Patent US2034202A successfully refreshed from Google Patents.
Patent US5248007A successfully refreshed from Google Patents.
US5248007A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Electronic control system for stair climbing vehicle
Assignee: QUEST TECHNOLOGIES Corp
•
Filing: 1990-11-01
•
Granted: 1993-09-28
•
Expires: 2010-11-01
Abstract
Abstract An electronic control system for a stair climbing vehicle, such as a wheelchair is disclosed. Front and back sensors are provided for detecting a stairway or slope. The electronic control system determines from the sensor data whether the slope has an acceptable incline for traversing. If it is not acceptable, the vehicle will be prevented from entering onto the stairway or slope. A seat for a user is tilted in accordance with electronic controls to keep the user approximately vertical with respect to gravity as the vehicle traverses the stairs. The allowed operation of the vehicle is controlled via parameters which can be changed by removable memory which configures the vehicle for a particular user or group of users.
Inventors
- 👤 Baxter R. Watkins
- 👤 Douglas J. Littlejohn
- 👤 John H. Hessler
- 👤 Havard L. Staggs
- 👤 Chi-Foun Kuen
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 17:12
CPC Classifications
A; A61; A61G; A61G5/00; A61G5/06; A61G5/061; A61G5/066; A61G2203/00; A61G2203/10; A61G2203/14; A61G2203/30; A61G2203/42; A61G2203/44; A61G5/10; A61G5/1056; A61G5/107; A61G5/1072; A61G5/1075; Y; Y10; Y10S; Y10S180/00; Y10S180/907; Y10S280/00; Y10S280/10
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
147 words
A stair-climbing personal transport vehicle comprising: a first forward ranging sensor; a second rearward ranging sensor; electronic means, responsive to said sensors, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding predetermined geometric characteristics; means, responsive to a determined slope from said electronic means, for inclining a seat on said vehicle to a minimum safe angle for preventing rollover of said vehicle for said slope to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; and a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm.
Claim 2
Dependent Claim
147 words
A stair-climbing personal transport vehicle comprising: a first forward ranging sensor; a second rearward ranging sensor; electronic means, responsive to said sensors, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding predetermined geometric characteristics; means, responsive to a determined slope from said electronic means, for inclining a seat on said vehicle to a minimum safe angle for preventing rollover of said vehicle for said slope to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; and a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm.
Claim 3
Dependent Claim
31 words
The vehicle of claim 1 wherein said electronic means includes means for preventing, at all times on a stairway, movement other than forward down a stairway and backwards up a stairway.
Claim 4
Dependent Claim
89 words
The vehicle of claim 1 further comprising: a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; and means, coupled to said first inclinometer, said second inclinometer and said controller means, for determining the rotational skew of said vehicle relative to said stairway slope and providing said rotational skew to said controller means for preventing more than a predetermined amount of rotational skew.
Claim 5
Dependent Claim
71 words
The vehicle of claim 1 further comprising: a third, rearward sensor mounted at an angle to said second, rearward sensor; and means, coupled to said second and third sensors, for detecting the nose of a stair from an output of said third sensor within a window defined by said second sensor, an output of said means for detecting being provided to said electronic means for determining the slope of said stairway.
Claim 6
Dependent Claim
140 words
A control system for a personal transport vehicle having a motor, comprising: a ranging sensor; electronic means, responsive to said sensor, for determining the slope of a stairway; a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; means, coupled to said first and second inclinometers and said electronic means, for determining the rotational skew of said vehicle relative to said stairway slope; control means, coupled to said electronic means, said means for determining rotational skew and said motor, for preventing movement over a stairway exceeding predetermined geometric characteristics and preventing more than a predetermined rotational skew; and said control means for also adjusting the direction of said vehicle responsive to said rotational skew.
Claim 7
Dependent Claim
140 words
A control system for a personal transport vehicle having a motor, comprising: a ranging sensor; electronic means, responsive to said sensor, for determining the slope of a stairway; a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; means, coupled to said first and second inclinometers and said electronic means, for determining the rotational skew of said vehicle relative to said stairway slope; control means, coupled to said electronic means, said means for determining rotational skew and said motor, for preventing movement over a stairway exceeding predetermined geometric characteristics and preventing more than a predetermined rotational skew; and said control means for also adjusting the direction of said vehicle responsive to said rotational skew.
Claim 8
Dependent Claim
213 words
A stair-climbing personal transport vehicle comprising: a first forward ranging sensor; a second rearward ranging sensor; electronic means, responsive to said sensors, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding a predetermined slope; means, responsive to said determined slope from said electronic means, for inclining a seat on said vehicle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm; a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; and means, coupled to said first and second inclinometers and said controller means, for determining the rotational skew of said vehicle relative to said stairway slope and providing said rotational skew to said controller means for preventing more than a predetermined amount of rotational skew.
Claim 9
Dependent Claim
213 words
A stair-climbing personal transport vehicle comprising: a first forward ranging sensor; a second rearward ranging sensor; electronic means, responsive to said sensors, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding a predetermined slope; means, responsive to said determined slope from said electronic means, for inclining a seat on said vehicle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm; a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; and means, coupled to said first and second inclinometers and said controller means, for determining the rotational skew of said vehicle relative to said stairway slope and providing said rotational skew to said controller means for preventing more than a predetermined amount of rotational skew.
Claim 10
Dependent Claim
196 words
A stair-climbing personal transport vehicle comprising: a first forward ranging sensor; a second rearward ranging sensor; electronic means, responsive to said sensors, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding a predetermined slope; means, responsive to said determined slope from said electronic means, for inclining a seat on said vehicle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm; a third, rearward sensor mounted at an angle to said second, rearward sensor; and means, coupled to said second and third sensors, for detecting the nose of a stair from an output of said third sensor within a window defined by said second sensor, an output of said means for detecting being provided to said electronic means for determining the slope of said stairway.
Claim 11
Dependent Claim
196 words
A stair-climbing personal transport vehicle comprising: a first forward ranging sensor; a second rearward ranging sensor; electronic means, responsive to said sensors, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding a predetermined slope; means, responsive to said determined slope from said electronic means, for inclining a seat on said vehicle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm; a third, rearward sensor mounted at an angle to said second, rearward sensor; and means, coupled to said second and third sensors, for detecting the nose of a stair from an output of said third sensor within a window defined by said second sensor, an output of said means for detecting being provided to said electronic means for determining the slope of said stairway.
Claim 12
Dependent Claim
176 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, coupling said cushioning arm to said vehicle, for slowing the rollover of said vehicle onto one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; electronic means, responsive to said sensor, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding predetermined geometric characteristics; means, responsive to the slope from said electronic means, for inclining a seat on said vehicle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm.
Claim 13
Dependent Claim
176 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, coupling said cushioning arm to said vehicle, for slowing the rollover of said vehicle onto one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; electronic means, responsive to said sensor, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding predetermined geometric characteristics; means, responsive to the slope from said electronic means, for inclining a seat on said vehicle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm.
Claim 14
Dependent Claim
114 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; a fluid-filled tube coupled to one of said vehicle and said cushioning arm; a piston extending into said tube and coupled to a one of said vehicle and said cushioning arm not coupled to said tube; means for restricting the flow of said fluid to limit the speed at which the combination of said tube and said piston compresses; and a solenoid activated latch for holding said cushioning arm in an up position.
Claim 15
Dependent Claim
114 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; a fluid-filled tube coupled to one of said vehicle and said cushioning arm; a piston extending into said tube and coupled to a one of said vehicle and said cushioning arm not coupled to said tube; means for restricting the flow of said fluid to limit the speed at which the combination of said tube and said piston compresses; and a solenoid activated latch for holding said cushioning arm in an up position.
Claim 16
Dependent Claim
114 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; a fluid-filled tube coupled to one of said vehicle and said cushioning arm; a piston extending into said tube and coupled to a one of said vehicle and said cushioning arm not coupled to said tube; and means for restricting the flow of said fluid to limit the speed at which the combination of said tube and said piston compresses; wherein said means for restricting comprises a one-way fixed orifice in said piston.
Claim 17
Dependent Claim
114 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; a fluid-filled tube coupled to one of said vehicle and said cushioning arm; a piston extending into said tube and coupled to a one of said vehicle and said cushioning arm not coupled to said tube; and means for restricting the flow of said fluid to limit the speed at which the combination of said tube and said piston compresses; wherein said means for restricting comprises a one-way fixed orifice in said piston.
Claim 18
Dependent Claim
182 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, coupling said cushioning arm to said vehicle, for slowing the rollover of said vehicle onto one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; electronic means, responsive to said sensor, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding a predetermined slope; means, responsive to a determinied slope from said electronic means, for inclining a seat on said vehicle to a variable angle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; and a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm.
Claim 19
Dependent Claim
182 words
A stair-climbing personal transport vehicle comprising: at least one ranging sensor for detecting a change between inclined and substantially horizontal surfaces; a cushioning arm for deployment on one of said surfaces; means, coupling said cushioning arm to said vehicle, for slowing the rollover of said vehicle onto one of said surfaces; means, responsive to said sensor, for deploying said cushioning arm; electronic means, responsive to said sensor, for determining the slope of a stairway and for controlling a motor for said vehicle to prevent movement over a stairway exceeding a predetermined slope; means, responsive to a determinied slope from said electronic means, for inclining a seat on said vehicle to a variable angle to modify the center of gravity of said vehicle and user to prevent rollover of said vehicle on said stairway; controller means for driving said motor in accordance with an algorithm; enabling means, coupled to said controller means, for enabling operation of said vehicle in response to a key code; and a detachable, programmable memory for providing said key code to said enabling means and constants for said algorithm.
Claim 20
Dependent Claim
101 words
A control system for a personal transport vehicle comprising: a ranging sensor; electronic means, responsive to said sensor, for determining the slope of a stairway; a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; means, coupled to said first and second inclinometers and said electronic means, for determining the rotational skew of said vehicle relative to said stairway slope; and control means for adjusting the direction of said vehicle responsive to said rotational skew.
Claim 21
Dependent Claim
101 words
A control system for a personal transport vehicle comprising: a ranging sensor; electronic means, responsive to said sensor, for determining the slope of a stairway; a first inclinometer for measuring tilt along a Y axis extending forward to rearward through said vehicle; a second inclinometer for measuring tilt from an X axis extending from one side to another of said vehicle; means, coupled to said first and second inclinometers and said electronic means, for determining the rotational skew of said vehicle relative to said stairway slope; and control means for adjusting the direction of said vehicle responsive to said rotational skew.
References Cited (Backward Citations)
US2765860A
Cited
US3077345A
Cited
US3127188A
Cited
US3231036A
Cited
US3068950A
Cited
US3166138A
Cited
US3142351A
Cited
US3111331A
Cited
US3133742A
Cited
US3204716A
Cited
US3178193A
Cited
US3191953A
Cited
US3231290A
Cited
US3146841A
Cited
US3196970A
Cited
US3198534A
Cited
US3259396A
Cited
US3195910A
Cited
US3288234A
Cited
US3304094A
Cited
US3292722A
Cited
US3259200A
Cited
US3406772A
Cited
US3295858A
Cited
US3346062A
Cited
US3529688A
Cited
USRE28256E
Cited
US3869011A
Cited
US4033421A
Cited
US4061199A
Cited
US4077483A
Cited
US4119164A
Cited
US4154315A
Cited
US4204255A
Cited
US4119163A
Cited
US4136888A
Cited
US4207959A
Cited
US4222449A
Cited
US4194584A
Cited
US4411330A
Cited
US4401178A
Cited
US4432426A
Cited
US4634941A
Cited
US4387325A
Cited
US4432425A
Cited
US4566707A
Cited
US4473234A
Cited
US4556229A
Cited
US4566706A
Cited
US4421336A
Cited
US4688813A
Cited
US4585241A
Cited
US4564080A
Cited
US4556997A
Cited
US4566551A
Cited
US4566550A
Cited
US4627508A
Cited
US4620285A
Cited
US4674584A
Cited
US4854408A
Cited
US4733355A
Cited
US4771839A
Cited
US4747457A
Cited
US4898256A
Cited
US5033000A
Cited
US4915184A
Cited
US5123495A
Cited
US5040116A
Cited
US4977971A
Cited
US5076384A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-09-27 | 1997-03-29 | 1997-09-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-09-27 | 2001-03-29 | 2001-09-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-09-27 | 2005-03-29 | 2005-09-28 | $7700.00 | Window Closed / Lapsed |