WO2001042077A3 - Balancing personal vehicle - Google Patents

Balancing personal vehicle Download PDF

Info

Publication number
WO2001042077A3
WO2001042077A3 PCT/US2000/042698 US0042698W WO0142077A3 WO 2001042077 A3 WO2001042077 A3 WO 2001042077A3 US 0042698 W US0042698 W US 0042698W WO 0142077 A3 WO0142077 A3 WO 0142077A3
Authority
WO
WIPO (PCT)
Prior art keywords
ground
contacting module
support platform
vehicle
motorized drive
Prior art date
Application number
PCT/US2000/042698
Other languages
French (fr)
Other versions
WO2001042077A2 (en
Inventor
Dean L Kamen
Douglas Field
Richard Kurt Heinzmann
Original Assignee
Deka Products Lp
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 Deka Products Lp filed Critical Deka Products Lp
Priority to EP00992888A priority Critical patent/EP1237779B1/en
Priority to DE60021419T priority patent/DE60021419T2/en
Priority to MXPA02005801A priority patent/MXPA02005801A/en
Priority to JP2001543388A priority patent/JP5366285B2/en
Priority to AT00992888T priority patent/ATE299826T1/en
Priority to CA2393418A priority patent/CA2393418C/en
Priority to AU47150/01A priority patent/AU4715001A/en
Publication of WO2001042077A2 publication Critical patent/WO2001042077A2/en
Publication of WO2001042077A3 publication Critical patent/WO2001042077A3/en

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • 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
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/107—Arrangements for adjusting the seat positioning the whole seat forward or rearward
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • 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
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D39/00—Vehicle bodies not otherwise provided for, e.g. safety vehicles
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

Abstract

A transportation vehicle (100) for transporting an individual over ground having a surface that may be irregular. The vehicle has a support platform (112) for supporting the subject and the support platform is coupled to a ground-contacting module at a pivot (118). While the ground-contacting module may be statically stable, balance of the support platform with respect to the ground-contacting module (104) is maintained by motion of the ground-contacting module in response to leaning of the support platform. A motorized drive coupled to the ground-contacting module causes locomotion of the vehicle and the subject therewith over the surface, while a control loop, in which the motorized drive is included, dynamically enhances stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. In the event of failure of the control loop, the pivot connection of the support platform to the ground-contacting module may be locked, thereby ensuring stability of the static assembly.
PCT/US2000/042698 1999-12-08 2000-12-08 Balancing personal vehicle WO2001042077A2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP00992888A EP1237779B1 (en) 1999-12-08 2000-12-08 Balancing personal vehicle
DE60021419T DE60021419T2 (en) 1999-12-08 2000-12-08 VEHICLE WITH HEAVY-POINT EQUALIZATION DEVICE
MXPA02005801A MXPA02005801A (en) 1999-12-08 2000-12-08 Balancing personal vehicle.
JP2001543388A JP5366285B2 (en) 1999-12-08 2000-12-08 Personal balance vehicles
AT00992888T ATE299826T1 (en) 1999-12-08 2000-12-08 VEHICLE WITH CENTER OF GRAVITY ADJUSTMENT DEVICE
CA2393418A CA2393418C (en) 1999-12-08 2000-12-08 Balancing personal vehicle
AU47150/01A AU4715001A (en) 1999-12-08 2000-12-08 Balancing personal vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/456,347 1999-12-08
US09/456,347 US6543564B1 (en) 1994-05-27 1999-12-08 Balancing personal vehicle

Publications (2)

Publication Number Publication Date
WO2001042077A2 WO2001042077A2 (en) 2001-06-14
WO2001042077A3 true WO2001042077A3 (en) 2002-03-14

Family

ID=23812398

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2000/042698 WO2001042077A2 (en) 1999-12-08 2000-12-08 Balancing personal vehicle

Country Status (10)

Country Link
US (2) US6543564B1 (en)
EP (1) EP1237779B1 (en)
JP (1) JP5366285B2 (en)
KR (1) KR100704800B1 (en)
AT (1) ATE299826T1 (en)
AU (1) AU4715001A (en)
CA (1) CA2393418C (en)
DE (1) DE60021419T2 (en)
MX (1) MXPA02005801A (en)
WO (1) WO2001042077A2 (en)

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US6543564B1 (en) 2003-04-08
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MXPA02005801A (en) 2003-02-27
CA2393418A1 (en) 2001-06-14
EP1237779A2 (en) 2002-09-11
KR20020067915A (en) 2002-08-24
CA2393418C (en) 2010-02-16
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US6929080B2 (en) 2005-08-16
JP2004500271A (en) 2004-01-08
ATE299826T1 (en) 2005-08-15
US20030183435A1 (en) 2003-10-02
DE60021419D1 (en) 2005-08-25
WO2001042077A2 (en) 2001-06-14
JP5366285B2 (en) 2013-12-11

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