Transportation vehicles and methods

• US 5,971,091 A
• Filed: 02/03/1995
• Issued: 10/26/1999
• Est. Priority Date: 02/24/1993
• Status: Expired due to Term

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Skoskiewicz, Andrzej, Kristal, Phyllis K., Ambrogi, Robert R., Duggan, Robert J., Heinzmann, Richard Kurt, Kamen, Dean L., Key, Brian R.
• Primary Examiner(s): BOEHLER, ANNE MARIE M
• Application Number:
  US08/384,705
• Time in Patent Office: 1,726 Days
• Field of Search: 180/7.1, 180/8.1, 180/8.2, 180/8.3, 180/8.6, 180/65.8, 180/907, 280/5.2, 280/5.28, 280/5.3, 280/5.32, 280/DIG. 10, 901/1, 701/70, 701/22, 701/124
• US Class Current: 180/218
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A61G 2203/20 Displays or monitors
• CPC Class Codes: A61G 5/04 motor-driven A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023
• CPC Class Codes: A61G 5/061 for climbing stairs
• CPC Class Codes: A61G 5/065 with three or more wheels mounted on a rotary cross member, e.g. spiders or spoked wheels with small wheels at the end of the spokes
• CPC Class Codes: A61G 5/068 with extensible supports pushing upwards, e.g. telescopic legs
• CPC Class Codes: A61G 5/1032 engaging an element of the drive or transmission, e.g. drive belt, electrodynamic brake
• CPC Class Codes: A61G 5/1059 adjusting the height of the seat
• CPC Class Codes: A61G 5/107 positioning the whole seat forward or rearward
• CPC Class Codes: A61G 5/1075 tilting the whole seat backwards tilting forwards for standing-up or sitting-down aids A61G5/14
• CPC Class Codes: A61G 5/125 for arms
• CPC Class Codes: A61G 5/128 for feet
• CPC Class Codes: A61G 5/14 Standing-up or sitting-down aids
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2200/16 Single-axle vehicles
• CPC Class Codes: B60L 2200/24 Personal mobility vehicles
• CPC Class Codes: B60L 2200/34 Wheel chairs
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 : Speed
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60L 2240/545 : Temperature
• CPC Class Codes: B60L 2240/547 : Voltage
• CPC Class Codes: B60L 2240/549 : Current
• CPC Class Codes: B60L 2240/642 : Slope of road
• CPC Class Codes: B60L 2250/10 : by alarm
• CPC Class Codes: B60L 2250/24 : by lever actuation
• CPC Class Codes: B60L 2260/34 : Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 2260/44 : by parameter estimation
• CPC Class Codes: B60L 3/0046 : relating to electric energy storage systems, e.g. batteries or capacitors
• CPC Class Codes: B60L 3/08 : Means for preventing excessive speed of the vehicle
• CPC Class Codes: B60L 50/66 : Arrangements of batteries
• CPC Class Codes: B60L 58/10 : for monitoring or controlling batteries
• CPC Class Codes: B62D 57/00 : Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: B62K 11/007 : Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 180/907 : Motorized wheelchairs

Abstract

There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the embodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. The ground contacting module may be realized as a pair of ground-contacting members, laterally disposed with respect to one another. The ground-contacting members may be wheels. Alternatively, each ground-contacting member may include a duster of wheels. In another embodiment, each ground-contacting member includes a pair of axially adjacent and rotatably mounted arcuate element pairs. Related methods are also provided.

Claims

1. A vehicle, for transporting a human subject over a surface that may be irregular, the vehicle comprising:

(a) a support for supporting the subject, the support having left and right sides and defining fore-aft and lateral planes;

(b) a ground-contacting module, including a pair of ground-contacting members, laterally disposed with respect to one another, movably attached to the support, for suspending the subject in the support over the surface, the support and the ground-contacting module being components of an assembly;

(c) a motorized drive arrangement, mounted to the assembly for causing locomotion of the assembly and the subject over the surface; and

(d) a control loop, in which the motorized drive is included, for dynamically maintaining stability in the fore-aft plane by operation of the motorized drive arrangement so that the net torque experienced by the assembly about the point of contact with the surface, taking into account torques caused by gravity as well as by all other external forces and by the motorized drive, causes a desired acceleration and sustained locomotion of the assembly, such stability being maintained even while the assembly experiences varying forces and accelerations;

wherein the control loop is configured so that fore and aft sustained motion of the vehicle is controlled by fore and aft leaning of the vehicle caused by the subject, and in maintaining stability in the fore-aft plane the control loop does not cancel out such leaning under normal conditions of locomotion.

2. A vehicle according to claim 1, wherein each ground-contacting member includes a wheel, the vehicle further comprising:

wheel control means for controlling the rotation of each of the wheels separately, the wheel control means having a balance mode, utilizing the control loop, in which the wheels are driven in such a manner as to maintain balance of the vehicle in the fore-aft plane.

3. A vehicle according to claim 1, wherein each ground-contacting member includes a cluster of wheels for contacting the ground, each cluster being rotatably mounted on and motor-driven about a laterally disposed central axis, and each of the wheels in each cluster being rotatably mounted about an axis parallel to the central axis, the wheels being capable of being motor-driven independently of the cluster.

4. A vehicle according to claim 3, wherein the central axes of the clusters are so disposed as to be substantially coincident with one another.

5. A vehicle according to claim 4, wherein the distance from the central axis through a diameter of each wheel is approximately the same for each of the wheels in the cluster.

6. A vehicle according to claim 4, wherein each cluster has two wheels of substantially equal diameter.

7. A vehicle according to claim 4, wherein each cluster has three wheels of substantially equal diameter.

8. A vehicle according to claim 4, further comprising:

cluster control means for controlling the angular orientation of each cluster about the central axis; and

wheel control means for controlling separately, as to the wheels of each cluster, the rotation of wheels in contact with the ground.

9. A vehicle according to claim 8, wherein the wheel control means has a balance mode, utilizing the control loop, in which the wheels of each cluster in contact with the ground are driven in such a manner as to maintain balance of the vehicle in the fore-aft plane.

10. A vehicle according to claim 8, wherein the wheel control means has a slave mode in which the wheels are driven as a function of the rotation of the dusters;

and the cluster control means has a lean mode, utilizing the control loop, in which the clusters are driven in such a manner as to tend to maintain balance of the vehicle in the fore-aft plane while the wheels are in the slave mode, so as to permit the vehicle to ascend or descend stairs or other surface features.

11. A vehicle according to claim 10, wherein the wheel control means has a balance mode, utilizing the control loop, in which the wheels of each cluster in contact with the ground are driven in such a manner as to maintain balance of the vehicle in the fore-aft plane.

12. A vehicle according to claim 11, wherein the wheel control means has a wheel transition mode, used in the transition from the slave mode to the balance mode, operative to prevent entering the balance mode until a zero crossing by the clusters has been sensed.

13. A vehicle according to claim 8, further comprising:

coordination control means for coordinating operation of the cluster control means with that of the wheel control means, the coordination control means having a stair climbing mode to cause steps as follows;

(1) start, in which the assembly, balanced on a first wheel pair, one from each cluster, is disposed adjacent to a stair and the clusters are then rotated so that a second wheel pair is resting on the stair;

(2) transfer weight, in which the weight of the vehicle and the subject is transferred from the lower first wheel pair to the second wheel pair on the stair by motion of the clusters relative to the assembly while the wheels are driven to maintain the position of the clusters relative to the world;

(3) climb, in which the second wheel pair is driven to move the vehicle forward to the riser of the succeeding stair while simultaneously the clusters are driven to position the next wheel pair on the tread of the succeeding stair, this step being carried out while the wheel control means is in the balance mode;

and wherein steps (2) and (3) are alternated until the last stair, at which point normal balance mode of the wheel control means is entered into.

14. A vehicle according to claim 10, further comprising:

slave function adjustment for modifying the function in the slave mode, so that the vehicle may accommodate climbing and descent of stairs and of other surface features having varying geometries.

15. A vehicle according to claim 14, the vehicle further comprising:

sensing arrangement for sensing the physical relation of the vehicle to surface features, the sensing arrangement in communication with the slave function adjustment, so that stairs and other surface features may be negotiated automatically by the vehicle.

16. A vehicle according to claim 4, further comprising:

a joystick for use by the subject in controlling direction of the vehicle.

17. A vehicle according to claim 4, further comprising:

leaning means for sensing leaning of the vehicle in a given direction that may include components in any, or both, of the fore-aft and lateral planes, and for controlling the motorized drive to cause the vehicle to move in the direction in which the vehicle may lean.

18. A vehicle according to claim 17, wherein the leaning means includes a force plate.

19. A vehicle according to claim 17, wherein the leaning means includes a proximity sensor.

20. A vehicle according to claim 4, wherein the support includes a chair having a seat, hingedly attached to the assembly, so as to have a first position in which the subject may be seated on the seat and a second position in which the subject may stand.

21. A vehicle according to claim 4, wherein the vehicle has a roll axis and a pitch axis, further comprising:

attitude determination means for determining the attitude of the support;

attitude control means for controlling the attitude of the support relative to the ground-contacting member.

22. A vehicle according to claim 21, further comprising:

roll adjustment means for permitting adjustment of the angular orientation of the support with respect to the ground-contacting module about an axis approximately parallel to the roll axis of the vehicle, the roll adjustment means controlled by the attitude control means.

23. A vehicle according to claim 22, further comprising:

banking means for causing the roll adjustment means, in the course of a turn, to bank the support in the general direction of turning.

24. A vehicle according to claim 21, further comprising:

tilt adjustment means for permitting adjustment of the angular orientation of the support with respect to the ground-contacting module about an axis approximately parallel to the pitch axis of the vehicle, the tilt adjustment means controlled by the attitude control means.

25. A vehicle according to claim 4, further comprising:

height adjustment means for adjusting the height of the support relative to the ground.

26. A vehicle according to claim 25, wherein the height adjustment means includes a variable extension between the support and the ground-contacting module.

27. A vehicle according to claim 4, wherein the support has a base surface for supporting the subject and wherein the clusters are movably attached to the support in such a manner that the distance between the point of contact of each cluster with the ground and the base surface is sufficiently small as to permit a person to step from the ground onto the support.

28. A vehicle according to claim 27, further comprising a handle, affixed to the support, having a grip at approximately waist height of the subject.

29. A vehicle according to claim 28, further comprising:

a joystick, mounted on the handle, for use by the subject in controlling direction of the vehicle.

30. A vehicle according to claim 27, further comprising:

leaning means for sensing leaning of the subject in a given direction and for controlling the motorized drive to cause the vehicle to move in the direction in which the subject may lean.

31. A vehicle according to claim 27, further comprising:

leaning means for sensing leaning of the subject in a given direction that may include components in any, or both, of the fore-aft and lateral planes, and for controlling the motorized drive to cause the vehicle to move in the direction in which the subject may lean.

32. A vehicle according to claim 1, wherein each ground-contacting member includes a plurality of axially adjacent and rotatably mounted arcuate element groups, the arcuate elements of each group being mounted to a support member, each support member being rotatably mounted and motor-driven about a central axis.

33. A vehicle according to claim 32, wherein the radially outermost extent of each arcuate element has a generally constant main radius of curvature conforming generally with that of a circle having a radius equal to such extent.

34. A vehicle according to claim 33, wherein each arcuate element has a leading portion and a trailing portion determined in relation to forward motion of the assembly, the leading portion contacting the ground first during forward motion, each portion having a tip, and wherein the radius of curvature of the arcuate element near the tip of each leading portion is somewhat smaller than the element'"'"'s main radius of curvature.

35. A vehicle according to claim 33, wherein each arcuate element has a leading portion and a trailing portion determined in relation to forward motion of the assembly, the leading portion contacting the ground first during forward motion, each portion having a tip, and wherein the radius of curvature of each arcuate element near the tip of its trailing portion is somewhat smaller than such element'"'"'s main radius of curvature.

36. A vehicle according to claim 33, wherein each arcuate element has a leading portion and a trailing portion determined in relation to forward motion of the assembly, the leading portion contacting the ground first during forward motion, each portion having a tip, and wherein the radius of curvature of each arcuate element near at least one of its tips differs from the main radius of curvature.

37. A vehicle according to claim 33, wherein each arcuate element has a leading portion and a trailing portion determined in relation to forward motion of the assembly, the leading portion contacting the ground first during forward motion, each portion having a tip, and wherein at least one of the tips of each arcuate element is deflectably mounted and is coupled to a deflection arrangement, so that on actuation the local radius of curvature may be modified.

38. A vehicle according to claim 32, wherein the support is proximate to the ground to permit a subject to stand thereon.

39. A vehicle according to claim 38, further comprising a handle, affixed to the support, having a grip at approximately waist height of the subject.

40. A vehicle according to claim 39, further comprising:

a joystick, mounted on the handle, for use by the subject in controlling direction of the vehicle.

41. A vehicle according to claim 32, further comprising:

drive control means, including the control loop, for driving the support members in a first mode wherein a first arcuate element in each group of axially adjacent arcuate elements generally remains in contact with the ground up to a point near in arcuate distance to where the next succeeding arcuate element comes in contact with the ground, and so on as successive arcuate elements come in contact with the ground, so as to provide substantially continuous rolling motion of the vehicle along the arcuate elements.

42. A vehicle according to claim 41, wherein the drive control means includes means for driving the support members in a second mode to permit ascent and descent of stairs and other surface features.

43. A vehicle according to claim 42, further comprising:

means for causing a second one of the arcuate elements of each group to land on a succeeding surface feature, which may include a step, when a first one of the elements of each group is on a preceding surface feature.

44. A vehicle according to claim 1, wherein the support has a base surface for supporting the subject and wherein the ground-contacting members are movably attached to the support in such a manner that the distance between the point of contact of each ground-contacting member with the ground and the base surface is sufficiently small as to permit a person to step from the ground onto the support.

45. A vehicle according to claim 44, further comprising:

a handle, affixed to the support, having a grip at approximately waist height of the subject.

46. A vehicle according to claim 44, wherein the ground-contacting members are wheels.

47. A vehicle according to claim 45 further comprising:

a joystick, mounted on the handle, for use by the subject in controlling direction of the vehicle.

48. A vehicle according to claim 44, further comprising:

leaning means for sensing leaning of the vehicle in a given direction and for controlling the motorized drive to cause the vehicle to move in the direction in which the vehicle may lean.

49. A vehicle for transporting a human subject over ground, the vehicle comprising:

(a) a support, having a base surface, for supporting the subject in a standing position, the support having left and right sides and defining fore-aft and lateral planes;

(b) a pair of ground-contacting members, laterally disposed with respect to one another and movably attached to the support in such a manner that the distance between the point of contact of each ground-contacting member with the ground and the base surface is sufficiently small as to permit a person to step from the ground onto the support, each ground-contacting member includes a cluster of wheels for contacting the ground, each cluster being rotatably mounted on and motor-driven about a laterally disposed central axis, and each of the wheels in each cluster being rotatably mounted about an axis parallel to the central axis, the wheels being capable of being motor-driven independently of the cluster, the members and the support being components of an assembly;

(c) a motorized drive arrangement, mounted to the assembly for causing locomotion of the assembly and the subject over the surface; and

(d) a control loop, in which the motorized drive is included, for dynamically maintaining stability in the fore-aft plane by operation of the motorized drive arrangement so that the net torque experienced by the assembly about the point of contact with the surface, taking into account torques caused by gravity as well as by all other external forces and by the motorized drive, causes a desired acceleration and sustained locomotion of the assembly, such stability being maintained even while the assembly experiences varying forces and accelerations.

50. A vehicle according to claim 49, wherein the control loop is configured so that fore and aft motion of the vehicle is controlled by fore and aft leaning of the vehicle as affected by the subject.

51. A vehicle, for transporting a human subject over a surface that may be irregular, the vehicle comprising:

(a) a support for supporting the subject, the support having left and right sides and defining fore-aft and lateral planes;

(b) a ground-contacting module for suspending the subject in the support over the surface, the support and the ground-contacting module being components of an assembly;

(c) a motorized drive arrangement, mounted to the assembly for causing locomotion of the assembly and the subject over the surface;

(d) a control loop, in which the motorized drive arrangement is included, for dynamically maintaining stability in the fore-aft plane by operation of the motorized drive arrangement so that the net torque experienced by the assembly about the point of contact with the surface, taking into account torques caused by gravity and by all other external forces and by the motorized drive, causes a desired acceleration and sustained locomotion of the assembly, such stability being maintained even while the assembly experiences varying forces and accelerations;

wherein the control loop is configured so that fore and aft sustained motion of the vehicle is controlled by fore and aft leaning of the vehicle caused by the subject, and in maintaining stability in the fore-aft plane the control loop does not cancel out such leaning under normal conditions of locomotion.