IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0926737
(2007-10-29)
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등록번호 |
US-8186462
(2012-05-29)
|
발명자
/ 주소 |
- Kamen, Dean
- Heinzmann, Richard Kurt
- Heinzmann, John David
- Ambrogi, Robert R.
- Langenfeld, Christopher C.
- Field, J. Douglas
|
출원인 / 주소 |
- DEKA Products Limited Partnership
|
대리인 / 주소 |
McCormick, Paulding & Huber LLP
|
인용정보 |
피인용 횟수 :
19 인용 특허 :
4 |
초록
▼
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 c
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.
대표청구항
▼
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 tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft pla
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 tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft plane;a plurality of ground contacting elements coupled to the support platform with at least two ground contacting elements disposed in the fore-aft plane 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 based upon the tilt in the fore-aft plane of the platform; anda controller for commanding the motorized drive arrangement based on the load distribution;wherein the controller commands the motorized drive arrangement so as to cause an acceleration of the transporter, the transporter further including an externally visible indicator for providing an indication based on the acceleration, the indication being externally visible. 2. The transporter according to claim 1, wherein the plurality of ground contacting elements include at least two wheels. 3. The transporter according to claim 2, wherein the at least two wheels include: a first wheel rotatable about a first axis; and a second wheel rotatable about a second axis, the second axis disposed aft of the first axis. 4. The transporter according to claim 1, wherein the controller is configured so that fore and aft motion of the transporter is controlled by shifting the load distribution of the loaded support platform fore and aft. 5. The transporter according to claim 1, wherein the loaded support platform is characterized by a center of gravity having a position, and wherein the controller is configured so that fore and aft motion of the transporter is controlled by shifting the position of the center of gravity of the loaded support platform fore and aft. 6. The transporter according to claim 1, wherein the controller is configured so that turning of the transporter is controlled by laterally shifting the load distribution of the loaded support platform. 7. The transporter according to claim 1, wherein the loaded support platform is characterized by a center of gravity having a position, wherein the controller is configured so that turning of the transporter is controlled by laterally shifting the position of the center of gravity of the loaded support platform. 8. The transporter according to claim 1, wherein the plurality of ground connecting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in both the fore-aft and lateral planes. 9. The transporter according to claim 1, wherein the sensor module includes a tilt sensor. 10. The transporter according to claim 1, wherein the sensor module adds an offset in generating the signal. 11. The transporter according to claim 10, wherein the offset is adjustable via a user interface. 12. The transporter according to claim 1, wherein the externally visible indicator is viewable from behind the transporter. 13. The transporter according to claim 1, wherein the transporter further includes a user interface, wherein the controller commands the motorized drive arrangement based at least on a signal provided by the user interface. 14. A transporter according to claim 13, wherein the user interface is selected from the group of user interfaces consisting of a joystick and a dial. 15. 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 with at least two ground contacting elements disposed in the fore-aft plane 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: determining a tilt in the fore-aft plane with respect to the ground of the loaded support, the load distribution determining the tilt in the fore-aft plane;sensing a roll angle in the lateral plane of the loaded support platform; andcommanding the motorized drive arrangement based at least on the tilt in the fore-aft plane indicative of the load distribution. 16. The method according to claim 15, wherein determining the tilt in the fore-aft plane of the loaded platform includes sensing a load above at least one ground-contacting element. 17. The method according to claim 15, wherein determining the tilt in the fore-aft plane of the loaded platform includes sensing a tilt in the fore-aft plane of the loaded support platform. 18. The method according to claim 15, wherein commanding the motorized drive is further based on a control signal from a transporter user interface. 19. The method according to claim 15, further comprising providing an externally visible indication based on motion commanded. 20. The method according to claim 19, wherein providing the externally visible indication is based on acceleration commanded. 21. A vehicle comprising: a first platform defining fore-aft and lateral planes;a plurality of ground contacting elements coupled to the first platform with at least two ground contacting elements disposed in the fore-aft plane such that the first platform is statically stable with respect to tipping in the fore-aft plane;a second platform for supporting a rider, the second platform located above the first platform and tiltably coupled in the fore-aft plane thereto;a sensor module interposed between the first platform and the second platform, the sensor module generating a weight shift signal indicative of weight shifting by the rider on the second platform based on a tilt of the second platform in at least the fore-aft plane;a motorized drive arrangement for driving at least one of the plurality of ground contacting elements; anda controller for commanding the motorized drive arrangement based on the signal generated by the sensor indicative of the weight shift. 22. A vehicle according to claim 21, wherein the motorized drive arrangement is configured to control at least one of steering motion and straight motion. 23. A vehicle according to claim 21, wherein the sensor module includes a load sensor. 24. A transporter comprising: a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a tilt in the fore-aft plane with respect to the ground and a load distribution, the load distribution determining the tilt in the fore-aft plane;a plurality of ground contacting elements coupled to the support platform with at least two ground contacting elements disposed in the fore-aft plane 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 based upon the tilt in the fore-aft plane of the platform; anda controller for commanding the motorized drive arrangement based on the load distribution;wherein the transporter further includes a user interface, wherein the controller commands the motorized drive arrangement based at least on a signal provided by the user interface; andwherein the user interface is selected from the group of user interfaces consisting of a joystick and a dial. 25. 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 with at least two ground contacting elements disposed in the fore-aft plane 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: determining a tilt in the fore-aft plane with respect to the ground of the loaded support, the load distribution determining the tilt in the fore-aft plane;commanding the motorized drive arrangement based at least on the tilt in the fore-aft plane indicative of the load distribution; andproviding an externally visible indication based on motion commanded. 26. The method according to claim 25, wherein providing the externally visible indication is based on acceleration commanded.
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