Control system and method

• US 6,571,892 B2
• Filed: 08/15/2001
• Issued: 06/03/2003
• Est. Priority Date: 03/15/1999
• Status: Expired due to Term

• Current Assignee: DEKA Research and Development Corp.
• Original Assignee: DEKA Research and Development Corp.
• Inventors: Duggan, Robert J., Heinzmann, John David, Amsbury, Burl, Dastous, Susan D., Herr, David W., Steenson, James Henry Jr., Ambrogi, Robert R., Morrell, John B., Heinzmann, Richard Kurt, Kerwin, John M., Kamen, Dean L.
• Primary Examiner(s): Dickson, Paul N.
• Assistant Examiner(s): Ilan, Ruth
• Application Number:
  US09/930,127
• Publication Number:
  US 20020121394A1
• Time in Patent Office: 657 Days
• Field of Search: 180/197, 180/6.5, 180/7.1, 180/8.1, 180/8.2, 180/8.3, 180/8.6, 180/8.5, 180/118, 180/41, 180/21, 180/209, 180/65.8, 180/907, 280/5.2, 280/5.24, 280/5.26, 280/5.28, 280/DIG.10, 318/568.12, 700/37, 700/85, 700/264, 701/124
• US Class Current: 180/8.2
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A61G 5/045 Rear wheel drive
• CPC Class Codes: A61G 5/046 at least three driven wheels
• CPC Class Codes: A61G 5/061 for climbing stairs
• CPC Class Codes: G05B 13/042 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: Y10S 180/907 Motorized wheelchairs

Abstract

Systems and methods for controlling a device are disclosed. In one embodiment, the systems and methods allow for the control of a human transport device such that the human transport device remains in an upright position regardless of the surface being traversed. The systems and methods may include a plurality of operational modes where each mode has different characteristics. Additionally, systems and method for locating a center of gravity of a device are disclosed.

Claims

1. A method of controlling a transport device such that the transport device remains in a substantially erect orientation while a platform of the device remains substantially horizontal regardless of a surface pitch, the method comprising steps of:

a) determining current operational characteristics of the transport device; and

b) automatically changing between a plurality of operation sub-modes of a mode that maintains or restores an estimated location of the center of gravity above a foot print of the device depending upon the current operational characteristics;

wherein step a) includes determining a value of a balance indicator and step b) includes switching between at least a first sub-mode and a second sub-mode based upon the value of the balance indicator;

wherein the second sub-mode includes at least two sub-modes;

wherein step b) includes entering a first sub-mode of the second sub-mode when a control switch value is greater than an entry value; and

wherein the transport device remains in the first sub-mode of the second sub-mode until the control switch value falls below an exit value.

2. The method of claim 1, wherein the entry value is greater than the exit value.