(12) United States Patent
`Kamen et ai.
`
`111111
`
`1111111111111111111111111111111111111111111111111111111111111
`US006302230Bl
`US 6,302,230 BI
`Oct. 16, 2001
`
`(10) Patent No.:
`(45) Date of Patent:
`
`(54) PERSONAL MOBILITY VEHICLES AND
`METHODS
`
`(75)
`
`Inventors: Dean L. Kamen, Bedford; Robert R.
`Ambrogi, Manchester; Robert J.
`Duggan, Northwood; J. Douglas Field,
`Bedford; Richard Kurt Heinzmann,
`Francetown, all of NH (US); Burl
`Amesbury, Cambridge, MA (US);
`Christopher C. Langenfeld, Nashua,
`NH (US)
`
`(73) Assignee: DEKA Products Limited Partnership,
`Manchester, NH (US)
`
`( *) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.c. 154(b) by 0 days.
`
`(21) Appl. No.: 09/325,978
`
`(22) Filed:
`
`Jun. 4, 1999
`
`(51)
`
`Int. CI? ........................... B60K 31/00; B60K 28/00;
`B62D 63/00; B60Q 1/00
`(52) U.S. CI. .......................... 180/171; 180/218; 180/271;
`180/21; 340/441
`(58) Field of Search ..................................... 180/218, 271,
`180/274, 170, 171, 21, 41, 440; 340/438,
`441,440,439, 905, 936; 318/465, 461,
`798; 188/181 C; 280/455.1; 298/175, 5,
`20 R
`
`(56)
`
`References Cited
`
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`
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`2048593
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`3411489 A1
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`29808096
`U1
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`
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`
`10/1998 (DE).
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`(List continued on next page.)
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`OTHER PUBLICATIONS
`
`Teruaki Self Supported Carrier Machine and Automatic
`Carrier Device Using the Same in Patent Abstracts of Japan,
`Dec. 21, 1989, #63149523, Japanese Patent Office, Japan.
`Kawaji, S., Stabilization of Unicycle Using Spinning
`Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan
`(1987), pp. 21-28.
`Schoonwinkel, A., Design and Test of a Computer-Stabi(cid:173)
`lized Unicycle, Stanford University (1988), UMI Disserta(cid:173)
`tion Services.
`Vos, D., Dynamics and Nonlinear Adaptive Control of an
`Autonomous Unicycle, Massachusetts Institute of Technol(cid:173)
`ogy,1989.
`
`(List continued on next page.)
`
`Primary Examiner-Brian L. Johnson
`Assistant Examiner-Matthew Luby
`(74) Attorney, Agent, or Firm-Bromberg & Sunstein LLP
`
`(57)
`
`ABSTRACT
`
`An automatically balancing vehicle having a headroom
`monitor. The headroom monitor determines the difference
`between the maximum velocity of the vehicle and the
`present velocity of the vehicle. An alarm receives a signal
`from the headroom monitor and produces a warning when
`the headroom falls below a specified limit.
`
`(List continued on next page.)
`
`7 Claims, 16 Drawing Sheets
`
`Swagway_1001
`
`

`
`US 6,302,230 BI
`Page 2
`
`U.S. PATENT DOCUMENTS
`
`3,374,845
`3,399,742 *
`3,450,219
`3,515,401
`3,580,344
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`3,872,945
`3,952,822
`4,018,440
`4,062,558
`4,076,270
`4,088,199
`4,094,372
`4,109,741
`4,111,445
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`4,293,052
`4,325,565
`4,354,569
`4,363,493
`4,373,600
`4,375,840
`4,414,937
`4,510,956
`4,560,022
`4,566,707
`4,571,844
`4,624,469
`4,657,272
`4,685,693
`4,709,772
`4,716,980
`4,740,001
`4,746,132
`4,770,410
`4,786,069
`4,790,400
`4,790,548
`4,794,999
`4,796,716 *
`4,797,826 *
`4,798,255
`4,802,542
`4,809,804
`4,834,200
`4,863,182
`4,867,188
`4,869,279
`4,874,055
`4,890,853
`4,919,225
`4,953,851
`4,964,679
`4,984,754
`4,985,947
`4,998,596
`5,002,295
`5,011,171
`5,052,237
`5,111,899
`5,158,493
`5,168,947
`5,171,173
`5,186,270
`5,215,159 *
`5,221,883
`
`3/1968
`9/1968
`6/1969
`6/1970
`5/1971
`8/1971
`1/1975
`3/1975
`4/1976
`4/1977
`12/1977
`2/1978
`5/1978
`6/1978
`8/1978
`9/1978
`5/1979
`9/1980
`4/1981
`5/1981
`10/1981
`4/1982
`10/1982
`12/1982
`2/1983
`3/1983
`* 11/1983
`4/1985
`12/1985
`1/1986
`2/1986
`11/1986
`4/1987
`8/1987
`12/1987
`1/1988
`4/1988
`5/1988
`9/1988
`11/1988
`12/1988
`12/1988
`1/1989
`1/1989
`1/1989
`1/1989
`2/1989
`3/1989
`5/1989
`9/1989
`9/1989
`9/1989
`10/1989
`1/1990
`4/1990
`9/1990
`* 10/1990
`1/1991
`1/1991
`3/1991
`3/1991
`4/1991
`10/1991
`5/1992
`10/1992
`12/1992
`12/1992
`2/1993
`6/1993
`6/1993
`
`.......................... 180/271
`
`Selwyn.
`Malick .. ... ... .... ... ... ... ... ... .... .... 180/21
`Fleming.
`Gross.
`Floyd.
`Durst, Jr ..
`Douglas et al. .
`Hickman et al. .
`Udden et al. .
`Duetsch.
`Wasserman.
`Winchell.
`Trautwein.
`Notter.
`Gabriel.
`Haibeck.
`Francken.
`Feliz .
`Fouchey, Jr. .
`Lauber.
`Daswick et al. .
`Winchell.
`Eichholz.
`Veneklasen .
`Buschbom et al. .
`Campbell.
`Ueda et al.
`King.
`Kassai.
`Nitzberg.
`Komasaku et al. .
`Bourne, Jr ..
`Davenport.
`Vadjunec.
`Brunet.
`Butler.
`Torleumke.
`Eagan.
`Brown.
`Tang.
`Sheeter .
`Decelles et al. .
`Hester.
`Masuda ................................ 180/171
`Onogi et al. ......................... 180/171
`Wu.
`Houston et al. .
`Houston et al. .
`Kajita.
`Chern .
`Reid.
`Hedges.
`Beer.
`Olson.
`Stueges.
`Sherlock et al. .
`Rath ..................................... 180/171
`Yarrington .
`Ethridge.
`Miksitz.
`Lin.
`Cook.
`Reimann.
`Reimann.
`Morgrey.
`Rodenborn .
`Henderson et al. .
`West.
`Nishida ................................ 180/171
`Takenaka et al. .
`
`9/1993 Kochanneck .
`5,241,875
`Watkins et al. .
`9/1993
`5,248,007
`Chittal.
`5/1994
`5,314,034
`Kraft.
`9/1994
`5,350,033
`11/1994
`5,366,036
`Perry.
`5,430,432 * 7/1995
`Camhi et al.
`5,502,432 * 3/1996
`Ohmamyuda et al. ............. .
`5,652,486 * 7/1997
`Mueller et al. ..................... .
`5,676,217 * 10/1997
`Torji et al. .......................... .
`Kamen et al. .
`5,701,965
`12/1997
`5,705,746 * 1/1998
`Trost et al.
`.......................... 180/170
`5,757,161 * 5/1998
`Ikkai et al. ........................... 180/171
`5,791,425
`8/1998
`Kamen et al. .
`5,925,084 * 7/1999
`Gotoh et al. ......................... 180/271
`5,971,091 * 10/1999
`Kamen et al. ....................... 180/218
`5,979,586 * 11/1999
`Farmer et al. ....................... 180/274
`6,037,861 * 3/2000
`Ying ..................................... 340/441
`6,037,862 * 3/2000
`Ying ..................................... 340/441
`
`340/438
`180/271
`180/171
`180/171
`
`FOREIGN PATENT DOCUMENTS
`
`0109927
`0193473
`0537698 A1
`980237
`2502090
`152664
`1213930
`2139576 A
`52-44933
`57-87766
`57-110569
`59-73372
`62-12810
`0255580
`61-31685
`63-305082
`2-190277
`4-171562
`5-213240
`61054156 B
`7255780
`WO 86/05752
`WO 89/06117
`2WO
`96/23478
`
`7/1984 (EP).
`9/1986 (EP).
`4/1993 (EP).
`5/1951 (FR).
`9/1982 (FR).
`2/1922 (GB).
`11/1970 (GB).
`11/1984 (GB).
`10/1975 (JP).
`6/1982 (JP).
`7/1982 (JP).
`4/1984 (JP).
`7/1985 (JP).
`12/1985 (JP).
`2/1986 (JP).
`12/1988 (JP).
`7/1990 (JP).
`12/1992 (JP).
`8/1993 (JP).
`12/1994 (JP).
`3/1995 (JP).
`10/1986 (WO).
`7/1989 (WO).
`
`8/1996 (WO).
`
`OTHER PUBLICATIONS
`
`Vos, D., Nonlinear Control of an Autonomous Unicycle
`Robot: Practical Isues, Massachusetts Institute of Technol(cid:173)
`ogy,1992.
`Koyanagi et aI., A Wheeled Inverse Pendulum Type Self(cid:173)
`Contained Mobile Robot and its Posture Control and Vehicle
`Control, The Society of Instrument and Control Engineers,
`Special issue of the 31 st SICE Annual Conference, Japan
`1992, pp. 13-16.
`Koyanagi et aI., A Wheeled Inverse Pendulum Type Self(cid:173)
`Contained Mobile Robot, The Society of Instrument and
`Control Engineers, Special issue of the 31 st SICE Annual
`Conference, Japan 1992, pp. 51-56.
`Koyanagi et aI., A Wheeled Inverse Pendulum Type Self(cid:173)
`Contained Mobile Robot and its Two Dimensional Tragec(cid:173)
`tory Control, Proceeding of the Secon International Sym(cid:173)
`posium on Measurement and Control in Robotics, Japan
`1992, pp. 891-898.
`Inc., Vertical Reference Manual
`Watson
`Industries,
`ADS-C132-1A, 1992, pp. 3-4.
`News article Amazing Wheelchair Goes Up and Down
`Stairs.
`
`Swagway_1001
`
`

`
`US 6,302,230 BI
`Page 3
`
`Osaka et aI., Systems and Control, vol. 25, No.3, Japan
`1981, pp. 159-166 (Abstract Only).
`Roy et aI., Five-Wheel Unicycle System, Medical & Bio(cid:173)
`logical Engineering & Computing, vol. 23, No.6, United
`Kingdom 1985, pp. 593-596.
`Kawaji, S., Stabilization of Unicycle Using Spinning
`Motion, Denki Gakkai Ronbushi, D, vol. 107, Issue 1, Japan
`1987, pp. 21-28 (Abstract Only).
`Schoonwinkel, A., Design and Test of a Computer-Stabi(cid:173)
`lized Unicycle, Dissertation Abstracts International, vol.
`49/03-B, Stanford University 1988, pp. 890-1294 (Abstract
`only).
`
`Vos et aI., Dynamics and Nonlinear Adaptive Control of an
`Autonomous Unicycle-Theory and Experiment, American
`Institute of Aeronautics and Astronautics, A90-26772
`10-39, Washington, D.C. 1990, pp. 487-494 (Abstract
`only).
`
`TECKNICO'S Home Page, Those Amazing Flying
`Machines, http://www.swiftsite.com/technico.
`
`Stew's Hovercraft Page, http://www.stewcam.com!hover(cid:173)
`craft.html.
`
`* cited by examiner
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 1 of 16
`
`US 6,302,230 BI
`
`18
`~
`
`16
`
`-26
`
`6
`
`20
`
`FIG. 1
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 2 of 16
`
`uS 6,302,230 H1
`
`f\G.2
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 3 of 16
`
`US 6,302,230 BI
`
`61 l
`
`T
`
`X
`0
`
`PLANT
`
`-Kl
`
`-"-
`
`-K2
`
`0
`
`8
`
`I
`+
`~ -K3
`
`r-
`
`0
`
`X
`
`-K4
`
`FIG. 3
`
`62?
`
`S
`
`63?
`
`S
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 4 of 16
`
`US 6,302,230 BI
`
`fORWARD
`
`LEFT TURN - - - - - - - - - - - f - - - - - - - - RIGHT TURN
`
`REVERSE
`
`FIG. 4
`
`Swagway_1001
`
`

`
`561
`
`USER INTERFACE
`
`562
`
`PITCH SENSOR
`
`563
`
`WHEEL ROTATION
`SENSORS
`
`564
`
`PITCH RATE
`SENSOR
`
`...
`
`,
`
`--'"
`
`CONTROL
`SYSTEMS
`
`LEFT WHEEL
`MOTOR DRIVE
`
`-5:
`
`RIGHT WHEEL
`MOTOR DRIVE
`
`f--5~
`
`LEFT
`CLUSTER DRIVE
`
`~ 534
`-5·
`
`RIGHT CLUSTER 1--5-'
`DRIVE
`
`FIG. 5
`
`d •
`rJl
`•
`~
`~ .....
`~ = .....
`
`o /")
`
`:-'"
`'""'" ~~
`N
`C
`C
`'""'"
`
`'JJ. =(cid:173)~
`~ .....
`Ul
`o ....,
`'""'" ~
`
`e
`
`rJ'l
`0'1
`~
`Q
`N
`N
`~
`Q
`~
`I--"
`
`Swagway_1001
`
`

`
`279
`i ------------- MULTI-DROPCOMMUNICATIONS ANDPQWERBUS.- -
`
`A~ ____________________ ~,
`
`I
`
`-
`
`-
`
`- -
`
`- - -
`
`- - - - ~
`
`SERIAl DATA (-) ~
`EMERGENCr __
`-
`
`~
`
`f--..,. ~ Vbatt
`f--GND
`SERIAl DATA (+)
`
`i'--.
`
`-
`
`JOYSTICK
`292
`
`+12V
`GND
`-12V
`X-AXIS SIGNAl
`Y-AXIS SIGNAl
`
`+5V
`GND
`SIGNAlS
`
`1 r
`
`PERIPHERAl
`MICROCONTROllER
`BOARD
`291
`..
`8
`
`TEMPERATURE
`VOLTAGE
`_____ CURRENT _ ..J _
`
`I
`I
`I
`I
`I
`I
`I
`I
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`I
`:
`I
`I
`I
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`:
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`
`INCLINOMETER
`293
`
`+12V
`GND
`-12V
`PITCH ANGLE
`PITCH RATE
`
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`I
`I
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`,,~
`I
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`:
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`I
`I
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`
`OTHER DRIVER
`INPUTS
`294
`L _____________ =-=-________ J
`
`FIG. 6
`
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`rJl
`•
`~
`~ .....
`~ = .....
`
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`:-'"
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`
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`
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`o
`
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`
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`
`FROM STATE
`VARIABLE
`COMPENSATION
`
`r 0
`• WI
`DIRECTIONAL
`INPUT
`3300
`
`3301
`
`FROM STATE
`VARIABLE
`COMPENSATION
`
`•
`r 0Wr
`
`.1
`
`• (
`
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`
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`K2
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`dt~~r--...
`I
`I
`I
`I
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`: 13~16
`
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`
`3317
`
`3318
`
`FIG.7
`
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`MOTOR
`3320 3322 3374 \
`
`+X' , -
`+
`
`, ' I '
`
`3321 3323 3325/
`RT WHl
`MOTOR
`
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`
`Swagway_1001
`
`

`
`v.s. Patent
`
`Oct. 16, 2001
`
`Sheet 8 of 16
`
`Vs 6,302,230 Bl
`
`12
`
`FIG. 8
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 9 of 16
`
`US 6,302,230 BI
`
`46
`
`48
`
`) 1
`j,
`
`IZ
`
`X
`
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`
`~
`
`~~ __ ~.....-__ _ .-:::::J 12
`
`FIG.9
`
`Swagway_1001
`
`

`
`U.s. Patent
`
`Oct. 16, 2001
`
`Sheet 10 of 16
`
`Vs 6,302,230 Bl
`
`18
`\
`
`46
`
`48
`
`54
`
`y
`~
`
`12
`
`FIG. 10
`
`Swagway_1001
`
`

`
`D.S. Patent
`
`Oct. 16, 2001
`
`Sheet 11 of 16
`
`Us 6,302,230 HI
`
`56
`-. -. - oJ. 0
`
`•
`
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`
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`
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`
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`
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`
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`
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`.. ---. -
`
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`
`FIG. 11
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 12 of 16
`
`US 6,302,230 BI
`
`12
`
`FIG. 12
`
`Swagway_1001
`
`

`
`V.s. Patent
`
`Oct. 16,2001
`
`Sheet 13 of 16
`
`Us 6,302,230 Bl
`
`FIG. 13
`
`Swagway_1001
`
`

`
`U.s. Patent
`
`Oct. 16, 2001
`
`Sheet 14 of 16
`
`Us 6,302,230 Bl
`
`12
`
`FIG. 14
`
`Swagway_1001
`
`

`
`V.s. Patent
`
`Oct. 16, 2001
`
`Sheet 15 of 16
`
`Vs 6,302,230 Bl
`
`12
`
`151
`
`FIG. 15
`
`Swagway_1001
`
`

`
`u.s. Patent
`
`Oct. 16,2001
`
`Sheet 16 of 16
`
`US 6,302,230 BI
`
`fb coses
`
`ReG
`
`160
`
`f
`
`FIG. 16
`
`Swagway_1001
`
`

`
`US 6,302,230 B 1
`
`1
`PERSONAL MOBILITY VEHICLES AND
`METHODS
`
`TECHNI CAL FIELD
`
`The present invention pertains to vehicles and methods
`for transporting individuals, and more particularly to bal(cid:173)
`ancing vehicles and methods for transporting individuals
`over ground having a surface that may be irregular.
`
`BACKGROUND ART
`
`A wide range of vehicles and methods are known for
`transporting human subjects. Typically, such vehicles rely
`upon static stability, being designed so as to be stable under
`all foreseen conditions of placement of their ground(cid:173)
`contacting members. Thus, for example, the gravity vector
`acting on the center of gravity of an automobile passes
`between the points of ground contact of the automobile's
`wheels, the suspension keeping all wheels on the ground at
`all times, and the automobile is thus stable. Another example
`of a statically stable vehicle is the stair-climbing vehicle
`described in U.S. Pat. No. 4,790,548 (Decelles et al.).
`
`SUMMARY OF THE INVENTION
`
`10
`
`2
`The proximity sensor may be a member, mechanically
`coupled to the safety switch, having an operating position
`and a non-operating position, wherein the member is in the
`non-operating position in the absence of the user from the
`5 device and the member is moveable to the operating position
`when the user is on the device. The member may include a
`plate, disposed on the device, for receiving a foot of the user,
`wherein placement of the foot on the plate causes it to move
`into the operating position.
`Alternatively, the proximity detector may be electronic
`and may include a semiconductor device. In a further related
`embodiment, the device may include a motorized drive
`arrangement, coupled to the ground-contacting module; the
`motorized drive arrangement causing, when powered, auto-
`15 matically balanced and stationary operation of the device
`unless the proximity sensor has determined the presence of
`the user on the device.
`In another embodiment, there is provided a vehicle for
`carrying a payload including a user. The vehicle of this
`20 embodiment includes:
`a. a platform which supports the user;
`b. a ground-contacting module, to which the platform is
`mounted, which propels the user in desired motion over
`an underlying surface;
`c. a motorized drive arrangement, coupled to the ground(cid:173)
`contacting module; the drive arrangement, ground(cid:173)
`contacting module and payload constituting a system;
`the motorized drive arrangement causing, when
`powered, automatically balanced operation of the sys(cid:173)
`tem wherein the motorized drive arrangement has a
`present power output and a specified maximum power
`output and, in operation, has balancing margin deter-
`mined by the difference between the maximum power
`output and the present power output of the drive
`arrangement;
`d. a balancing margin monitor, coupled to the motorized
`drive arrangement, for generating a signal characteriz(cid:173)
`ing the balancing margin; and
`e. an alarm, coupled to the balancing margin monitor, for
`receiving the signal characterizing the balancing mar(cid:173)
`gin and for warning when the balancing margin falls
`below a specified limit.
`45 The alarm may include ripple modulation of the power
`output of the motorized drive arrangement, and alternatively,
`or in addition, may be audible.
`In a still further embodiment there is provided a device for
`carrying a user, and the device includes:
`a. a platform which supports a payload including the user,
`b. a ground-contacting module, mounted to the platform,
`including at least one ground-contacting member and
`defining a fore-aft plane;
`c. a motorized drive arrangement, coupled to the ground(cid:173)
`contacting module; the drive arrangement, ground(cid:173)
`contacting module and payload constituting a system;
`the motorized drive arrangement causing, when
`powered, automatically balanced operation of the sys(cid:173)
`tem in an operating position that is unstable with
`respect to tipping in at least a fore-aft plane when the
`motorized drive arrangement is not powered; and
`d. a user input control that receives an indication from the
`user of a specified pitch of the device under conditions
`of motion at uniform velocity.
`The user input control may include a thumb-wheel disposed
`upon a handle that is part of the device. A related embodi-
`
`40
`
`In one embodiment there is provided a vehicle for carry- 25
`ing a user. In this case, the user is a standing person. The
`vehicle of this embodiment includes:
`a. a ground-contacting module which supports a payload
`including the standing person, the ground-contacting 30
`module contacting an underlying surface substantially
`at a single region of contact; and
`b. a motorized drive arrangement, coupled to the ground(cid:173)
`contacting module; the drive arrangement, ground(cid:173)
`contacting module and payload constituting a system; 35
`the motorized drive arrangement causing, when
`powered, automatically balanced operation of the sys(cid:173)
`tem.
`In a related embodiment, the ground-contacting module
`includes a uniball.
`In another embodiment, there is provide a vehicle for
`carrying a payload including a user. The vehicle of this
`embodiment includes:
`a. a ground-contacting module including two substantially
`coaxial wheels;
`b. a platform supporting the user in a standing position
`substantially astride both wheels; and
`c. a motorized drive arrangement, coupled to the ground(cid:173)
`contacting module; the drive arrangement, ground(cid:173)
`contacting module and payload constituting a system; 50
`the motorized drive arrangement causing, when
`powered, automatically balanced operation of the sys(cid:173)
`tem.
`In another embodiment, there is provided a vehicle for
`carrying a payload including a user, and the vehicle of this 55
`embodiment includes:
`a. a platform which supports the user;
`b. a ground-contacting module, to which the platform is
`mounted, which propels the user in desired motion over 60
`an underlying surface;
`c. a proximity sensor for determining the presence of the
`user on the device; and
`d. a safety switch, coupled to the proximity detector, for
`inhibiting operation of the ground-contacting module 65
`unless the proximity sensor has determined the pres(cid:173)
`ence of the user on the device.
`
`Swagway_1001
`
`

`
`US 6,302,230 B 1
`
`15
`
`3
`ment provides a device for carrying a payload including a
`user, and the device includes:
`a. a platform which supports the user in a standing
`position,
`b. a ground-contacting module, mounted to the platform, 5
`including at least one ground-contacting member and
`defining a fore-aft plane;
`c. a motorized drive arrangement, coupled to the ground(cid:173)
`contacting module; the drive arrangement, ground(cid:173)
`contacting module and payload constituting a system; 10
`the motorized drive arrangement causing, when
`powered, automatically balanced operation of the sys(cid:173)
`tem in an operating position that is unstable with
`respect to tipping in at least a fore-aft plane when the
`motorized drive arrangement is not powered;
`d. a user-operated mode control having first and second
`modes;
`e. a user input control that receives an indication from the
`user of one of (i) a specified pitch of the device under
`conditions of motion at uniform velocity and (ii) steer- 20
`ing command, depending on the mode of the mode
`control.
`In yet another embodiment there is provided a device for
`carrying a payload including a user, and in this embodiment
`the device includes:
`a. a platform which supports the user in a standing
`position,
`b. a ground-contacting module, mounted to the platform,
`including a plurality of laterally disposed ground(cid:173)
`contacting members and defining a fore-aft plane;
`c. a motorized drive arrangement, coupled to the ground(cid:173)
`contacting module; the drive arrangement, ground(cid:173)
`contacting module and payload constituting a system;
`the motorized drive arrangement causing, when
`powered, automatically balanced operation of the sys(cid:173)
`tem in an operating position that is unstable with
`respect to tipping in at least a fore-aft plane when the
`motorized drive arrangement is not powered; and
`d. a user drive mode selector that on indication from the 40
`user causes the motorized drive to operate the ground(cid:173)
`contacting members at a uniform user-controllable
`speed so as to permit a dismounted user to guide the
`vehicle running under its own power.
`The invention provides methods corresponding to 45
`embodiments of the general nature described above. In one
`embodiment, there is provided a method of using a vehicle
`to carry a user and this method includes:
`a. standing on a ground-contacting module which sup(cid:173)
`ports a payload including a person standing thereon, the 50
`ground-contacting module contacting an underlying
`surface substantially at a single region of contact; and
`b. operating a motorized drive arrangement, coupled to
`the ground-contacting module; the drive arrangement,
`ground-contacting module and payload constituting a
`system; the motorized drive arrangement causing,
`when powered, automatically balanced operation of the
`system.
`In a related embodiment, the ground-contacting module may
`include a uniball.
`In another embodiment, there is provided a method of
`using a vehicle to carry a user, and in this embodiment, the
`method includes:
`a. standing on a platform that supports a payload includ(cid:173)
`ing a standing person, the platform mounted to a 65
`ground-contacting module including two substantially
`coaxial wheels; and
`
`4
`b. operating a motorized drive arrangement, coupled to
`the ground-contacting module; the drive arrangement,
`ground-contacting module and payload constituting a
`system; the motorized drive arrangement causing,
`when powered, automatically balanced operation of the
`system.
`In another embodiment, there is provided a method of
`using a vehicle to carry a payload including a user, and the
`method of this embodiment includes:
`a. standing on a platform supporting the user, the platform
`mounted to a ground-contacting module, which propels
`the user in desired motion over an underlying surface;
`b. using a proximity sensor to determine the presence of
`the user on the device; and
`c. inhibiting operation of the ground-contacting module
`unless the proximity sensor has determined the pres(cid:173)
`ence of the user on the device.
`As in the corresponding device, discussed above, the prox(cid:173)
`imity sensor may be a member, mechanically coupled to the
`safety switch, having an operating position and a non(cid:173)
`operating position, wherein the member is in the non(cid:173)
`operating position in the absence of the user from the device
`and the member is moveable to the operating position when
`the user is on the device. The member may include a plate,
`disposed on the device, for receiving a foot of the user,
`25 wherein placement of the foot on the plate causes it to move
`into the operating position. Alternatively, the proximity
`detector may be electronic and may include a semiconductor
`device. A further embodiment of the method includes oper(cid:173)
`ating a motorized drive arrangement, coupled to the ground-
`30 contacting module; the motorized drive arrangement
`causing, when powered, automatically balanced and station(cid:173)
`ary operation of the device unless the proximity sensor has
`determined the presence of the user on the device.
`Yet another emobodiment, provides a method of using a
`35 vehicle to carry a payload including a user, and the method
`of this embodiment includes:
`a. standing on a platform supporting the user, the platform
`mounted to a ground-contacting module, which propels
`the user in desired motion over an underlying surface;
`b. operating a motorized drive arrangement, coupled to
`the ground-contacting module; the drive arrangement,
`ground-contacting module and payload constituting a
`system; the motorized drive arrangement causing,
`when powered, automatically balanced operation of the
`system wherein the motorized drive arrangement has a
`present power output and a specified maximum power
`output and, in operation, has balancing margin deter(cid:173)
`mined by the difference between the maximum power
`output and the present power output of the drive
`arrangement;
`c. monitoring the balancing margin and generating a
`signal characterizing the balancing margin; and
`d. receiving the signal characterizing the balancing mar(cid:173)
`gin and generating an alarm to warn when the balanc(cid:173)
`ing margin falls below a specified limit.
`55 Alternatively, the balancing margin may be determined by
`the difference between a specified maximum velocity of the
`vehicle and the current velocity of the vehicle. The alarm
`may include ripple modulation of the power output of the
`motorized drive arrangement, and alternatively, or in
`60 addition, may be audible.
`Another embodiment provides a method for carrying a
`user, and the method includes:
`a. assuming a position on a platform which supports a
`payload including the user, the platform being coupled
`to a ground-contacting module, the module including at
`least one ground-contacting member and defining a
`fore-aft plane;
`
`Swagway_1001
`
`

`
`US 6,302,230 B 1
`
`6
`of the present invention, for supporting or conveying a
`subject who remains in a standing position thereon;
`FIG. 2 is a perspective view of a further personal vehicle
`lacking a stable static position, in accordance with an
`alternate embodiment of the present invention;
`FIG. 3 illustrates the control strategy for a simplified
`version of FIG. 1 to achieve balance using wheel torque;
`FIG. 4 illustrates diagrammatically the operation of joy-
`10 stick control of the wheels of the embodiment of FIG. 1;
`FIG. 5 is a block diagram showing generally the nature of
`sensors, power and control with the embodiment of FIG. 1;
`FIG. 6 is a block diagram providing detail of a driver
`interface assembly;
`FIG. 7 is a schematic of the wheel motor control during
`balancing and normal locomotion, in accordance with an
`embodiment of the present invention;
`FIG. 8 shows a balancing vehicle with a single wheel
`central to the support platform of the vehicle and an articu-
`1ated handle in accordance with an embodiment of the
`present invention;
`FIG. 9 shows a balancing vehicle with a single wheel
`central to the support platform of the vehicle and a handle in
`25 accordance with an embodiment of the present invention;
`FIG. 10 shows a balancing vehicle with two coaxial
`wheels central to the support platform of the vehicle and an
`articulated handle in accordance with an embodiment of the
`present invention;
`FIG. 11 shows a balancing vehicle with a single wheel
`central to the support platform of the vehicle and no handle
`in accordance with an embodiment of the present invention;
`FIG. 12 shows an alternate embodiment of a balancing
`vehicle with a single wheel central to the support platform
`35 of the vehicle and no handle in accordance with an embodi(cid:173)
`ment of the present invention;
`FIG. 13 shows a balancing vehicle with a single wheel
`transversely mounted central to the support platform of the
`vehicle and no handle in accordance with an embodiment of
`40 the present invention;
`FIG. 14 shows a balancing vehicle with a single wheel
`transversely mounted central to the support platform of the
`vehicle and a handle in accordance with an embodiment of
`the present invention;
`FIG.15 shows a balancing vehicle with a uniball mounted
`central to the support platform of the vehicle and a handle in
`accordance with an embodiment of the present invention;
`and
`FIG. 16 shows an illustrative diagram of an idealized
`balancing vehicle with a rigid wheel in motion at a constant
`velocity across a fiat surface.
`
`30
`
`5
`b. operating a motorized drive arrangement, coupled to
`the ground-contacting module; the drive arrangement,
`ground-contacting module and payload constituting a
`system; the motorized drive arrangement causing,
`when powered, automatically balanced operation of the 5
`system in an operating position that is unstable with
`respect to tipping in at least a fore-aft plane when the
`motorized drive arrangement is not powered; and
`c. providing via a user input control an indication from the
`user of a specified pitch of the device under conditions
`of motion at uniform velocity.
`The user input control may include a thumb-wheel disposed
`upon a handle coupled to the platform.
`Yet another embodiment provides a method for carrying
`a payload including a user, and the method of this embodi- 15
`ment includes:
`a. assuming a position on a platform which supports a
`payload including the user, the platform being coupled
`to a ground-contacting module, the module including at
`least one ground-contacting member and defining a 20
`fore-aft plane;
`b. operating a motorized drive arrangement, coupled to
`the ground-contacting module; the drive arrangement,
`ground-contacting module and payload constituting a
`system; the motorized drive arrangement causing,
`when powered, automatically balanced operation of the
`system in an operating position that is unstable with
`respect to tipping in at least a fore-aft plane when the
`motorized drive arrangement is not powered; and
`c. operating a user-operated mode control to select one of
`first and second modes;
`d. providing via a user input control an indication of one
`of (i) a specified pitch of the device under conditions of
`motion at uniform velocity and (ii) steering command,
`depending on whether the first mode or the second
`mode has been selected.
`Another embodiment provides a method for carrying a
`payload including a user, and the embodiment includes:
`a. providing a device having
`i. a platform which supports the user in a standing
`position,
`ii. a ground-contacting module, mounted to the
`platform, including a plurality of laterally disposed
`ground-contacting members and defining a fore-aft 45
`plane;
`iii. a motorized drive arrangement, coupled to the
`ground-contacting module; the drive arrangement,
`ground-contacting module and payload constituting
`a system; the motorized drive arrangement causing, 50
`when powered, automatically balanced operation of
`the system in an operating position that is unstable
`with respect to tipping in at least a fore-aft plane
`when the motorized drive arrangement is not pow(cid:173)
`ered; and
`b. causing the motorized drive to operate the ground(cid:173)
`contacting members at a user-controllable speed so as
`to permit a dismounted user to guide the vehicle
`running under its own power.
`
`DETAILED DESCRIPTION OF SPECIFIC
`EMBODIMENTS
`
`55
`
`The subject matter of this application is related to that of
`U.S. application Ser. No. 08/479,901, filed Jun. 7, 1995, now
`allowed, which is a continuation in part of U.S. application
`Ser. No. 08/384,705, filed Feb. 3, 1995, now allowed, which
`60 is a continuation in part of U.S. application Ser. No. 08/250,
`693, filed May 27, 1994, now issued as U.S. Pat. No.
`5,701,965, which in turn is a continuation in part of U.S.
`application Ser. No. 08/021,789, filed Feb. 24, 1993, now
`abandoned. Each of these related applications is incorpo-
`65 rated herein by reference in its entirety.
`An alternative to operation of a statically stable vehicle is
`that dynamic stability may be maintained by action of the
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`The invention will be more readily understood by refer(cid:173)
`ence to the following description, taken with the accompa(cid:173)
`nying drawings, in which:
`FIG. 1 is a side view of a personal vehicle lacking a stable
`static position, in accordance with a preferred embodiment
`
`Swagway_1001
`
`

`
`US 6,302,230 B 1
`
`5
`
`8
`shown of the forces acting on a vehicle that loco motes with
`constant velocity v on a single wheel over a flat surface. The
`principles now discussed may readily be generalized to
`operation on a sloped surface and to accommodate any other
`external forces that might be present. Wheel 160 of radius
`Rw rotates with respect to chassis 162 about axle 164 and
`contac