Motion control of a transporter
First Claim
Patent Images
1. A transporter comprising:
- a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution;
a plurality of ground contacting elements coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane;
a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;
a sensor module for generating a signal indicative of the load distribution of the loaded support platform; and
a controller for commanding the motorized drive arrangement based on the load distribution.
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Abstract
A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.
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Citations
32 Claims
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1. A transporter comprising:
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a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution;
a plurality of ground contacting elements coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane;
a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;
a sensor module for generating a signal indicative of the load distribution of the loaded support platform; and
a controller for commanding the motorized drive arrangement based on the load distribution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for controlling a transporter having a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution, the transporter further including a plurality of ground-contacting elements such that the transporter is statically stable with respect to tipping in the fore-aft plane, the transporter further including a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:
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determining the load distribution of the loaded support;
commanding the motorized drive arrangement based at least on the load distribution. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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24. A transporter comprising:
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a support platform for supporting a load, the support platform defining a fore-aft plane and a lateral plane;
a plurality of ground contacting elements coupled to the support platform such that the support platform is statically stable with respect to tipping in the fore-aft and the lateral plane;
a pivot element pivotally coupled to at least one of the ground contacting elements such that the pivot element is capable of tilting;
a user interface for causing a tilt of the pivot element;
a sensor module for generating a signal indicative of the tilt of the pivot element;
a motorized drive arrangement for driving at least one of the plurality of ground contacting elements;
and a controller for commanding the motorized drive arrangement based on the tilt of the pivot element. - View Dependent Claims (25, 26, 27, 28, 29)
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30. A method for controlling a transporter having a support platform for supporting a load, the support platform defining fore-aft and lateral planes, the transporter including a plurality of ground-contacting elements such that the transporter is statically stable with respect to tipping, the transporter further including a pivot element pivotally coupled to at least one of the ground contacting elements such that the pivot element is capable of tilting, and a motorized drive arrangement for driving at least one of the plurality of ground-contacting elements, the method comprising:
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causing a tilt of the pivot element; and
commanding the motorized drive arrangement based at least on the tilt. - View Dependent Claims (31, 32)
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Specification