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Title: US6302230: Personal mobility vehicles and methods
[ Derwent Title ]

Country: US United States of America

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29 pages

 
Inventor: Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Duggan, Robert J.; Northwood, NH
Field, J. Douglas; Bedford, NH
Heinzmann, Richard Kurt; Francetown, NH
Amesbury, Burl; Cambridge, MA
Langenfeld, Christopher C.; Nashua, NH

Assignee: DEKA Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
 News, Profiles, Stocks and More about this company

Published / Filed: 2001-10-16 / 1999-06-04

Application Number: US1999000325978
IPC Code: Advanced: A61G 5/04; A63C 17/01; A63C 17/08; B60L 15/20; B62D 37/00; B62D 51/00; B62D 51/02; B62D 61/00; B62D 61/12; B62K 1/00; A61G 5/06;
IPC-7: B60K 28/00; B60K 31/00; B60Q 1/00; B62D 63/00;

ECLA Code: B62D61/00; A63C17/01; A63C17/08; A63C17/12; B62D37/00; B62D51/00B2; B62D51/02; B62D57/00; B62K1/00; B62K3/00D; Y02T10/72D;

U.S. Class: Current: 180/171; 180/021; 180/218; 180/271; 340/441;
Original: 180/171; 180/218; 180/271; 180/021; 340/441;

Field of Search: 180/218,271,274,170,171,21,41,440 340/438,441,440,439,905,936 318/465,461,798 188/181 C 280/455.1 298/175,5,20 R

Priority Number:
1999-06-04  US1999000325978

Abstract:     An automatically balancing vehicle having a headroom monitor. The headroom monitor determines the difference between the maximum velocity of the vehicle and the present velocity of the vehicle. An alarm receives a signal from the headroom monitor and produces a warning when the headroom falls below a specified limit.

Attorney, Agent or Firm: Bromberg & Sunstein LLP ;

Primary / Asst. Examiners: Johnson, Brian L.; Luby, Matthew
INPADOC Legal Status: Show legal status actions          Buy Now: Family Legal Status Report

Designated Country: AE AL AM AP AT AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EA EE EP ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG 

Family: Show 306 known family members
First Claim:
Show all 7 claims		 What is claimed is:     1. A vehicle for carrying a payload including a user, the vehicle comprising:
  • a. a platform which supports the user;
  • b. a ground-contacting module, to which the platform is mounted, which propels the user in desired motion over an underlying surface;
  • c. a motorized drive arrangement, coupled to the ground-contacting module; the drive arrangement, ground-contacting module and payload comprising a system being unstable with respect to tipping when the motorized drive is not powered; the motorized drive arrangement causing, when powered, automatically balanced operation of the system wherein the vehicle has a present velocity and a maximum operating velocity, determined by a requirement of acceleration to maintain balance and, in operation, has a balancing margin determined by the difference between the maximum operating velocity and the present velocity of the vehicle;
  • d. a balancing margin monitor, coupled to the ground-contacting module, for generating a signal characterizing the balancing margin; and
  • e. an alarm, coupled to the balancing margin monitor, for receiving the signal characterizing the balancing margin and for warning when the balancing margin falls below a specified limit.
    •


Background / Summary: Show background / summary

Drawing Descriptions: Show drawing descriptions

Description: Show description

Forward References: Show 66 U.S. patent(s) that reference this one

       
U.S. References: Go to Result Set: All U.S. references   |  Forward references (66)   |   Backward references (96)   |   Citation Link

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  * some details unavailable
       
Foreign References:
Buy
PDF		 Publication Date IPC Code Assignee   Title
  DE2048593 1971-05  A47C 7/14    
  DE31281121 1983-02       
  DE34114891 1984-10       
  DE32428801 1989-06       
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  JP02190277 1990-07       
  JP04171562 1992-12       
  JP05213240 1993-08       
  JP07255780 1995-03       
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  DE1998298080911 1998-10       
  JP199461054156B 1994-12       


Other Abstract Info: DERABS G2001-050011

Other References:
  • Teruaki Self Supported Carrier Machine and Automatic Carrier Device Using the Same in Patent Abstracts of Japan, Dec. 21, 1989, #63149523, Japanese Patent Office, Japan.
  • Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan (1987), pp. 21-28.
  • Schoonwinkel, A., Design and Test of a Computer-Stabilized Unicycle, Stanford University (1988), UMI Dissertation Services.
  • Vos, D., Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle, Massachusetts Institute of Technology, 1989.
  • Vos, D., Nonlinear Control of an Autonomous Unicycle Robot: Practical Isues, Massachusetts Institute of Technology, 1992.
  • Koyanagi et al., A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Posture Control and Vehicle Control, The Society of Instrument and Control Engineers, Special issue of the 31st SICE Annual Conference, Japan 1992, pp. 13-16.
  • Koyanagi et al., A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot, The Society of Instrument and Control Engineers, Special issue of the 31st SICE Annual Conference, Japan 1992, pp. 51-56.
  • Koyanagi et al., A Wheeled Inverse Pendulum Type Self-Contained Mobile Robot and its Two Dimensional Tragectory Control, Proceeding of the Secon International Symposium on Measurement and Control in Robotics, Japan 1992, pp. 891-898.
  • Watson Industries, Inc., Vertical Reference Manual ADS-C132-1A, 1992, pp. 3-4.
  • News article Amazing Wheelchair Goes Up and Down Stairs.
  • Osaka et al., Systems and Control, vol. 25, No. 3, Japan 1981, pp. 159-166 (Abstract Only).
  • Roy et al., Five-Wheel Unicycle System, Medical & Biological Engineering & Computing, vol. 23, No. 6, United Kingdom 1985, pp. 593-596. (4 pages) Cited by 45 patents
  • Kawaji, S., Stabilization of Unicycle Using Spinning Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan 1987, pp. 21-28 (Abstract Only).
  • Schoonwinkel, A., Design and Test of a Computer-Stabilized Unicycle, Dissertation Abstracts International, vol. 49/03-B, Stanford University 1988, pp. 890-1294 (Abstract only).
  • Vos et al., Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle-Theory and Experiment, American Institute of Aeronautics and Astronautics, A90-26772 10-39, Washington, D.C. 1990, pp. 487-494 (Abstract only).
  • TECKNICO'S Home Page, Those Amazing Flying Machines, http://www.swiftsite.com/technico.
  • Stew's Hovercraft Page, http://www.stewcam.com/hovercraft.html.


    • Continuity Data:
    Application Number Filed Notes
    US1999000325978 1999-06-04  is a related to the prior publication
         US20040055804A1 issued 2004-03-25  Transporter oscillating alarm
    US1999000325978 1999-06-04  is a related to the prior publication
         US20050121866A1 issued 2005-06-09  Control of a personal transporter based on user position
    US1999000325978 1999-06-04  is a related to the prior publication
         US20060061460A1 issued 2006-03-23  Transporter oscillating alarm
    US1999000325978 1999-06-04  is a related to the prior publication
         US20070296170A1 issued 2007-12-27  Enhanced Control of a Transporter
    US1999000325978 1999-06-04  is a related to the prior publication
         US20080018443A1 issued 2008-01-24  Control of a Personal Transporter Based on User Position
    US1999000325978 1999-06-04  is a related to the prior publication
         US20100222994A1 issued 2010-09-02  Enhanced Control of a Transporter
    US1999000325978 1999-06-04  is a related to the prior publication
         US20110012721A1 issued 2011-01-20  CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION
    13857737   is a continuation of
    US2012013585041  2012-08-14   (abandoned)
    13585041   is a continuation of
    US2010012879650  2010-09-10
         US8248222 issued 2012-08-21   Control of a personal transporter based on user position
    12879650   is a continuation of
    US2007011863640  2007-09-28
         US7812715 issued 2010-10-12   Control of a personal transporter based on user position
    12879650   is a continuation of
    US2007000863640  2007-09-28
         US7812715 issued 2010-10-12   Control of a personal transporter based on user position
    12776618   is a division of
    US2007000774876  2007-07-09
         US7740099 issued 2010-06-22   Enhanced control of a transporter
    US1999000325978 1999-06-04  is a non-provisional of provisional
    US2006000819165P  2006-07-07
    11863640   is a division of
    US2004010939955  2004-09-13
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    US2007000863640 2007-09-28  is a division of
    US2004000939955  2004-09-13   (granted)
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    US2007000774876 2007-07-09  is a continuation in part of
    US2004000939955  2004-09-13   (granted)
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    11863640   is a division of
    US2004000939955  2004-09-13
         US7275607 issued 2007-10-02 2007-10-02  Control of a personal transporter based on user position
    11863640   is a division of
    US2004000939955  2004-09-13
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    11774876   is a continuation in part of
    US2004000939955  2004-09-13
         US7275607 issued 2007-10-02   Control of a personal transporter based on user position
    US2005000263881 2005-11-01  is a continuation of
    US2003000668594  2003-09-23   (pending) [presumed granted]
         US7023330 issued 2006-04-04   Transporter oscillating alarm
    11263881   is a continuation of
    US2003000668594  2003-09-23
         US7023330 issued 2006-04-04   Transporter oscillating alarm
    US1999000325978 1999-06-04  is a non-provisional of provisional
    US2002060388846P  2002-06-14
    US2004000939955   is a continuation in part of
    US2002010308850  2002-12-03
         US6789640 issued 2004-09-14   Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    US2002010044590  2002-01-11   (abandoned)
    US1999000325978 1999-06-04  is a non-provisional of provisional
    US2002000388846P  2002-06-14
    US2004000939955 2004-09-13  is a continuation in part of
    US2002000308850  2002-12-03   (granted)
         US6789640 issued 2004-09-14   Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    US2002000308850  2002-12-03
         US6789640 issued 2004-09-14 2004-09-04  Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    US2002000308850  2002-12-03
         US6789640 issued 2004-09-14 2004-09-14  Yaw control for a personal transporter
    US2004000939955   is a continuation in part of
    US2002000308850  2002-12-03
         US6789640 issued 2004-09-14   Yaw control for a personal transporter
    US2004000939955 2004-09-13  is a continuation in part of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2004000939955   is a continuation of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2004000939955   is a continuation in part of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2002000308850   is a continuation in part of
    US2002000044590  2002-01-11   (abandoned)
         US20020063006A1 issued 2002-05-30   Personal mobility vehicles and methods
    US2002000044590   is a division of
    US2000009635936  2000-08-10
         US6367817 issued 2002-04-09   Personal mobility vehicles and methods
    US2002000044590 2002-01-11  is a division of
    US2000000635936  2000-08-10   (granted)
         US6367817 issued 2002-04-09   Personal mobility vehicles and methods
    US2002000044590 2002-01-11  is a division of
    US2000000635936  2000-08-10   (patented) [presumed granted]
         US6367817 issued 2002-04-09   Personal mobility vehicles and methods
    US2002000044590   is a division of
    US2000000635936  2000-08-10
         US6367817 issued 2002-04-09 2002-04-09  Personal mobility vehicles and methods
    US2002000044590   is a division of
    US2000000635936  2000-08-10
         US6367817 issued 2002-04-09   Personal mobility vehicles and methods
    US2003000668594 2003-09-23  is a division of
    US2000000507148  2000-02-18   (granted)
         US6651763 issued 2003-11-25   Transporter oscillating alarm
    US2003000668594   is a division of
    US2000000507148  2000-02-18
         US6651763 issued 2003-11-25   Transporter oscillating alarm
    US2000000635936   is a division of
    US1999009325978  1999-06-04
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods
    US2000000635936 2000-08-10  is a division of
    >US1999000325978<  1999-06-04   (granted)
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods
    US2000000635936 2000-08-10  is a division of
    >US1999000325978<  1999-06-04   (patented) [presumed granted]
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods
    US2000000635936   is a division of
    >US1999000325978<  1999-06-04
         US6302230 issued 2001-10-16 2001-10-16  Personal mobility vehicles and methods
    US2000000635936   is a division of
    >US1999000325978<  1999-06-04
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods
    US2000000507148 2000-02-18  is a continuation in part of
    >US1999000325978<  1999-06-04   (granted)
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods
    US2000000507148   is a continuation in part of
    >US1999000325978<  1999-06-04
         US6302230 issued 2001-10-16   Personal mobility vehicles and methods


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