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 Title: |
US6415879:
Control inputs for a balancing personal vehicle
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Kamen, Dean L.; Bedford, NH
Ambrogi, Robert R.; Manchester, NH
Heinzmann, John David; Manchester, NH
Heinzmann, Richard Kurt; Francestown, NH
Herr, David; Compton, NH
Morrell, John B.; Manchester, NH
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| Assignee: |
DEKA Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
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| Published / Filed: |
2002-07-09
/ 2001-03-21
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| Application Number: |
US2001000813713
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| IPC Code: |
Advanced:
A61G 5/04;
A61G 5/06;
B62B 3/00;
B62B 5/02;
B62B 5/06;
B62K 3/00;
G05B 13/04;
G05G 9/047;
IPC-7:
B62D 61/12;
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| ECLA Code: |
A61G5/04; A61G5/06A; B62K3/00D; G05B13/04B; G05G9/047; S05G9/047E; K61G5/04; K61G203/14;
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| U.S. Class: |
180/008.2;
280/005.26;
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| Field of Search: |
180/7.1,8.2,8.3,6.48,6.5,6.54,65.1,65.8,21,41,907,118
280/250.1,47.315,47.371,5.2,5.22,5.24,5.26,5.28,5.32,DIG. 10
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| Priority Number: |
| 2001-03-21 |
US2001000813713 |
| 2000-03-14 |
US2000000524931 |
| 1999-03-15 |
US1999000124403P |
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| Abstract: |
A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.
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| Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;
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| Primary / Asst. Examiners: |
Olszewski, Robert P.; Cuff, Michael
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Parent Case: |
The present application is a divisional application of copending application Ser. No. 09/524,931, filed Mar. 14, 2000, which claims priority from U.S. Provisional Application Ser. No. 60/124,403, filed Mar. 15, 1999, each of which is incorporated herein by reference in its entirety.
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| Designated Country: |
AE AL AM AP AZ BA BB BG BY CU CZ EA EE GD GE GH GM HR HU ID AT BE CH CY DE DK ES FI FR GB GR IE CR DM DZ
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| Family: |
Show 321 known family members
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| Claim |
We claim:
1. A vehicle for transporting a payload over a surface that may be irregular and may include stairs, the vehicle comprising:
- a. a support for supporting the payload;
- b. a ground contacting element movable with respect to a local axis, the local axis being movable with respect to a second axis having a defined relation with respect to the support;
- c. a motorized drive arrangement for permitting controllable motion of the ground contacting element with respect to the local axis in such a manner that the local axis moves with respect to the second axis so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered;
- d. an input device for receiving an indication from a user of a specified configuration of the vehicle wherein the input device further includes a user command device for receiving an indication from the user of at least one of a desired movement and a desired configuration of the assembly;
- e. an assistant-override for supplanting all inputs from the user command device while the vehicle is controlled by an assistant.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 10 U.S. patent(s) that reference this one
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| Foreign References: |
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PDF |
Publication |
Date |
IPC Code |
Assignee |
Title |
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JP04201793
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1992-07 |
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| Other Abstract Info: |
DERABS G2000-572317
DERABS G2000-572318
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| Other References: |
Kanoh Adaptive Control of Inverted Pendulum, Computrol, vol. 2, pp. 69-75 (1983).
Yamafuji A Proposal for Modular-Structed Mobile Robots for Work that Principally Involve a Vehicle with Two Parallel Wheels, Automation Technology, vol. 20, pp. 113-118 (1988).
Yamafuji & Kawamura Study of Postural and Driving Control of Coaxial Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 54, No. 501, pp. 1114-1121 (May, 1988).
Yamafuji et al. Synchronous Steering Control of a Parallel Bicycle, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 55, No. 513, pp. 1229-1234 (May, 1989).
Momoi & Yamafuji Motion control of the Paralell Bicycle-Type Mobile Robot Composed of a Triple Inverted Pendulum, Paper Read at Meeting of Japan Society of Mechanical Engineering (Series C), vol. 57, No. 541, pp. 154-159 (Sep., 1991).
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| Continuity Data: |
| Application Number | Filed | Notes |
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>US2001000813713< | 2001-03-21 | is a
division of |
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US2000000524931
| 2000-03-14 |
(pending)
[presumed granted]
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US6443250 issued 2002-09-03 Control of a balancing personal vehicle
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US2001000813713 | 2001-03-21 | is a
non-provisional of provisional |
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US1999000124403P
| 1999-03-15 |
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