motions of the transporter 1 can be controlled according to the output values from the two-sensor system.

[82] Although the transporter and the controlling method thereof have been described with reference to the specific embodiments, they are not limited thereto. Therefore, it will be readily understood by those skilled in the art that various modifications and changes can be made thereto without departing from the spirit and scope of the present invention defined by the appended claims. For example, in accordance with one embodiment, the steering device 18 may include a separate microprocessor controlling a steering function. In this case, the microprocessor 40 of the transporter 1 calculates the input current value "I" in the respective operations (S705, S707 and S708 of FIG. 7, and S905, S907 and S908 of FIG. 9), and converts the calculated value into digital signals through an A/D converter, and then inputs the signals to the microprocessor of the steering device 18, to perform the steering function.

Claims

[1] A transporter having a board base plate, a propulsion unit mounted to the board base plate to be in propulsion motion, a steering unit mounted to the board base plate to control a direction, and a power source unit supplying power, the transporter comprising: a microprocessor controlling the propulsion unit and the steering unit; a board upper plate spaced a predetermined gap from an upper portion of the board base plate, the board upper plate being vertically movable according to a load applied by a driver riding thereon; and a plurality of sensors respectively disposed on a front side, a rear side, a left side, and a right side between the board base plate and the board upper plate and sensing a vertical movement of the board upper plate to respectively output signal values corresponding to the vertical movement, wherein the microprocessor receives the signal values, and calculates a variation of the signal value of the sensor on the front side in a predetermined period and a variation of the signal value of the sensor on the rear side in the predetermined period, and calculates a difference between the variations, and inputs the difference to the propulsion unit, to control speed of the propulsion motion using an output corresponding to the difference, and the microprocessor calculates a variation of the signal value of the sensor on the left side in a predetermined period and a variation of the signal value of the sensor on the right side in the predetermined period, and calculates a difference between the variations, and inputs the difference to the steering unit, to control a direction using a displacement corresponding to the difference.

[2] A transporter having a board base plate, a propulsion unit mounted to the board base plate to be in propulsion motion, a steering unit mounted to the board base plate to control a direction, and a power source unit supplying power, the transporter comprising: a microprocessor controlling the propulsion unit and the steering unit; a board upper plate spaced a predetermined gap from an upper portion of the board base plate, the board upper plate being vertically movable according to a load applied by a driver riding thereon; and a plurality of sensors respectively disposed on a front side or a rear side, and a left side or a right side, between the board base plate and the board upper plate and sensing a vertical movement of the board upper plate to respectively output signal values corresponding to the vertical movement; wherein the microprocessor receives the signal values, and calculates a variation of the signal value of the sensor on the front side or the rear side in a predetermined period and inputs the variation to the propulsion unit, to control speed of the propulsion motion using an output corresponding to the variation, and the microprocessor calculates a variation of the signal value of the sensor on the left side or the right side in a predetermined period, and calculates the variation, and inputs the variation to the steering unit, to control a direction using a displacement corresponding to the variation.

[3] The transporter of claim 1 or 2, wherein the sensor comprises at least one of a pressure sensor, an optical sensor, and a magnetic sensor.

[4] The transporter of claim 3, wherein the pressure sensor is disposed on an inner side of both a housing having a predetermined diameter and extending from the board base plate and a housing having a predetermined diameter extending from the board upper plate, and a compression spring having a predetermined spring coefficient is disposed around the housings.

[5] The transporter of claim 3, wherein the optical sensor comprises a light-emitting part and a light-receiving part, and the light-emitting part is disposed between the board base plate and the board upper plate, and the light-receiving part is disposed to correspond to the light-emitting part, and a blocking plate having an inclined surface connected to the board upper plate is disposed between the light- emitting part and the light-receiving part.

[6] The transporter of claim 3, wherein the magnetic sensor is disposed between the board base plate and the board upper plate, and comprises: a steel plate including an upper end connected to the board upper plate, and a lower end spaced a predetermined gap from the upper end and facing the upper end and connected to the board base plate, the steel plate having a predetermined magnetic permeability to form a magnetic circuit; and a hall element disposed on the lower end of the steel plate.

[7] A method of controlling a transporter including a board, a propulsion unit mounted to the board to be in propulsion motion, a microprocessor controlling the propulsion unit, and a plurality of sensors respectively disposed on a front side and a rear side of the board and respectively sensing a load applied by a driver riding on the board and the sensors respectively outputting signal values corresponding to the sensed load, the method comprising: respectively outputting, by the sensor on the front side and the sensor on the rear side, the signal values and transmitting the signal values to the microprocessor; receiving, by the microprocessor, the signal values, and calculating a variation of the signal value of the sensor on the front side in a predetermined period and a variation of the signal value of the sensor on the rear side in the predetermined period, and calculating a difference between the variations; and inputting, by the microprocessor, the difference to the propulsion unit to drive the propulsion unit; and accelerating the propulsion motion using an output corresponding to the difference when the difference is greater than zero; and keeping the propulsion motion at the same speed as that determined before the predetermined period when the difference is equal to zero; and decelerating the propulsion motion using an output corresponding to the difference when the difference is less than zero.

[8] A method of controlling a transporter including a board, a steering unit mounted to the board to control a direction, a microprocessor controlling the steering unit, and a plurality of sensors respectively disposed on a left side and a right side of the board and respectively sensing a load applied by a driver riding on the board and the sensors respectively outputting signal values corresponding to the sensed load, the method comprising: respectively outputting, by the sensor on the left side and the sensor on the right side, the signal values and transmitting the signal values to the microprocessor; receiving, by the microprocessor, the signal values, and calculating a variation of the signal value of the sensor on the left side in a predetermined period and a variation of the signal value of the sensor on the right side in the predetermined period, and calculating a difference between the variations; and inputting, by the microprocessor, the difference to the steering unit to drive the steering unit; and changing the direction using a displacement corresponding to the difference when the difference is not zero; and keeping the direction in a direction determined before the predetermined period when the difference is equal to zero.

[9] A method of controlling a transporter including a board, a propulsion unit mounted to the board to be in propulsion motion, a microprocessor controlling the propulsion unit, and at least one sensor disposed on a front side or a rear side of the board and sensing a load applied by a driver riding on the board and the sensor outputting a signal value corresponding to the sensed load, the method comprising: outputting, by the sensor on the front side or the rear side, the signal value and transmitting the signal value to the microprocessor; receiving, by the microprocessor, the signal value, and calculating a variation of the signal value in a predetermined period; and inputting, by the microprocessor, the variation to the propulsion unit to drive the propulsion unit; and accelerating the propulsion motion using an output cor- responding to the variation when the variation is greater than zero; and keeping the propulsion motion at the same speed as that determined before the predetermined period when the variation is equal to zero; and decelerating the propulsion motion using an output corresponding to the variation when the difference is less than zero.

[10] A method of controlling a transporter including a board, a steering unit mounted to the board to control a direction, a microprocessor controlling the steering unit, and at least one sensor disposed on a left side or a right side of the board and sensing a load applied by a driver riding on the board and the sensor outputting a signal value corresponding to the sensed load, the method comprising: outputting, by the sensor on the left side or the right side, the signal value and transmitting the signal value to the microprocessor; receiving, by the microprocessor, the signal value, and calculating a variation of the signal value in a predetermined period; and inputting, by the microprocessor, the variation to the steering unit to drive the steering unit; and changing the direction using a displacement corresponding to the variation when the variation is not zero; and keeping the direction in a direction determined before the predetermined period when the variation is equal to zero.

[11] The method of any one of claims 7 through 10, wherein the calculating of the variation comprises multiplying, by the microprocessor, the calculated variation by a predetermined constant, and the constant is arbitrarily set to control a sensitivity of controlling the transporter.

[12] The method of any one of claims 7 through 10, wherein the sensor comprises at least one of a pressure sensor, an optical sensor, and a magnetic sensor.