Dynamic balancing vehicle with a seat

• US 7,273,116 B2
• Filed: 12/08/2005
• Issued: 09/25/2007
• Est. Priority Date: 08/31/1999
• Status: Expired due to Fees

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Kamen, Dean, Ambrogi, Robert R., Field, J. Douglas, Duggan, Robert J., Heinzmann, Richard Kurt, Perry, Christopher, Tellam, Mark E., Lambrechts, William, McCambridge, Matt
• Primary Examiner(s): PHAN, HAU VAN
• Application Number:
  US11/296,878
• Publication Number:
  US 20060086544A1
• Time in Patent Office: 656 Days
• Field of Search: 280/205, 280/5.28, 280/5.38, 280/208, 280/209, 280/218, 280/229, 180/21, 180/8.2, 180/65.5, 180/907, 180/5.26, 180/218, 180/7.1, 297/195.1, 297/215.15
• 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 transporting a human subject over a surface, the device comprising:

a platform defining a fore-aft plane, the platform supporting a payload including the human subject;

a ground contacting module, including a ground-contacting member movably coupled to the platform, the device including the payload having a center of gravity, the center of gravity having a position defined with respect to the ground-contacting member;

a support for supporting the subject, the support coupled to the platform to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of the support; and

a drive, coupled to the ground-contacting module, for delivering power to the ground-contacting module responsive to the position of the center of gravity.

2. The device according to claim 1, wherein the support rotates about a virtual pivot point above the support.

3. The device according to claim 2, wherein the seat is slideably mounted.

4. The device according to claim 2, wherein the support includes one or more rails and rotation of the seat occurs when the seat slides along the rails.

5. The device according to claim 4, wherein the rails include one or more sprockets that engage with protrusions coupled to a seat for rotating the seat.

6. The device according to claim 4, wherein the support includes one or more wheels that allow the support to slide along the rails.

7. The device according to claim 1, wherein the support includes a mechanical linkage.

8. The device according to claim 7, wherein the mechanical linkage is a pivotally coupled bar linkage.

9. The device according to claim 1, further comprising:

a pressure sensor coupled to the platform for sensing a subject and activating the drive.

10. The device according to claim 9, further comprising:

a mechanical contact for contacting the pressure sensors coupled to the platform when a subject is supported by the support.

11. The device according to claim 1, wherein the support includes a seat.

12. The device according to claim 1, wherein the drive supplies force so as to balance the vehicle.

13. The device according to claim 1, wherein the support includes a convex radial base which couples to the platform.

14. The device according to claim 1, wherein the support includes a convex radial base is coupled to the platform at a movable contact point.

15. The device according to claim 1, further comprising:

a damper for damping movement of the support.

16. The device according to claim 15, wherein the damper causes the support to return to a pre-determined position relative to the platform.

17. The device according to claim 16, wherein the pre-determined position causes the device to return to a stable position.

18. The device according to claim 1, wherein rotation and translation of the seat are mechanically coupled together.

19. The device according to claim 1, wherein the support includes a convex bottom for contacting the platform, wherein the convex bottom has a plurality of radii of curvature.

20. A transportation device, the transportation device having an associated center of gravity, the device comprising:

a platform;

a motor;

a ground contacting module coupled to the motor for propelling the transportation device;

a control module coupled to the motor for providing a control signal to the motor that is based at least in part on the center of gravity of the device and any load on the device; and

a support for supporting a user, at least a portion of the support being capable of translating and rotating with respect to the platform.

21. The device according to claim 20, wherein the control module provides a signal to the motor that is based at least on the center of gravity of the device including any load on the device.

22. The device according to claim 20, wherein the support includes a seat, wherein if a user of the device causes the seat to translate the seat will also rotate.

23. The device according to claim 20, wherein the support has a convex surface which allows the support to rock.