# US 7,744,331 B2 · Transport vehicle and method

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- Number: US 7,744,331 B2
- Document ID: US7744331B2
- Status: Granted
- Kind: B2
- Application number: 11/340,108
- Filed: 2006-01-26
- Published: 2007-07-26
- Granted: 2010-06-29
- Earliest claimed: 2006-01-26
- Assignees: Xerox Corporation
- Inventors: Jeffrey D. Ellis; Stephen Morris-Jones
- Web page: https://patentgrep.com/patent/US7744331B2

## CPC

- B62B 5/0026: {Propulsion aids}
- B60L 50/52: characterised by DC-motors
- B62B 5/02: providing for travelling up or down a flight of stairs (chairs or multi-track cycles specially adapted for invalids A61G5/00)
- B66F 9/12: Platforms; Forks; Other load supporting or gripping members
- B66F 9/19: Additional means for facilitating unloading
- B66F 13/005: {Thrust chain devices}
- B62B 5/0076: {Remotely controlled}
- B62B 2203/07: Comprising a moving platform or the like, e.g. for unloading
- B62B 2203/10: comprising lifting means
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y10S 414/134: Handicapped person handling
- B62B: HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES (characterised by animal propulsion B62C; propulsion of sledges by driver or engine B62M)
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00)
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A transport vehicle includes a self-balancing vehicle base. A platform is supported on the base and is displaceable relative thereto between a first position and a second position. A support device engages the platform and supports at least a portion thereof during displacement between the first position and the second position. A method is also included.

## Claims

### Claim 1

A transport vehicle capable of displacement between a first condition for transferring an associated cargo and a second condition for transporting the associated cargo, said transport vehicle comprising:
a self-balancing vehicle base including a carrier structure having a balancing axis, a ground-engaging component operatively connected to said carrier structure, and a base structure rotatably supported on said carrier structure for displacement about said balancing axis between a first orientation corresponding to said first condition of said transport vehicle and a second orientation that is different from said first orientation and corresponds to said second condition of said transport vehicle;
a platform moveably supported on said vehicle base and displaceable relative thereto in a direction transverse to said balancing axis between a first position corresponding to said first orientation of said vehicle base and a second position corresponding to said second orientation of said vehicle base, said platform including a first end pivotally connected to said base structure and a second end spaced from said first end in said direction transverse to said balancing axis, said second end being free from said base structure such that said platform can be maintained in an approximately fixed orientation during displacement of said base structure between said first and second orientations; and,
a support device engaging said second end of said platform and supporting at least a portion thereof during displacement between said first position and said second position such that said platform can be maintained in said approximately fixed orientation during displacement of said base structure between said first and second orientations; wherein a free end of said support device travels beneath at least a portion of said base structure.

### Claim 2 (depends on 1)

A transport vehicle according to claim 1 further comprising a control system operative to control movement of said self-balancing vehicle base and displacement of said platform.

### Claim 3 (depends on 2)

A transport vehicle according to claim 2, wherein said control system includes a base control system disposed on said base and a remote control device in communication with said base control system.

### Claim 4 (depends on 3)

A transport vehicle according to claim 3, wherein said remote control device is a wireless remote control device.

### Claim 5 (depends on 1)

A transport vehicle according to claim 1, wherein said support device is a flexible force transmitting device operative to transmit a force between said platform and said vehicle base.

### Claim 6

A vehicle for transporting an associated cargo over a discontinuous surface, said transport vehicle comprising:
a self-balancing vehicle base operative to traverse a discontinuous surface and displaceable between a first condition for transporting the associated cargo and a second condition for transferring the associated cargo, said vehicle base including a carrier structure having an axis, a ground-engaging component operatively connected to said carrier structure, and a base structure rotatably supported on said carrier structure for displacement relative thereto about said axis between a first orientation corresponding to said first condition of said vehicle base and a second orientation corresponding to said second condition of said vehicle base;
a platform moveably supported on said vehicle base for receiving the associated cargo, said platform displaceable in a direction transverse to said axis between a retracted position for transporting the associated cargo and an extended position for transferring the associated cargo, said platform including a first end pivotally connected to said base structure and a second end spaced from said first end in said direction of displacement, said second end being free from said base structure such that said platform can be maintained in an approximately fixed orientation during displacement of said base structure between said first and second orientations; and,
a support member operatively connected between said vehicle base and said second end of said platform, said support member operative to support said second end of said platform during displacement of said platform between said retracted position and said extended position such that said platform can be maintained in said approximately fixed orientation during displacement of said base structure between said first and second orientations; wherein a free end of said support member travels beneath at least a portion of said base structure.

### Claim 7 (depends on 6)

A vehicle according to claim 6, wherein said base structure has opposing sides with said axis extending between said opposing sides, said carrier structure includes first and second carrier members having opposing ends and supported on said opposing sides of said base structure for driveable rotation of said base structure about said axis, and said ground-engaging component includes a pair of wheels supported on opposing ends of each of said carrier members.

### Claim 8 (depends on 7)

A vehicle according to claim 7 further comprising an endless drive track extending around said pair of wheels on each of said first and second carrier members.

### Claim 9 (depends on 6)

A vehicle according to claim 6, wherein said vehicle base is approximately upright in said first orientation and said vehicle base is disposed at an angle in said second orientation.

### Claim 10 (depends on 9)

A vehicle according to claim 9, wherein said approximately fixed orientation of said platform is approximately horizontal in said retracted position and remains approximately horizontal during displacement between said retracted position and said extended position.

### Claim 11

A transport vehicle capable of displacement between a first condition for transferring an associated payload having an associated orientation and a second condition for transporting the associated payload in the associated orientation, said transport vehicle being capable of traversing a plurality of stairs carrying the associated payload while maintaining the associated payload in the associated orientation, said transport vehicle comprising:
a self-balancing vehicle base including:
a base structure including an upper end wall, opposing sides, an axis extending between said opposing sides, a base axle extending along said axis, and a motor in operative association with said base axle;
first and second carrier members supported along said opposing sides of said base structure such that said base structure can be rotated about said axis relative to said first and second carrier members, at least one of said first and second carrier members being operatively connected to said base axle such that rotation of said base structure with respect to said first and second carrier members can be selectively controlled, said first and second carrier members having opposing ends and a wheel axle supported on each of said opposing ends;
a wheel assembly supported on each of said wheel axles;
a rotational motion source operatively connected between said base structure and said first and second carrier members; and,
a control system in electrical communication with said rotational motion source and operative to selectively energize said rotational motion source to:
1) displace said base structure into a first alignment corresponding to said first condition of said transport vehicle in which said upper end wall of said base structure is disposed at a non-zero angle relative to horizontal;
2) displace said base structure into a second alignment corresponding to said second condition of said transport vehicle in which said upper end wall of said base structure is disposed approximately horizontally; and,
3) maintain said base structure in approximately said second alignment during traversal of a plurality of stairs;
a platform moveably supported along said upper end wall of said vehicle base and displaceable in a direction transverse to said axis between a first position and a second position, said platform including a first end pivotally connected to said base structure and a second end spaced from said first end in said direction transverse to said axis, said second end being free from said base structure such that said platform can be maintained in an approximately horizontal orientation during displacement of said base structure between said first and second orientations; and,
a flexible force transmitting device connected to said second end of said platform and adapted to engage said vehicle base such that said platform can be maintained in said approximately horizontal orientation during displacement of said base structure between said first and second alignments; wherein a free end of said flexible force transmitting device travels beneath at least a portion of said base structure.

### Claim 12 (depends on 11)

A transport vehicle according to claim 11, wherein said flexible force transmission assembly includes a plurality of track segments hingedly connected to one another.

### Claim 13 (depends on 12)

A transport vehicle according to claim 12, wherein said wheel assembly includes a wheel, an engagement member rotatably supported adjacent said wheel, and a keying device selectively engagable between said wheel and said engagement member.

### Claim 14 (depends on 13)

A transport vehicle according to claim 13, wherein each of said track segments includes a first engagement feature, and said engagement member includes a second engagement features complementary to said first engagement feature.

### Claim 15 (depends on 14)

A transport vehicle according to claim 14, wherein said first and second engagement features each include a plurality of complementary gear teeth.

### Claim 16 (depends on 11)

A transport vehicle according to claim 11 further comprising an actuator operative to displace said support platform between said retracted and said extended position.

### Claim 17 (depends on 16)

A transport vehicle according to claim 16, wherein said actuator includes a threaded member rotatably supported on said vehicle base and a travel nut displaceably received on said threaded member and engaging said platform.

### Claim 18 (depends on 17)

A transport vehicle according to claim 17, wherein said platform is pivotally connected to said travel nut.

### Claim 19

A transport vehicle capable of traversing a plurality of stairs carrying an associated payload, said transport vehicle comprising:
a self-balancing vehicle base including a base structure having opposing sides, an axis extending between said opposing sides, a base axle extending along said axis, and a motor in operative association with said base axle;
first and second carrier members supported along said opposing sides of said base structure for rotation about said axis, at least one of said first and second carrier members being operatively associated with said base axle, said first and second carrier members having opposing ends and a wheel axle supported on each of said opposing ends;
a wheel assembly supported on each of said wheel axles, said wheel assembly including a wheel, an engagement member rotatably supported adjacent said wheel, and a keying device selectively engagable between said wheel and said engagement member, said keying device including a spring-biased keying member, said engagement member including a passage adapted to receive a portion of said keying member and thereby prevent relative rotation between said wheel and said engagement member;
a platform supported on said vehicle base and displaceable between a first position and a second position; and,
a flexible force transmitting device supportable on said platform and adapted to engage one of said vehicle base or at least one of said wheel assemblies on one of said first and second carrier members, said flexible force transmitting device including a plurality of track segments hingedly connected to one another.

### Claim 20

A method of transporting a payload comprising:
a) providing transport vehicle that includes:
a self-balancing vehicle base operative to traverse a discontinuous surface and displaceable between a first condition for transporting the associated cargo and a second condition for transferring the associated cargo, said vehicle base including a carrier structure having an axis, a ground-engaging component operatively connected to said carrier structure, and a base structure rotatably supported on said carrier structure for displacement relative thereto about said axis between a first angular orientation corresponding to said first condition of said vehicle base and a second angular orientation corresponding to said second condition of said vehicle base;
a displaceable platform moveably supported on said vehicle base for receiving the payload, said platform displaceable in a direction transverse to said axis between a retracted position for transporting the payload and an extended position for transferring the payload, said platform including a first end pivotally connected to said base structure and a second end spaced from said first end in said direction of displacement, said second end being free from said base structure such that said platform can be maintained in an approximately fixed orientation during displacement of said base structure between said first and second orientations, and,
a support device operatively connected between said vehicle base and said second end of said platform, said support device operative to support said second end of said platform during displacement of said platform between said retracted position and said extended position such that said platform can be maintained in said approximately fixed orientation during displacement of said base structure between said first and second orientations;
b) moving said vehicle base from said first angular orientation to said second angular orientation;
c) moving said platform from said retracted position to said extended position;
d) transferring the payload to or from said platform;
e) returning said platform to said retracted position; and,
f) returning said vehicle base to said first angular orientation; wherein a free end of said support device travels beneath at least a portion of said base structure.

### Claim 21 (depends on 20)

A method according to claim 20 further comprising securing said support device on said platform, and engaging said a support device with said vehicle base.

### Claim 22 (depends on 21)

A method according to claim 21 further comprising changing a force transmitting length of said support device extending between said platform and said vehicle base.

### Claim 23 (depends on 22)

A method according to claim 22, wherein changing said force transmitting length includes displacing said vehicle base relative to said support device.

### Claim 24 (depends on 20)

A method according to claim 20 further comprising moving said vehicle base from a first location to a second location.

### Claim 25 (depends on 24)

A method according to claim 24, wherein moving said vehicle base includes traversing a discontinuous surface.

### Claim 26 (depends on 20)

A method according to claim 20, wherein at least one of c) and e) includes maintaining said platform in an approximately horizontal orientation between said retracted and extended positions.

### Claim 27 (depends on 20)

A method according to claim 20, wherein b) and c) are performed approximately simultaneously.