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1. 发明申请

US20060086544A1 Dynamic balancing vehicle with a seat 有权
公开(公告)号：US20060086544A1
公开(公告)日：2006-04-27
申请号：US11296878
申请日：2005-12-08
申请人： Dean Kamen , Robert Ambrogi , Robert Duggan , J. Field , Richard Heinzmann , William Lambrechts , Matt McCambridge , Christopher Perry , M.E. Tellam
发明人： Dean Kamen , Robert Ambrogi , Robert Duggan , J. Field , Richard Heinzmann , William Lambrechts , Matt McCambridge , Christopher Perry , M.E. Tellam
IPC分类号： B62D61/00
CPC分类号： B62D37/00 , A61G5/0891 , B62D61/00 , B62K1/00 , B62K11/007
摘要： A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

2. 发明申请

US20080035395A1 Dynamic Balancing Vehicle with a Seat 有权
标题翻译：带座椅的动平衡车
公开(公告)号：US20080035395A1
公开(公告)日：2008-02-14
申请号：US11852767
申请日：2007-09-10
申请人： Dean Kamen , Robert Ambrogi , Robert Duggan , J. Field , Richard Heinzmann , William Lambrechts , Matt McCambridge , Christopher Perry , M. Tellam
发明人： Dean Kamen , Robert Ambrogi , Robert Duggan , J. Field , Richard Heinzmann , William Lambrechts , Matt McCambridge , Christopher Perry , M. Tellam
IPC分类号： B62D61/00
CPC分类号： B62D37/00 , A61G5/0891 , B62D61/00 , B62K1/00 , B62K11/007
摘要： A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.
摘要翻译：用于在表面上运送人类受试者的装置。该装置是具有用于提供平衡的控制回路的动态平衡车辆。该装置包括限定前翼面的平台。该平台支持包括人类受试者的有效载荷。包括地面接触模块，其可以包括一个或多个车轮。地面接触构件可移动地联接到平台。平台和地面接触模块形成具有相对于地面接触构件限定的重心的组件，并且其包括装置上的任何载荷。该装置还包括支撑件。支撑件可以是用于支撑被检体的座位，并且支撑件以允许通过平移和旋转至少一部分的平移和旋转来改变前后平面中的重心位置的方式联接到平台支撑。在一个实施例中，装置的座的平移和旋转被机械耦合在一起。

3. 发明申请

US20080018443A1 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：US20080018443A1
公开(公告)日：2008-01-24
申请号：US11863640
申请日：2007-09-28
申请人： Dean Kamen , Robert Ambrogi , James Dattolo , Robert Duggan , J. Field , Richard Heinzmann , Matthew McCambridge , John Morrell , Michael Piedmonte , Richard Rosasco
发明人： Dean Kamen , Robert Ambrogi , James Dattolo , Robert Duggan , J. Field , Richard Heinzmann , Matthew McCambridge , John Morrell , Michael Piedmonte , Richard Rosasco
IPC分类号： G08B3/10 , B62B7/02 , G06F17/00
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。

4. 发明申请

US20050121866A1 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：US20050121866A1
公开(公告)日：2005-06-09
申请号：US10939955
申请日：2004-09-13
申请人： Dean Kamen , Robert Ambrogi , James Dattolo , Robert Duggan , J. Field , Richard Heinzmann , Matthew McCambridge , John Morrell , Michael Piedmonte , Richard Rosasco
发明人： Dean Kamen , Robert Ambrogi , James Dattolo , Robert Duggan , J. Field , Richard Heinzmann , Matthew McCambridge , John Morrell , Michael Piedmonte , Richard Rosasco
IPC分类号： A61G5/04 , A61G5/06 , A63C17/01 , A63C17/08 , B62D37/00 , B62D51/00 , B62D51/02 , B62D61/00 , B62K1/00 , B62B7/02
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：超声波体位置检测; 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。提供一种可以包括主动车把的装置，用于促使骑车者定位在车辆上，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

US20080105480A1 Dynamically Stable Transporter Controlled by Lean 有权
标题翻译：精益控制的动力稳定运输车
公开(公告)号：US20080105480A1
公开(公告)日：2008-05-08
申请号：US11926737
申请日：2007-10-29
申请人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
发明人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
IPC分类号： B62D1/02
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。

6. 发明申请

US20060249313A1 Motion control of a transporter 有权
标题翻译：运输器的运动控制
公开(公告)号：US20060249313A1
公开(公告)日：2006-11-09
申请号：US11471241
申请日：2006-06-20
申请人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
发明人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
IPC分类号： B62B3/00
CPC分类号： B60K26/00 , A61G5/046 , A61G5/06 , A61G5/1051 , A61G5/107 , A61G5/125 , A61G5/128 , A61G2203/42 , A63C17/01 , A63C17/08 , A63C17/12 , A63C2203/52 , B60G17/0161 , B60G2300/12 , B60G2300/20 , B60G2300/26 , B60G2400/0512 , B60G2400/61 , B60G2800/014 , B60G2800/0192 , B60G2800/912 , B60G2800/915 , B60K7/00 , B60K26/02 , B60K31/00 , B60Q1/26 , B62B5/0026 , B62B5/0069 , B62B5/0073 , B62D1/12 , B62D51/02 , B62D57/00 , B62K3/002 , B62K2204/00 , B62M7/00
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. 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 of the loaded support platform. 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。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所加载的支撑平台的负载分布的信号。至少基于负载分布，控制器命令电动驱动装置。

7. 发明申请

US20070145697A1 Dynamically Stable Transporter Controlled by Lean 有权
标题翻译：精益控制的动力稳定运输车
公开(公告)号：US20070145697A1
公开(公告)日：2007-06-28
申请号：US11672743
申请日：2007-02-08
申请人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
发明人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
IPC分类号： B62B13/18
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 local 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局部分布的信号。至少基于负载分布，控制器命令电动驱动装置。

8. 发明申请

US20050236215A1 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：US20050236215A1
公开(公告)日：2005-10-27
申请号：US11144309
申请日：2005-06-03
申请人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
发明人： Dean Kamen , Robert Ambrogi , J. Field , John Heinzmann , Richard Heinzmann , Christopher Langenfeld
IPC分类号： A63C17/01 , A63C17/08 , A63C17/12 , B60G17/016 , B60K26/02 , B60K31/00 , B60Q1/26 , B62D1/12 , B62D51/02 , B62K3/00 , B62K11/00 , B62K17/00 , B62M7/00 , B60K26/00
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，使得运输器相对于在前后平面中的倾翻是静态的。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。

9. 发明申请

US20080099265A1 Guided Control of a Transporter 失效
标题翻译：指导控制运输者
公开(公告)号：US20080099265A1
公开(公告)日：2008-05-01
申请号：US11926606
申请日：2007-10-29
申请人： Dean Kamen , Burl Amsbury , J. Field , Christopher Langenfeld , John Morrell , Jonathan Pompa , Jon Stevens , Jeremy Lund
发明人： Dean Kamen , Burl Amsbury , J. Field , Christopher Langenfeld , John Morrell , Jonathan Pompa , Jon Stevens , Jeremy Lund
IPC分类号： B62D1/02
CPC分类号： B62K17/00 , A61G5/085 , A61G5/0891 , B60K7/00 , B60L11/1803 , B62D37/00 , B62D51/02 , B62D57/00 , B62D61/00 , B62K11/007 , Y02T10/7005
摘要： A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal. The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.
摘要翻译：一种在无人驾驶的条件下进行运输的运动的方法。运输车具有两个横向设置的主轮。根据该方法，经由设置在运送器上的用户输入接收输入，并且生成与所接收的输入相对应的控制信号。然后将扭矩施加到横向设置的轮上，以便至少基于控制信号推进运输机。控制信号可以对应于指令转矩或命令运输速度。扭矩可以包括这些术语分别与控制信号成比例的与齿轮的共同速度成比例的反作用人造摩擦的加法术语，以及与车轮的差速旋转成比例的术语，以便于转运器的转动。

10. 发明申请

US20060011398A1 Multiple-passenger transporter 失效
标题翻译：多乘客运输车
公开(公告)号：US20060011398A1
公开(公告)日：2006-01-19
申请号：US11233276
申请日：2005-09-22
申请人： Dean Kamen , J. Field , John Heinzmann
发明人： Dean Kamen , J. Field , John Heinzmann
IPC分类号： B62D61/00
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。

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