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11. 发明申请

US20080284130A1 MULTIPLE-PASSENGER TRANSPORTER 审中-公开
标题翻译：多乘客运输车
公开(公告)号：US20080284130A1
公开(公告)日：2008-11-20
申请号：US12185605
申请日：2008-08-04
申请人： Dean L. Kamen , J. Douglas Field , John David Heinzmann
发明人： Dean L. Kamen , J. Douglas Field , John David Heinzmann
IPC分类号： B62D47/00
CPC分类号： B62D63/067 , B62D51/008 , B62D51/02 , B62D53/02 , B62K11/007
摘要： A transporter for transporting a first person and one or more riders over a surface. The transporter includes a first support platform for supporting the first person, the first support platform having left and right sides and defining a fore-aft vertical plane and a lateral plane. At least one ground-contacting element is coupled to the first support platform such that the first support platform is capable of tilting in the fore-aft plane about a tilt axis. The at least one ground-contacting element is driven by a motorized drive arrangement so as to cause locomotion of the transporter. A controller commands the motorized drive arrangement. The controller is configured so that at least one of fore and aft sustained motion of the transporter is based at least on fore-aft tilting of the first support platform. One or more passenger platforms support one or more riders, the passenger platforms coupled to the first support platform such that fore-aft tilting of the first support platform is substantially independent of the one or more passenger platforms.
摘要翻译：用于将第一人和一个或多个骑手运送到表面上的运送器。所述运送器包括用于支撑所述第一人的第一支撑平台，所述第一支撑平台具有左右两侧并限定前后垂直平面和横向平面。至少一个接地元件联接到第一支撑平台，使得第一支撑平台能够围绕倾斜轴线在前后平面中倾斜。所述至少一个地面接触元件由电动驱动装置驱动，以使运送器运动。控制器命令电动驱动装置。控制器被配置为使得运送器的前后的持续运动中的至少一个至少基于第一支撑平台的前后倾斜。一个或多个乘客平台支撑一个或多个乘客，乘客平台联接到第一支撑平台，使得第一支撑平台的前后倾斜基本上独立于一个或多个乘客平台。

12. 发明授权

US07407175B2 Multiple-passenger transporter 失效
标题翻译：多乘客运输车
公开(公告)号：US07407175B2
公开(公告)日：2008-08-05
申请号：US11233276
申请日：2005-09-22
申请人： Dean Kamen , J. Douglas Field , John David Heinzmann
发明人： Dean Kamen , J. Douglas Field , John David Heinzmann
IPC分类号： B62K27/00
CPC分类号： B62D63/067 , B60L15/20 , B60L2200/16 , B60L2240/463 , B60L2260/34 , B62D51/02 , B62D53/02 , B62D61/00 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： A transporter for transporting a first person and one or more riders over a surface. The transporter includes a first support platform for supporting the first person, the first support platform having left and right sides and defining a fore-aft vertical plane and a lateral plane. At least one ground-contacting element is coupled to the first support platform such that the first support platform is capable of tilting in the fore-aft plane about a tilt axis. The at least one ground-contacting element is driven by a motorized drive arrangement so as to cause locomotion of the transporter. A controller commands the motorized drive arrangement. The controller is configured so that at least one of fore and aft sustained motion of the transporter is based at least on fore-aft tilting of the first support platform. One or more passenger platforms support one or more riders, the passenger platforms coupled to the first support platform such that fore-aft tilting of the first support platform is substantially independent of the one or more passenger platforms.
摘要翻译：用于将第一人和一个或多个骑手运送到表面上的运送器。所述运送器包括用于支撑所述第一人的第一支撑平台，所述第一支撑平台具有左右两侧并限定前后垂直平面和横向平面。至少一个接地元件联接到第一支撑平台，使得第一支撑平台能够围绕倾斜轴线在前后平面中倾斜。所述至少一个地面接触元件由电动驱动装置驱动，以使运送器运动。控制器命令电动驱动装置。控制器被配置为使得运送器的前后的持续运动中的至少一个至少基于第一支撑平台的前后倾斜。一个或多个乘客平台支撑一个或多个乘客，乘客平台联接到第一支撑平台，使得第一支撑平台的前后倾斜基本上独立于一个或多个乘客平台。

13. 发明授权

US07174976B2 Dynamically stable transporter controlled by lean 有权
标题翻译：动力稳定的运输车由精益控制
公开(公告)号：US07174976B2
公开(公告)日：2007-02-13
申请号：US11144309
申请日：2005-06-03
申请人： Dean L. Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
发明人： Dean L. Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
IPC分类号： B62D5/02
CPC分类号： B62K17/00 , A63C17/01 , A63C17/08 , A63C17/12 , A63C2203/52 , B60G17/0161 , B60G2300/12 , B60G2300/20 , B60G2300/22 , B60G2300/26 , B60G2400/0512 , B60G2400/61 , B60G2400/63 , B60G2500/40 , B60G2800/014 , B60G2800/0192 , B60G2800/912 , B60G2800/915 , B60K26/02 , B60K31/00 , B60L2200/16 , B60L2200/24 , B60L2220/30 , B60L2260/34 , B60Q1/26 , B62D1/12 , B62D51/02 , B62K11/007 , B62M7/00 , Y10S180/907 , Y10S180/908
摘要： A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.
摘要翻译：用于将物体运送到可能不规则的表面上的运输机。运输机包括用于支撑负载的支撑平台，负载的支撑平台限定前后和横向平面，并且其特征在于负载分布。多个地面接触元件联接到支撑平台，使得运送器相对于在前后平面中的倾翻是静态稳定的。多个接地元件中的至少一个由电动驱动装置驱动。传感器模块产生指示负载分布的信号。至少基于负载分布，控制器命令电动驱动装置。

14. 发明授权

US07157875B2 Method and system for fail-safe motor operation 有权
标题翻译：故障安全电机运行方法和系统
公开(公告)号：US07157875B2
公开(公告)日：2007-01-02
申请号：US11273581
申请日：2005-11-14
申请人： Dean Kamen , John B. Morrell , David W. Robinson , Ronald K. Reich , John David Heinzmann , Philip LeMay , Steven R. Meyer , Jason M. Sachs , J. Douglas Field
发明人： Dean Kamen , John B. Morrell , David W. Robinson , Ronald K. Reich , John David Heinzmann , Philip LeMay , Steven R. Meyer , Jason M. Sachs , J. Douglas Field
IPC分类号： G05B9/03
CPC分类号： A63C17/12 , B60K7/00 , B60L11/1803 , B62D57/00 , B62K11/007 , H02P29/032 , Y02T10/642 , Y02T10/7005 , Y10S388/903
摘要： An electric device includes a motor and a motor drive for commanding a torque generated by the motor. A fault control circuit detects a fault condition associated with the motor drive. Upon detection of the fault condition, the fault control circuit adjusts the torque commanded by the motor drive.
摘要翻译：电气装置包括电动机和用于指令由电动机产生的转矩的电动机驱动器。故障控制电路检测与电机驱动有关的故障状况。在检测到故障状态时，故障控制电路调整由电机驱动器指令的转矩。

15. 发明授权

US08830048B2 Control of a personal transporter based on user position 有权
标题翻译：基于用户位置控制个人运输工具
公开(公告)号：US08830048B2
公开(公告)日：2014-09-09
申请号：US13857737
申请日：2013-04-05
申请人： Dean Kamen , Robert R. Ambrogi , James J. Dattolo , Robert J. Duggan , J. Douglas Field , Richard Kurt Heinzmann , Matthew M. McCambridge , John B. Morrell , Michael D. Piedmonte , Richard J. Rosasco
发明人： Dean Kamen , Robert R. Ambrogi , James J. Dattolo , Robert J. Duggan , J. Douglas Field , Richard Kurt Heinzmann , Matthew M. McCambridge , John B. Morrell , Michael D. Piedmonte , Richard J. Rosasco
IPC分类号： B60Q1/00 , A63C17/01 , B62D51/00 , A63C17/12 , B62D61/00 , B62D51/02 , G08B6/00 , B62D37/00 , B62K3/00 , B62K1/00 , B60L15/20 , A63C17/08
CPC分类号： G05D1/0212 , A63C17/01 , A63C17/08 , A63C17/12 , B60L15/20 , B60L15/2045 , B60L2200/16 , B60L2200/24 , B60L2220/46 , B60L2240/18 , B60L2240/22 , B60L2240/423 , B60L2250/22 , B60L2250/24 , B60L2260/34 , B62D37/00 , B62D51/002 , B62D51/02 , B62D61/00 , B62K1/00 , B62K3/002 , B62K11/007 , B62K2207/02 , B62K2207/04 , G05D1/0223 , G05D1/0891 , G08B6/00 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： An apparatus controller for prompting a rider to be positioned on a vehicle in such a manner as to reduce lateral instability due to lateral acceleration of the vehicle. The apparatus has an input for receiving specification from the rider of a desired direction of travel, and indicating means for reflecting to the rider a propitious instantaneous body orientation to enhance stability in the face of lateral acceleration. The indicating may include a handlebar that is pivotable with respect to the vehicle and that is driven in response to vehicle turning.
摘要翻译：一种装置控制器，用于以使车辆的横向加速度减小的侧向不稳定性的方式促使骑车者定位在车辆上。该装置具有用于从骑车人接收到期望的行进方向的指定的输入，以及用于向驾驶员反映有利的瞬时身体取向以提高面向横向加速度的稳定性的指示装置。指示可以包括可相对于车辆枢转并且响应于车辆转动而被驱动的把手。

16. 发明授权

US08467941B2 Apparatus and method for control of a vehicle 有权
公开(公告)号：US08467941B2
公开(公告)日：2013-06-18
申请号：US13455346
申请日：2012-04-25
申请人： J. Douglas Field , Michael T. Gansler , John D. Heinzmann , Jon M. Stevens
发明人： J. Douglas Field , Michael T. Gansler , John D. Heinzmann , Jon M. Stevens
IPC分类号： G06F17/00
CPC分类号： G05D1/0268 , B60N2/045 , B60N2/06 , B60N2/10 , B62D33/063 , B62D37/04 , B62D39/00 , B62J17/08 , B62K11/007 , Y02T10/7258 , Y10S181/401 , Y10T152/10765
摘要： An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.

17. 发明授权

US07900725B2 Vehicle control by pitch modulation 有权
标题翻译：通过俯仰调制进行车辆控制
公开(公告)号：US07900725B2
公开(公告)日：2011-03-08
申请号：US11249136
申请日：2005-10-11
申请人： John D. Heinzmann , David W. Robinson , Jon Michael Stevens , J. Douglas Field , Jeremy B. Lund
发明人： John D. Heinzmann , David W. Robinson , Jon Michael Stevens , J. Douglas Field , Jeremy B. Lund
IPC分类号： B62D11/00 , B60K1/00 , B60K28/14
CPC分类号： B62D37/00 , B60L11/007 , B60L15/2036 , B60L15/2045 , B60L2200/24 , B60L2200/34 , B60L2220/44 , B60L2240/423 , B60L2240/463 , B60L2260/34 , B62K5/01 , B62K11/007 , B62K17/00 , Y02T10/645 , Y02T10/72 , Y02T10/7283
摘要： A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
摘要翻译：一种用于车辆前后稳定的方法，用于在下面的表面上沿指定方向运动。车辆具有至少一个前轮和至少一个后轮，并且前轮的特征在于垂直于车辆的瞬时运动方向的力。电动机执行器驱动每个后轮，并且当前轮与下面的表面接触时，控制器以这样的方式控制电动机致动器或电动机致动器，以便根据统一的控制规律动态地稳定车辆。基于车辆间距或者正向于运动方向的前轮上的力，对后轮施加扭矩。此外，可以对后轮施加周期性的旋转调制，以及基于检测到的响应提供的稳定转矩，车辆间距或前轮上的法向力。左右电机执行器可以独立地控制左右后轮继续转动，由用户转向控制，无论前轮是否与地面接触。

18. 发明申请

US20100114468A1 APPARATUS AND METHOD FOR CONTROL OF A VEHICLE 有权
标题翻译：用于控制车辆的装置和方法
公开(公告)号：US20100114468A1
公开(公告)日：2010-05-06
申请号：US12266170
申请日：2008-11-06
申请人： J. Douglas Field , Michael T. Gansler , John D. Heinzmann , Jon M. Stevens
发明人： J. Douglas Field , Michael T. Gansler , John D. Heinzmann , Jon M. Stevens
IPC分类号： G06F19/00
CPC分类号： G05D1/0268 , B60N2/045 , B60N2/06 , B60N2/10 , B62D33/063 , B62D37/04 , B62D39/00 , B62J17/08 , B62K11/007 , Y02T10/7258 , Y10S181/401 , Y10T152/10765
摘要： An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.
摘要翻译：提供了一种用于在表面上传送有效载荷的装置和方法。车辆支撑具有由壳体部分包围的支撑的有效载荷。两个侧向设置的接地元件联接到外壳或支撑件中的至少一个。电动驱动器联接到接地元件。至少响应于车辆的重心的位置来控制耦合到驱动器的控制器控制驱动器的操作，以动态地控制车辆的平衡。

19. 发明申请

US20090273320A1 CONTROLLING BATTERY CHARGING BASED ON CURRENT, VOLTAGE AND TEMPERATURE 有权
标题翻译：基于电流，电压和温度控制电池充电
公开(公告)号：US20090273320A1
公开(公告)日：2009-11-05
申请号：US12480581
申请日：2009-06-08
申请人： P. Jeffrey Ungar , Thomas C. Greening , William C. Athas , J. Douglas Field , Richard M. Mank
发明人： P. Jeffrey Ungar , Thomas C. Greening , William C. Athas , J. Douglas Field , Richard M. Mank
IPC分类号： H02J7/04
CPC分类号： H02J7/0091 , H01M4/505 , H01M4/525 , H01M4/5815 , H01M4/582 , H01M4/5825 , H01M4/587 , H01M10/0525 , H01M10/0568 , H01M10/44 , H01M10/443 , H01M10/48 , H01M10/486
摘要： Some embodiments of the present invention provide a system that charges a lithium-ion battery. During operation, the system monitors: a current through the battery, a voltage of the battery, and a temperature of the battery. Next, the system uses the monitored current, voltage and temperature to control a charging process for the battery. In some embodiments, controlling the charging process involves: inferring electrode lithium surface concentrations for the battery from the monitored current, voltage and temperature; and applying the charging current and/or the charging voltage in a manner that maintains the inferred electrode lithium surface concentrations for the battery within set limits.
摘要翻译：本发明的一些实施例提供了对锂离子电池充电的系统。在运行过程中，系统监视：通过电池的电流，电池的电压以及电池的温度。接下来，系统使用监控的电流，电压和温度来控制电池的充电过程。在一些实施例中，控制充电过程包括：从监测的电流，电压和温度推断电池的电极锂表面浓度; 以及将电池的推定电极锂表面浓度维持在设定限度内的方式施加充电电流和/或充电电压。

20. 发明授权

US06779621B2 Riderless stabilization of a balancing transporter 有权
标题翻译：平衡运输车的无人驾驶稳定
公开(公告)号：US06779621B2
公开(公告)日：2004-08-24
申请号：US10461720
申请日：2003-06-13
申请人： Dean L. Kamen , J. Douglas Field , John B. Morrell
发明人： Dean L. Kamen , J. Douglas Field , John B. Morrell
IPC分类号： B60K2814
CPC分类号： B62D57/00 , B60K7/00 , B60L15/2045 , B60L2200/16 , B60L2260/34 , B62K11/007 , B62K2204/00 , Y02T10/645 , Y02T10/7283
摘要： A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.
摘要翻译：一种在无人驾驶条件下稳定平衡运输车的方法。平衡输送器的特征在于质量中心，并且具有两个横向设置的轮子和与下面的表面接触的区域。根据该方法，首先检测出运送器上没有用户。然后，确定期望的转运节距，以便建立淤滞状态，其中质心直接设置在平衡运输器和下面的表面之间的接触区域之上。最后，将扭矩施加到横向设置的轮子上，以将运送器保持在期望的转运节距。扭矩可以包括这些术语分别与俯仰误差，俯仰速率，车轮速率和表示使转运器处于停滞状态所需的车轮旋转成正比的积分项。

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