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1. 发明申请

WO1996023478A1 TRANSPORTATION VEHICULES AND METHODS 审中-公开
标题翻译：运输车辆和方法
公开(公告)号：WO1996023478A1
公开(公告)日：1996-08-08
申请号：PCT/US1995001522
申请日：1995-02-03
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： DEKA PRODUCTS LIMITED PARTNERSHIP , KAMEN, Dean, L. , AMBROGI, Robert, R. , DUGGAN, Robert, J. , HEINZMANN, Richard, Kurt , KEY, Brian, R. , SHOSKIEWICZ, Andrzej , KRISTAL, Phyllis, K.
IPC分类号： A61G05/04
CPC分类号： B60B19/12 , A61G5/061 , A61G5/065 , B60B19/00 , B60G2300/24 , B60Y2200/47 , B60Y2200/84 , B62K11/007
摘要： There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subjet. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. The support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the surface. Finally, the ambodiment has a control loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. The ground-contacting module may be realized as a pair of ground-contacting members, laterally disposed with respect to one another. The ground-contacting members may be wheels. Alternatively, each ground-contacting member may include a cluster of wheels. In another embodiment, each ground-contacting member includes a pair of axially adjacent and rotatably mounted arcuate element pairs. Related methods are also provided.
摘要翻译：在优选实施例中，提供一种运输车辆，用于运输具有可能不规则的表面的地面上的个体。该实施例具有支撑子架的支撑。可移动地附接到支撑件的地面接触模块用于将支撑物上的物体悬挂在表面上。地面接触模块的方向定义了垂直方向彼此相交的前后和横向平面。支撑和接地模块是组件的组件。安装到组件上并联接到接地模块的电动驱动器使组件和对象在表面上移动。最后，该实施例具有控制回路，其中包括电动驱动器，用于通过与地面接触模块结合的电动驱动器的操作来动态地增强前后平面的稳定性。地面接触模块可以被实现为相对于彼此横向设置的一对接地部件。地面接触构件可以是轮子。或者，每个接地构件可以包括一组轮子。在另一个实施例中，每个接地构件包括一对轴向相邻且可旋转地安装的弓形元件对。还提供了相关方法。

2. 发明申请

WO2004007264A1 CONTROL OF A TRANSPORTER BASED ON ATTITUDE 审中-公开
标题翻译：基于态度的运输机控制
公开(公告)号：WO2004007264A1
公开(公告)日：2004-01-22
申请号：PCT/US2003/021625
申请日：2003-07-11
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： KAMEN, Dean, L. , AMBROGI, Robert, R. , HEINZMANN, Richard, Kurt
IPC分类号： B62D51/02
CPC分类号： B62D51/001 , B60G11/14 , B60G17/019 , B60G2400/05 , B60G2400/82 , B60K26/02 , B60L15/20 , B62D51/002 , B62D51/02 , B62K11/00 , B62K11/007 , Y02T10/7258
摘要： A transporter (1) for transporting a load over a surface. The transporter includes a support platform (11) for supporting the load. The support platform is characterized by a foreaft axis (x), a lateral axis (y), and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element (14) is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground contacting elements are driven by a motorized drive arrangement. A sensor module (17, 18) generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.
摘要翻译：用于将载荷传送到表面上的运送器（1）。运输机包括用于支撑负载的支撑平台（11）。支撑平台的特征在于前轴（x），横轴（y）和相对于表面的取向，该取向被称为姿态。至少一个接地元件（14）以支撑平台的姿态能够变化的方式灵活地联接到支撑平台。一个或多个接地元件由电动驱动装置驱动。传感器模块（17,18）产生表征支撑平台姿态的信号。基于姿态，控制器指令电动驱动装置。

3. 发明申请

WO2006042302A1 VEHICLE CONTROL BY PITCH MODULATION 审中-公开
标题翻译：通过调节调节车辆控制
公开(公告)号：WO2006042302A1
公开(公告)日：2006-04-20
申请号：PCT/US2005/036798
申请日：2005-10-11
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP , KAMEN, Dean , AMBROGI, Robert, R. , BRECKENRIDGE, Catherine, N. , KERWIN, John, M.
发明人： KAMEN, Dean , AMBROGI, Robert, R. , BRECKENRIDGE, Catherine, N. , KERWIN, John, M.
IPC分类号： B60W10/04
CPC分类号： B62K5/007 , A61G5/046 , A61G5/1054 , B60G2300/06 , B60G2300/07 , B60G2300/12 , B60G2300/24 , B60G2400/0512 , B60G2400/0523 , B60G2400/61 , B60G2800/014 , B60G2800/016 , B60G2800/213 , B60G2800/952 , B60L15/20 , B60L2200/34 , B60L2220/46 , B60L2240/423 , B60L2240/429 , B60L2240/463 , B60L2260/34 , B60W10/04 , B60W10/18 , B60W30/02 , B60W40/13 , B60W2300/16 , B60W2300/185 , B60W2300/36 , B60W2300/38 , B60W2520/14 , B60W2520/16 , B60W2710/105 , B60W2720/14 , B60W2720/16 , B60W2720/403 , Y02T10/645 , Y02T10/72 , Y02T10/7275
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。

4. 发明申请

WO2006031917A1 CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION 审中-公开
标题翻译：基于用户位置的个人运输机的控制
公开(公告)号：WO2006031917A1
公开(公告)日：2006-03-23
申请号：PCT/US2005/032797
申请日：2005-09-13
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP , KAMEN, Dean , AMBROGI, Robert, R. , DATTOLO, James, J. , DUGGAN, Robert, J. , FIELD, Douglas, J. , HAEINZMANN, Richard Kurt , MCCAMBRIDGE, Matthew, M. , MORRELL, John, B. , PIEDMONTE, Michael, D. , ROSASCO, Richard, J.
发明人： KAMEN, Dean , AMBROGI, Robert, R. , DATTOLO, James, J. , DUGGAN, Robert, J. , FIELD, Douglas, J. , HAEINZMANN, Richard Kurt , MCCAMBRIDGE, Matthew, M. , MORRELL, John, B. , PIEDMONTE, Michael, D. , ROSASCO, Richard, J.
IPC分类号： A63C17/12
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： A controller for providing user input of a desired direction of motion or orientation for a transporter. The controller has an input for receiving specification by a user of a value based on a detected body orientation of the user. User-specified input may be conveyed by the user using any of a large variety of input modalities, including: ultrasonic body position sensing; foot force sensing; handlebar lean; active handlebar; mechanical sensing of body position; and linear slide directional input. An apparatus that may include an active handlebar is provided 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.
摘要翻译：一种控制器，用于为运送者提供所需运动方向或方位的用户输入。控制器具有用于基于检测到的用户身体取向的用户接收值的输入的输入。用户指定的输入可以由用户使用任何多种输入模式传送，包括：超声体位置感测; 脚力传感; 车把精主动车把; 身体位置的机械感应; 和线性滑动方向输入。提供了一种可以包括主动手柄的装置，用于促使骑手被定位在车辆上，以便减少由于车辆的横向加速度引起的横向不稳定性。

5. 发明申请

WO2004007233A2 MOTION CONTROL FOR A TRANSPORTER 审中-公开
标题翻译：运输机运动控制
公开(公告)号：WO2004007233A2
公开(公告)日：2004-01-22
申请号：PCT/US2003/021662
申请日：2003-07-11
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： KAMEN, Dean, L. , AMBROGI, Robert, R. , FIELD, Douglas, J. , HEINZMANN, John, David , HEINZMANN, Richard, Kurt , LANGENFELD, Christopher, C.
IPC分类号： B60K31/00
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。

6. 发明公开

EP1027233A1 CUSHION SYSTEM FOR MOBILE SUBJECT 有权
标题翻译：缓冲装置运送人员
公开(公告)号：EP1027233A1
公开(公告)日：2000-08-16
申请号：EP98957582.4
申请日：1998-11-02
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： KAMEN, Dean, L. , AMBROGI, Robert, R. , LANGENFELD, Christopher, C. , SMITH, Stanley, B., III , EPSTEIN, Adam
IPC分类号： B60R21/13 , A61G5/10
CPC分类号： A61G5/10 , A61G2203/42 , A61G2203/723 , B60R19/205 , B60R21/13 , B60R2021/138
摘要： A deployable cushion mechanism for a vehicle that provides a cushion deployed in case of vehicle tipping. The cushion is inflated from a folded condition through rapid release of stored energy. Air is allowed to enter the cushion by way of valves or other orifices. Ground contact of the tipped vehicle occurs with the inflated cushion so as to prevent injury to the passenger.

7. 发明授权

EP0806929B1 TRANSPORTATION VEHICLES AND METHODS 失效
标题翻译：运输车辆及程序
公开(公告)号：EP0806929B1
公开(公告)日：2004-11-03
申请号：EP95911624.5
申请日：1995-02-03
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： KAMEN, Dean, L. , AMBROGI, Robert, R. , DUGGAN, Robert, J. , HEINZMANN, Richard, Kurt , KEY, Brian, R. , SKOSKIEWICZ, Andrzej , KRISTAL, Phyllis, K.
IPC分类号： A61G5/04 , A61G5/06 , B62K17/00 , B60B19/00
CPC分类号： B60B19/12 , A61G5/061 , A61G5/065 , B60B19/00 , B60G2300/24 , B60Y2200/47 , B60Y2200/84 , B62K11/007

9. 发明公开

EP1539522A2 MOTION CONTROL FOR A TRANSPORTER 审中-公开
标题翻译：运动控制运输车辆
公开(公告)号：EP1539522A2
公开(公告)日：2005-06-15
申请号：EP03764477.0
申请日：2003-07-11
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： KAMEN, Dean, L. , AMBROGI, Robert, R. , FIELD, Douglas, J. , HEINZMANN, John, David , HEINZMANN, Richard, Kurt , LANGENFELD, Christopher, C.
IPC分类号： B60K31/00 , B62D1/12 , B60K26/02 , A63C17/12
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 (10) for transporting a subject over a surface that may be irregular. The transporter includes a support platform (11) 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 (13, 14) 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 (15, 16) generates a signal indicative of the load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.

10. 发明公开

EP1161214A2 CONTROL OF A BALANCING PERSONAL VEHICLE 有权
标题翻译： FOCUS补偿装置的车辆
公开(公告)号：EP1161214A2
公开(公告)日：2001-12-12
申请号：EP00912219.3
申请日：2000-03-14
申请人： DEKA PRODUCTS LIMITED PARTNERSHIP
发明人： KAMEN, Dean, L. , AMBROGI, Robert, R. , HEINZMANN, John, David , HEINZMANN, Richard, Kurt , HERR, David , MORRELL, John, B.
IPC分类号： A61G5/06 , G05G9/047 , G05D1/08
CPC分类号： A61G5/04 , A61G5/061 , A61G2203/14 , B62K11/007 , G05B13/042 , G05G9/047 , G05G2009/0474
摘要： A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

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