CA2367146A1 - System and method for stair climbing in a cluster-wheel vehicle - Google Patents

System and method for stair climbing in a cluster-wheel vehicle Download PDF

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Publication number
CA2367146A1
CA2367146A1 CA002367146A CA2367146A CA2367146A1 CA 2367146 A1 CA2367146 A1 CA 2367146A1 CA 002367146 A CA002367146 A CA 002367146A CA 2367146 A CA2367146 A CA 2367146A CA 2367146 A1 CA2367146 A1 CA 2367146A1
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CA
Canada
Prior art keywords
cluster
controller
pitch
stairs
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002367146A
Other languages
French (fr)
Other versions
CA2367146C (en
Inventor
Dean L. Kamen
Robert Ambrogi
Robert J. Duggan
Richard K. Heinzmann
Brian R. Key
John B. Morrell
John M. Kerwin
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Deka Products LP
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CA2682811A priority Critical patent/CA2682811C/en
Publication of CA2367146A1 publication Critical patent/CA2367146A1/en
Application granted granted Critical
Publication of CA2367146C publication Critical patent/CA2367146C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/46—General characteristics of devices characterised by sensor means for temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel

Abstract

A system and method for operating a device in ascending or descending stairs . The device has a plurality of wheels rotatable about axes that are fixed wit h respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms a re controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

Claims (22)

1. A device for ascending and descending stairs, the device and any payload together constituting a system characterized by a center of gravity and a pitch, the device comprising:
a. a cluster arm, rotatable about a cluster axis, the cluster arm characterized by a cluster angle;
b. a plurality of ground contacting members rotatable about member axes fixed with respect to the cluster arm; and c. a motorized actuator for rotating the cluster arm about the cluster axis so as to cause the device to execute one of ascent and descent of the stairs based on an input that includes a shift of the center of gravity.
2. A device according to claim 1, wherein the ground contacting members are wheels.
3. A device according to claim 1, further comprising a controller for controlling rotation of the cluster arm according to a control law.
4. A device according to claim 3, wherein the controller has a plurality of sub-modes, each sub-mode characterized by a control law.
5. A device according to claim 4, wherein the controller is sensitive to the cluster angle in at least one of the sub-modes.
6. A device according to claim 3, wherein the controller controls rotation of the cluster arm according to a law that is separate from any control law for controlling rotation of the ground contacting members.
7. A device according to claim 3, further including a sensor for monitoring pitch of the system and for providing a signal to the controller.
8. A device according to claim 3, wherein the controller causes one of ascent and descent of the stairs based upon a signal related to the pitch of the system.
9. A device according to claim 3, wherein the controller comprises:
a. a wheel controller that controls rotation of the ground contacting members;

and b. a cluster controller that controls motion of the cluster arm.
10. A device according to claim 3, wherein the controller causes one of ascent and descent of the stairs based at least upon the pitch of the system.
11. A device according to claim 9, wherein the wheel controller controls rotation of the ground contacting members in accordance with a function of the pitch of the system.
12. A device according to claim 9, wherein the wheel controller controls rotation of the ground contacting members in accordance with a function of the position of one of the plurality of ground-contacting members.
13. A device according to claim 9, wherein the wheel controller controls rotation of the ground contacting members in accordance with a function of the velocity of one of the plurality of ground-contacting members.
14. A device according to claim 10, wherein the controller causes descent of the stairs when the pitch of the system exceeds a specified front angle.
15. A device according to claim 10, wherein the controller causes ascent of the stairs when the pitch of the system is less than a specified rear angle.
16. A device according to claim 10, wherein the controller causes one of ascent and descent of the stairs based at least upon the pitch of the device relative to at least one of a specified front angle and a specified rear angle.
17. A device according to claim 14, wherein the specified front angle is determined by the controller based on the current position of the cluster arm.
18. A device according to claim 15, wherein the specified rear angle is determined by the controller based on the current position of the cluster arm.
19. A method for governing motion on stairs of a device, the device characterized by an instantaneous pitch angle and having a plurality of wheels each rotatable about an axis fixed with respect to a cluster arm, the cluster arm rotatable about a cluster axis, the method comprising:
a. setting a front angle and a rear angle defined with respect a vertical direction;

b. actuating the cluster arm to provide descent of the device if the instantaneous pitch exceeds the front angle; and c. actuating the cluster arm to provide ascent of the device if the instantaneous pitch is less than the rear angle.
20. A method according to claim 19, wherein the step of setting a front angle and a rear angle includes changing at least one of the front angle and rear angle on the basis of the cluster angle.
21. A method for safely regaining static stability of a transport device for climbing or descending stairs, the transport device being characterized by a pitch and having:
i. a cluster arm;
ii. a cluster arm actuator characterized by a temperature for driving the cluster arm in rotation;
iii. a brake capable of braking the cluster arm; and iv. a sensor that monitors the pitch of the transport device and provides a sensor signal;
the method comprising the steps of:
a. monitoring the sensor signal; and b. disengaging the brake when the sensor signal exceeds a preset threshold so as to allow the cluster arm to rotate freely in such a manner that the device assumes a statically stable configuration on the stairs.
22. A method for limiting a load driven by an actuator for driving a transport device in ascent and descent on stairs, the actuator characterized by a temperature, the method comprising:
a. monitoring the temperature of the actuator;
b. detecting an over-temperature condition; and c. limiting the cluster actuator load by allowing cluster rotation only in the direction of descent for the duration of the over-temperature condition.
CA002367146A 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle Expired - Lifetime CA2367146C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2682811A CA2682811C (en) 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12440399P 1999-03-15 1999-03-15
US60/124,403 1999-03-15
US09/428,007 US6311794B1 (en) 1994-05-27 1999-10-27 System and method for stair climbing in a cluster-wheel vehicle
US09/428,007 1999-10-27
PCT/US2000/006629 WO2000054720A1 (en) 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CA2682811A Division CA2682811C (en) 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle

Publications (2)

Publication Number Publication Date
CA2367146A1 true CA2367146A1 (en) 2000-09-21
CA2367146C CA2367146C (en) 2009-12-08

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
CA2682811A Expired - Lifetime CA2682811C (en) 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle
CA002367146A Expired - Lifetime CA2367146C (en) 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA2682811A Expired - Lifetime CA2682811C (en) 1999-03-15 2000-03-14 System and method for stair climbing in a cluster-wheel vehicle

Country Status (14)

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US (4) US6311794B1 (en)
EP (1) EP1161215B1 (en)
JP (1) JP4574016B2 (en)
KR (1) KR100655819B1 (en)
CN (1) CN1213712C (en)
AT (1) ATE306885T1 (en)
AU (1) AU770151B2 (en)
BR (1) BR0009011B1 (en)
CA (2) CA2682811C (en)
DE (1) DE60023273T2 (en)
ID (1) ID30347A (en)
MX (1) MXPA01009347A (en)
NZ (1) NZ513868A (en)
WO (1) WO2000054720A1 (en)

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US20030111279A1 (en) 2003-06-19
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KR20020000779A (en) 2002-01-05
CA2367146C (en) 2009-12-08
ID30347A (en) 2001-11-22
JP4574016B2 (en) 2010-11-04
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US6615938B2 (en) 2003-09-09
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US6311794B1 (en) 2001-11-06
CA2682811C (en) 2013-07-30
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US20010001992A1 (en) 2001-05-31
CA2682811A1 (en) 2000-09-21

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