Dynamic balancing vehicle with a seat

• US 7,004,271 B1
• Filed: 05/13/2003
• Issued: 02/28/2006
• Est. Priority Date: 08/31/1999
• Status: Expired due to Term

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Ambrogi, Robert R., Field, J. Douglas, Heinzmann, Richard Kurt, Kamen, Dean L., Perry, Christopher, Tellam, Mark E., Lambrechts, William, McCambridge, Matt, Duggan, Robert J.
• Primary Examiner(s): Phan, Hau
• Application Number:
  US10/436,889
• Time in Patent Office: 1,022 Days
• Field of Search: 180/21, 180/7.1, 180/8.2, 180/65.8, 180/907, 180/5.26, 180/218, 180/6.5, 180/13, 280/5.28, 280/5.38, 280/208, 280/78, 280/209, 280/215, 280/205, 280/229, 280/266, 280/282
• US Class Current: 180/21
• CPC Class Codes: A61G 5/0891 having rigid supports, e.g. seat or back supports which retain their shape after folding of the wheelchair
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: B62K 1/00 Unicycles
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Abstract

A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

Claims

1. A device for carrying a user, the device comprising:

a platform;

a motorized drive that propels the platform over an underlying surface through motion of at least one ground-contacting member, the ground contacting member characterized by a point of ground contact and an axis of rotation;

a user support having a position defined with respect to the platform and coupled to the platform in such a manner that the user may vary the position of the support with respect to the platform in the course of normal operation of the device by translation of the support in a direction substantially perpendicular to a line running through the point of ground contact and the axis of rotation of the at least one ground contacting member; and

a controller, coupled to the motorized drive, for governing the operation of the motorized drive at least in response to the position of the user support to dynamically control balancing of the device;

wherein the support includes a seat.

2. The device according to claim 1, wherein the support is coupled to the platform via a universal pivot.

3. The device according to claim 1, wherein the support includes rails to allow the seat to slide.

4. The device according to claim 1, wherein the support is coupled to a control stalk.

5. The device according to claim 1, wherein the seat can translate and rotate in response to a user'"'"'s movement.

6. The device according to claim 5, wherein the controller responds to changes in the center of gravity of the device and any load on the device.