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1. 发明申请

US20130092461A1 MOTION CONTROL OF A TRANSPORTER 审中-公开
标题翻译：运输机运动控制
公开(公告)号：US20130092461A1
公开(公告)日：2013-04-18
申请号：US13692591
申请日：2012-12-03
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： B60K26/00
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。

2. 发明授权

US07789174B2 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：US07789174B2
公开(公告)日：2010-09-07
申请号：US11672743
申请日：2007-02-08
申请人： Dean L. Kamen , Richard Kurt Heinzmann , John David Heinzmann , Robert R. Ambrogi , Christopher C. Langenfeld , J. Douglas Field
发明人： Dean L. Kamen , Richard Kurt Heinzmann , John David Heinzmann , Robert R. Ambrogi , Christopher C. Langenfeld , J. Douglas Field
IPC分类号： B62D57/00
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 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。

3. 发明授权

US06969079B2 Multiple-passenger transporter 有权
标题翻译：多乘客运输车
公开(公告)号：US06969079B2
公开(公告)日：2005-11-29
申请号：US10618914
申请日：2003-07-14
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： B62D51/02 , B62D61/00 , B62K27/00
CPC分类号： B62D61/00 , B60L2200/24 , B62D51/02
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。

4. 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。

5. 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。

6. 发明授权

US07357202B2 User input for vehicle control 有权
标题翻译：用户输入车辆控制
公开(公告)号：US07357202B2
公开(公告)日：2008-04-15
申请号：US10947122
申请日：2004-09-22
申请人： Dean L. Kamen , Robert R. Ambrogi , John David Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
发明人： Dean L. Kamen , Robert R. Ambrogi , John David Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
IPC分类号： B62D61/12
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , B62K11/007 , G05B13/042 , Y10T74/20396
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

US06415879B2 Control inputs for a balancing personal vehicle 有权
标题翻译：用于平衡个人车辆的控制输入
公开(公告)号：US06415879B2
公开(公告)日：2002-07-09
申请号：US09813713
申请日：2001-03-21
申请人： Dean L. Kamen , Robert R. Ambrogi , John David Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
发明人： Dean L. Kamen , Robert R. Ambrogi , John David Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
IPC分类号： B62D6112
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.
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。

8. 发明授权

US06920947B2 Exercise mode for a personal transporter device 失效
标题翻译：个人运送器具的运动模式
公开(公告)号：US06920947B2
公开(公告)日：2005-07-26
申请号：US10459334
申请日：2003-06-11
申请人： Dean L. Kamen , John David Heinzmann , Jason M. Sachs
发明人： Dean L. Kamen , John David Heinzmann , Jason M. Sachs
IPC分类号： A61G5/04 , A63C5/04 , A63C17/01 , A63C17/04 , A63C17/08 , A63C17/12 , B62K3/00 , B62K13/00 , B62D61/12
CPC分类号： B60L11/1803 , A61G5/04 , A63C5/04 , A63C17/01 , A63C17/04 , A63C17/08 , A63C17/12 , B62K11/007 , B62K13/00 , Y02T10/7005
摘要： A personal transporter device and corresponding method of operation are given that utilize an exercise mode. A transporter assembly includes a platform, a ground-contacting module, and a motorized drive. The platform supports a user. The ground-contacting module is connected to the platform. The motorized drive powers the ground-contacting module to drive the assembly in a selected direction over an underlying surface. A controller is coupled to and controlling the motorized drive, and also has an exercise mode for opposing a user-provided human power input with a selected level of resistance. When the device is a dynamically stabilized transporter, the controller also controls the motorized drive so as to dynamically stabilize the transporter assembly.
摘要翻译：给出了一种使用运动模式的个人运送装置和相应的操作方法。运输机组件包括平台，地面接触模块和电动驱动装置。该平台支持用户。地面接触模块连接到平台。电动驱动器为地面接触模块供电，以沿着选定的方向在下面的表面上驱动组件。控制器耦合到并控制电动驱动器，并且还具有用于使用户所提供的具有选定电阻水平的用户提供的人力输入的运动模式。当设备是动态稳定的运输车辆时，控制器还控制电动驱动器，以动态稳定运输车组件。

9. 发明授权

US06571892B2 Control system and method 有权
公开(公告)号：US06571892B2
公开(公告)日：2003-06-03
申请号：US09930127
申请日：2001-08-15
申请人： Dean L. Kamen , Robert R. Ambrogi , Burl Amsbury , Susan D. Dastous , Robert J. Duggan , John David Heinzmann , Richard Kurt Heinzmann , David W. Herr , John M. Kerwin , John B. Morrell , James Henry Steenson, Jr.
发明人： Dean L. Kamen , Robert R. Ambrogi , Burl Amsbury , Susan D. Dastous , Robert J. Duggan , John David Heinzmann , Richard Kurt Heinzmann , David W. Herr , John M. Kerwin , John B. Morrell , James Henry Steenson, Jr.
IPC分类号： B62D6112
CPC分类号： A61G5/061 , A61G5/045 , A61G5/046 , A61G2203/14 , G05B13/042 , Y10S180/907
摘要： Systems and methods for controlling a device are disclosed. In one embodiment, the systems and methods allow for the control of a human transport device such that the human transport device remains in an upright position regardless of the surface being traversed. The systems and methods may include a plurality of operational modes where each mode has different characteristics. Additionally, systems and method for locating a center of gravity of a device are disclosed.

10. 发明授权

US06443250B1 Control of a balancing personal vehicle 失效
标题翻译：平衡个人车辆的控制
公开(公告)号：US06443250B1
公开(公告)日：2002-09-03
申请号：US09524931
申请日：2000-03-14
申请人： Dean L. Kamen , Robert R. Ambrogi , John David Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
发明人： Dean L. Kamen , Robert R. Ambrogi , John David Heinzmann , Richard Kurt Heinzmann , David Herr , John B. Morrell
IPC分类号： B62B906
CPC分类号： A61G5/061 , A61G5/04 , A61G5/107 , A61G5/125 , A61G5/128 , A61G5/14 , A61G2203/14 , B60K7/00 , B62D57/00 , B62K11/007 , G05B13/042
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。

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