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 Title: |
US6799649:
Control of 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 D.; 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: |
2004-10-05
/ 2002-06-10
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| Application Number: |
US2002000166553
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| IPC Code: |
Advanced:
A61G 5/06;
G05B 13/04;
A61G 5/04;
IPC-7:
B62D 51/06;
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| ECLA Code: |
A61G5/06A; B62K3/00D; G05B13/04B; K61G5/04; K61G203/14;
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| U.S. Class: |
180/008.2;
280/005.2;
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| Field of Search: |
180/021,24.02,7.1,8.1-8.3,65.8,907,65.1,901
280/5.26,DIG. 10,5.2,5.28,5.32,78,208,209
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| Priority Number: |
| 2002-06-10 |
US2002000166553 |
| 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: |
Morris, Lesley D.; Royal, Jr., Paul
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| INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report
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| Parent Case: |
The present application is a divisional application of application Ser. No. 09/524,931, now U.S. Pat. No. 6,443,250 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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| Family: |
Show 348 known family members
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First Claim:
Show all 5 claims |
We claim:
1. A method for enabling a payload to ascend and descend stairs, each stair having a riser, the method comprising:
- a. providing a device, the device comprising:
- i. a support for supporting the payload;
- ii. 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;
- iii. 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; and
- b. maintaining wheel torque against each riser successively; and
- c. changing the relation of the local axis with respect to the support so as to maintain the center of gravity of the device and the payload between specified limits in forward and rearward directions of rotation of the device.
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| Background / Summary: |
Show 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: |
Buy
PDF |
Publication |
Date |
IPC Code |
Assignee |
Title |
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DE3128112
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1983-02 |
A61G 3/06
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Heid, Gerhard, Dipl.-Ing., 6100 Darmstadt, DE
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Kleines Elektrofahrzeug |
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DE3242880
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1983-06 |
B60L 11/18
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T.G.R. S.r.l., Ozzano dell'Emilia, IT
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Cart with electrical drive, particularly suitable for transporting heavy and bulky objects on steps |
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EP0109927
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1984-07 |
B62B 5/02
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ROHR MARTIN VON
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Wheel assembly |
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EP0193473
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1986-09 |
A61G 5/00
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Brunet, Pierre
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Motorized transporting device, for example for climbing and descending stairs |
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EP0537698
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1993-04 |
A61G 5/06
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T.G.R. S.r.l.
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Tracked motor-vehicle, particularly adapted for invalid carriages |
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FR0980237
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1951-05 |
B62B 9/02
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Voiture d'enfant ou poussette à chenilles |
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FR2502090
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1982-09 |
A61G 5/00
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TOBEX MOTIVATED CHAIR CY LTD
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VEHICULE POUR MONTER OU DESCENDRE DES ESCALIERS |
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GB1213930
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1970-11 |
B62B 5/02
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GB2139576
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1984-11 |
A61G 5/00
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MAVISPACE LTD
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STAIR CLIMBING DEVICES |
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JP52044933
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1975-10 |
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JP57087766
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1982-06 |
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JP60255580
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1985-12 |
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JP63305082
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1988-12 |
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JP06105415
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1989-12 |
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JP02190277
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1990-07 |
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JP04201793
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1992-07 |
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WO8906117
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1989-07 |
A61G 5/04
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ANSCHUETZ & CO GMBH
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PROCESS FOR STABILIZING A SINGLE-AXLE WHEELED VEHICLE AND VEHICLE SO STABILIZED |
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WO9623478
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1996-08 |
A61G 5/04
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DEKA PRODUCTS LIMITED PARTNERSHIP
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TRANSPORTATION VEHICULES AND METHODS |
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WO0054721
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2000-09 |
A61G 5/06
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DEKA PRODUCTS LIMITED PARTNERSHIP
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CONTROL OF A BALANCING PERSONAL VEHICLE |
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| Other References: |
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 Two Dimensional Trajectory Control, Proceeding of the Second International Symposium on Measurement and Control in Robotics, Japan 1992, pp. 891-898.
News article Amazing Wheelchair Goes Up and Down Stairs.
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 Rombushi, D, vol. 107, Issue 1, Japan 1987, pp. 21-28 (Abstract Only).
Osaka et al., Stabilization of Unicycle, Systems and Control, vol. 25, No. 3, Japan 1981, pp. 159-166 (Abstract Only).
Kanoh, Adaptive Control of Inverted Pendulum, Computrol, vol. 2, pp. 69-75 (1983).
Yamafuji, A Proposal for Modular-Structured 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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US2002000166553 | 2002-06-10 | is a
related to the prior publication |
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US2002000166553 | 2002-06-10 | is a
related to the prior publication |
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12772791 | | is a
continuation of |
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US2008000102104
| 2008-04-14 |
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US7708094 issued 2010-05-04 User input for vehicle control
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12102104 | | is a
continuation of |
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US2004000947122
| 2004-09-22 |
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US7357202 issued 2008-04-15 User input for vehicle control
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US2005000947122 | | is a
division of |
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>US2002000166553<
| 2002-06-10 |
|
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US6799649 issued 2004-10-05 2004-10-05 Control of a balancing personal vehicle
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|
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US2005000947122 | | is a
division of |
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>US2002000166553<
| 2002-06-10 |
|
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US6799649 issued 2004-10-05 Control of a balancing personal vehicle
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|
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US2004000947122 | 2004-09-22 | is a
division of |
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>US2002000166553<
| 2002-06-10 |
(granted)
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US6799649 issued 2004-10-05 Control of a balancing personal vehicle
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>US2002000166553< | 2002-06-10 | is a
division of |
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US2000000524931
| 2000-03-14 |
(granted)
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US6443250 issued 2002-09-03 Control of a balancing personal vehicle
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|
|
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>US2002000166553< | | is a
division of |
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US2000000524931
| 2000-03-14 |
|
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US6443250 issued 2002-09-03 2002-09-03 Control of a balancing personal vehicle
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|
|
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>US2002000166553< | | is a
division of |
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US2000000524931
| 2000-03-14 |
|
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US6443250 issued 2002-09-03 Control of a balancing personal vehicle
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US2002000166553 | 2002-06-10 | is a
non-provisional of provisional |
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US1999000124403P
| 1999-03-15 |
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