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1. 发明授权

US06796396B2 Personal transporter 有权
标题翻译：个人运输
公开(公告)号：US06796396B2
公开(公告)日：2004-09-28
申请号：US10272480
申请日：2002-10-16
申请人： Dean L. Kamen , Richard W. Arling , J. Douglas Field , John B. Morrell , Jonathan B. Pompa , Richard Kurt Heinzmann
发明人： Dean L. Kamen , Richard W. Arling , J. Douglas Field , John B. Morrell , Jonathan B. Pompa , Richard Kurt Heinzmann
IPC分类号： B60K3100
CPC分类号： B62K3/002 , A63C17/014 , A63C17/08 , A63C17/12 , B60K7/00 , B60L3/0038 , B60L3/0046 , B60L3/0061 , B60L3/0084 , B60L2200/16 , B60L2220/46 , B60L2240/12 , B60L2240/425 , B60L2240/545 , B60L2250/22 , B62D57/00 , Y02T10/642
摘要： Improvements to a motorized balancing personal transporter are revealed in embodiments of the invention. In one embodiment of the invention, a transporter for carrying a payload includes a platform for supporting a user; a ground-contacting module, to which the platform is mounted, which propels the user; a proximity detector for determining the presence of a user; and a safety switch coupled to the detector for inhibiting operation of the ground-contacting module unless the proximity detector has determined the presence of the user; and a motorized drive arrangement coupled to the ground-contacting module for causing automatically balanced and stationary operation of the device unless the proximity detector determines the presence of the user on the device. Various other mechanisms are provided for receiving rider input in order to direct steering of the transporter.
摘要翻译：在本发明的实施例中揭示了对机动平衡个人运输机的改进。在本发明的一个实施例中，用于承载有效载荷的运送器包括用于支撑用户的平台; 地面接触模块，平台安装在该接地模块上，其推动用户; 接近检测器，用于确定用户的存在; 以及耦合到所述检测器的安全开关，用于禁止接地模块的操作，除非所述接近检测器已经确定所述用户的存在; 以及耦合到地面接触模块的电动驱动装置，用于引起装置的自动平衡和平稳操作，除非接近检测器确定用户在设备上的存在。提供了各种其他机构用于接收乘客输入以便直接转运运输者。

2. 发明授权

US07779939B2 Guided control of a transporter 失效
标题翻译：引导控制运输者
公开(公告)号：US07779939B2
公开(公告)日：2010-08-24
申请号：US11926606
申请日：2007-10-29
申请人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
发明人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
IPC分类号： B62D61/12
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。

3. 发明授权

US07546889B2 Guided control of a transporter 失效
标题翻译：引导控制运输者
公开(公告)号：US07546889B2
公开(公告)日：2009-06-16
申请号：US10462379
申请日：2003-06-16
申请人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
发明人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
IPC分类号： B62D61/12
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公共速度成比例的反作用人造摩擦的术语，以及与轮的差速旋转成比例的术语，以便于转运器的转动。

4. 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。

5. 发明授权

US06581714B1 Steering control of a personal transporter 失效
标题翻译：个人运输车的转向控制
公开(公告)号：US06581714B1
公开(公告)日：2003-06-24
申请号：US09687789
申请日：2000-10-13
申请人： Dean L. Kamen , Richard William Arling , J. Douglas Field , John B. Morrell , Jonathan B. Pompa
发明人： Dean L. Kamen , Richard William Arling , J. Douglas Field , John B. Morrell , Jonathan B. Pompa
IPC分类号： B62D5104
CPC分类号： A63C17/12 , B60K7/00 , B60L3/0061 , B60L3/0076 , B60L3/102 , B60L2200/16 , B60L2200/24 , B60L2220/46 , B60L2240/12 , B60L2240/20 , B60L2240/22 , B60L2240/24 , B60L2240/463 , B60L2240/465 , B60L2250/22 , B60L2250/24 , B60L2260/34 , B62D51/00 , B62D51/02 , B62D57/00 , B62K11/007
摘要： Improvements to a motorized balancing personal transporter. An intelligent battery has a battery container sealed against moisture and a plurality of battery blocks housed within the battery container. Additionally, the battery pack has a plurality of sensors, each of which is for monitoring a characteristic of a distinct battery block. The battery pack has a processor that generates a fault flag for transmission to a circuit external to the battery container on occurrence of a critical fault and that transmits an identifying characteristic such as a battery serial number. Various mechanisms are provided for receiving rider input in order to direct steering of the vehicle. These include a rotatable grip for imparting rotary motion to a rotation sensor, a thumb-activated rotation sensor and a palm-activated sensor, each disposed on the handlebar of the vehicle.
摘要翻译：改善电动平衡个人运输工具。智能电池具有密封防潮的电池容器和容纳在电池容器内的多个电池块。此外，电池组具有多个传感器，每个传感器用于监视不同电池块的特性。该电池组具有处理器，该处理器在发生严重故障时产生用于传输到电池容器外部的电路的故障标志，并且发送诸如电池序列号的识别特性。提供了用于接收车手输入以便直接转向车辆的各种机构。这些包括用于向旋转传感器施加旋转运动的旋转夹具，拇指激活的旋转传感器和手掌致动传感器，每个设置在车辆的车把上。

6. 发明申请

US20100217497A1 USER INPUT FOR VEHICLE CONTROL 审中-公开
标题翻译：用户输入车辆控制
公开(公告)号：US20100217497A1
公开(公告)日：2010-08-26
申请号：US12772791
申请日：2010-05-03
申请人： Dean L. Kamen , Robert R. Ambrogi , John D. Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
发明人： Dean L. Kamen , Robert R. Ambrogi , John D. Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
IPC分类号： G06F7/00
CPC分类号： A61G5/04 , A61G5/061 , A61G2203/14 , B62K11/007 , G05B13/042 , G05G9/047 , G05G2009/0474
摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.
摘要翻译：用于控制车辆加速度的用户输入。用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。

7. 发明授权

US07708094B2 User input for vehicle control 有权
标题翻译：用户输入车辆控制
公开(公告)号：US07708094B2
公开(公告)日：2010-05-04
申请号：US12102104
申请日：2008-04-14
申请人： Dean L. Kamen , Robert R. Ambrogi , John D. Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
发明人： Dean L. Kamen , Robert R. Ambrogi , John D. Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
IPC分类号： B62D61/12
CPC分类号： A61G5/04 , A61G5/061 , A61G2203/14 , B62K11/007 , G05B13/042 , G05G9/047 , G05G2009/0474
摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.
摘要翻译：用于控制车辆加速度的用户输入。用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。

8. 发明授权

US06799649B2 Control of a balancing personal vehicle 有权
标题翻译：平衡个人车辆的控制
公开(公告)号：US06799649B2
公开(公告)日：2004-10-05
申请号：US10166553
申请日：2002-06-10
申请人： Dean L. Kamen , Robert R. Ambrogi , John D. Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
发明人： Dean L. Kamen , Robert R. Ambrogi , John D. Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
IPC分类号： B62D5106
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , B62K11/007 , G05B13/042 , Y10T74/20396
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.
摘要翻译：用于在有可能不规则的表面上运送有效载荷并可能包括楼梯的车辆。车辆具有用于支撑有效载荷的支撑件和可相对于局部轴线移动的地面接触元件，其中局部轴线可以相对于与支撑件具有限定关系的一些第二轴线移动。车辆还具有电动驱动装置，用于允许地面接触元件的可控制运动，以便在电动驱动装置未通电时相对于至少前后平面倾斜不稳定的运行状态运行。该车辆还具有一个输入装置，用于从未被布置在车辆上的车辆的期望运动方向的助理接收指示。

9. 发明授权

US06547026B2 Safety separation system 有权
标题翻译：安全分离系统
公开(公告)号：US06547026B2
公开(公告)日：2003-04-15
申请号：US09784529
申请日：2001-02-15
申请人： Dean L. Kamen , Robert Ambrogi , John B. Morrell , Christopher C. Langenfeld , Stanley B. Smith, III , James H. Steenson, Jr.
发明人： Dean L. Kamen , Robert Ambrogi , John B. Morrell , Christopher C. Langenfeld , Stanley B. Smith, III , James H. Steenson, Jr.
IPC分类号： B60K2814
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/723 , B62K11/007
摘要： A safety mechanism for a personal vehicle that provides for separation of the motion of a body support from a ground contacting assembly of the vehicle in case of accident. In one embodiment, the body support is attached to the ground contacting module via a slide mechanism that permits the body support to continue upright motion despite overturning of the ground contacting assembly in order to prevent injury to the passenger. Another embodiment provides for coupling of the body support or the ground contacting assembly via either a real or virtual pivot located above the respective centers of mass of the body support and ground contacting assembly.
摘要翻译：一种用于个人车辆的安全机构，其用于在发生事故时分离车身支撑件与车辆的地面接触组件的运动。在一个实施例中，身体支撑件经由滑动机构附接到地面接触模块，该滑动机构允许身体支撑件继续直立运动，尽管翻转地面接触组件以避免对乘客的伤害。另一实施例提供了通过位于身体支撑体和接地接触组件的相应质心上方的实心或虚拟枢轴来联接身体支撑件或接地接触组件。

10. 发明授权

US06311794B1 System and method for stair climbing in a cluster-wheel vehicle 有权
标题翻译：在集群轮车上爬梯的系统和方法
公开(公告)号：US06311794B1
公开(公告)日：2001-11-06
申请号：US09428007
申请日：1999-10-27
申请人： John B. Morrell , John M. Kerwin , Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key
发明人： John B. Morrell , John M. Kerwin , Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key
IPC分类号： B62D57028
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , A61G2203/46 , B60K7/00 , B62D57/00 , G05B13/042
摘要： A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.
摘要翻译：一种用于在上升或下降楼梯中操作设备的系统和方法。该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。车轮和集束臂由控制器根据单独的控制规律进行控制。装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。移动设备和负载组合的重心来控制设备的运动方向。

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