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11. 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。

12. 发明授权

US08248222B2 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：US08248222B2
公开(公告)日：2012-08-21
申请号：US12879650
申请日：2010-09-10
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
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。

13. 发明授权

US07812715B2 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：US07812715B2
公开(公告)日：2010-10-12
申请号：US11863640
申请日：2007-09-28
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
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。

14. 发明申请

US20130226383A1 CONTROL OF A PERSONAL TRANSPORTER BASED ON USER POSITION 有权
公开(公告)号：US20130226383A1
公开(公告)日：2013-08-29
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： G08B6/00 , B60L15/20
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.

15. 发明申请

US20120310464A1 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：US20120310464A1
公开(公告)日：2012-12-06
申请号：US13585041
申请日：2012-08-14
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： B60L15/20 , B60Q9/00 , B60L11/18
CPC分类号： B62K3/002 , 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 , B62K11/007 , B62K2207/02 , B62K2207/04 , G05D1/0212 , 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车把。

16. 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。

17. 发明授权

US5791425A Control loop for transportation vehicles 失效
标题翻译：运输车辆控制回路
公开(公告)号：US5791425A
公开(公告)日：1998-08-11
申请号：US482616
申请日：1995-06-07
申请人： Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key , Susan D. Dastous
发明人： Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key , Susan D. Dastous
IPC分类号： A61G5/04 , A61G5/06 , A61G5/10 , A61G5/12 , A61G5/14 , B60K7/00 , B62D57/00 , B62D61/12
CPC分类号： A61G5/061 , A61G5/04 , A61G5/065 , A61G5/068 , A61G5/125 , A61G5/128 , A61G5/14 , B60L1/003 , B60L11/1805 , B60L11/1864 , B60L15/2036 , B62D57/00 , B62K11/007 , A61G2203/14 , A61G2203/20 , A61G5/1059 , A61G5/107 , A61G5/1075 , B60K7/00 , B60L2200/16 , B60L2240/12 , B60L2240/22 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2240/545 , B60L2240/547 , B60L2240/549 , B60L2240/642 , B60L2240/80 , B60L2250/10 , B60L2250/16 , B60L2250/24 , B60L2260/28 , B60L2260/34 , Y02T10/645 , Y02T10/7005 , Y02T10/7061 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/16 , Y10S180/907
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 subject. 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 embodiment 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 collection 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。该实施例具有支持对象的支持。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，该实施例具有其中包括电动驱动器的控制回路，用于通过与地面接触模块收集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。

18. 发明授权

US5701965A Human transporter 失效
标题翻译：人运输
公开(公告)号：US5701965A
公开(公告)日：1997-12-30
申请号：US250693
申请日：1994-05-27
申请人： Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key , Andrzej Skoskiewicz , Phyllis K. Kristal
发明人： Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key , Andrzej Skoskiewicz , Phyllis K. Kristal
IPC分类号： A61G5/04 , A61G5/06 , A61G5/10 , A61G5/12 , A61G5/14 , B60K7/00 , B62D57/00 , B62D61/12
CPC分类号： A61G5/061 , A61G5/04 , A61G5/065 , A61G5/068 , A61G5/125 , A61G5/128 , A61G5/14 , B60L1/003 , B60L11/1805 , B60L11/1864 , B60L15/2036 , B62D57/00 , B62K11/007 , A61G2203/14 , A61G2203/20 , A61G5/1059 , A61G5/107 , A61G5/1075 , B60K7/00 , B60L2200/16 , B60L2240/12 , B60L2240/22 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2240/545 , B60L2240/547 , B60L2240/549 , B60L2240/642 , B60L2240/80 , B60L2250/10 , B60L2250/16 , B60L2250/24 , B60L2260/28 , B60L2260/34 , Y02T10/645 , Y02T10/7005 , Y02T10/7061 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/16 , Y10S180/907
摘要： There is provided, in a preferred embodiment, a device for transporting a human subject over ground having a surface that may be irregular and may include stairs. This embodiment has a support for supporting the subject. 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 embodiment 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.
摘要翻译：在优选实施例中，提供了一种用于在地面上运送人类受试者的装置，其具有可能是不规则的表面并且可以包括楼梯。该实施例具有支持对象的支持。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相关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。

19. 发明申请

US20110043358A1 POSITION LOCATING BY POLYHEDRAL MORPHING 有权
标题翻译：位置定位由聚合物MORPHING
公开(公告)号：US20110043358A1
公开(公告)日：2011-02-24
申请号：US12544493
申请日：2009-08-20
申请人： Robert J. Duggan , Keith A. Nevish
发明人： Robert J. Duggan , Keith A. Nevish
IPC分类号： G08B1/08
CPC分类号： G06K7/0008 , G01S5/0289 , G01S5/14 , G01S13/82 , G01S13/878 , G06K7/10079 , G06K2017/0045
摘要： Objects are located within at least one mapped field region. Environments for location tracking are mapped through a configuration setup flexibly supporting multiple objects with precision and speed. Host and Repeater devices are located at vertices of polyhedra defining spaces. Polyhedra edge lengths are defined as the modified physical distance between two devices. This morphing employs parameters measured by or input to the system. Morphed three dimensional subzones are defined within the volume of the polyhedra defined by the devices at the vertices.
摘要翻译：对象位于至少一个映射的字段区域内。用于位置跟踪的环境通过配置设置进行映射，灵活地支持多个对象的精度和速度。主机和中继器设备位于多面体定义空间的顶点。多面体边缘长度被定义为两个设备之间的修改的物理距离。这种变形采用由系统测量或输入的参数。变形的三维子区域定义在由顶点处的设备定义的多面体的体积内。

20. 发明授权

US4858230A Multiport/multidrop computer communications 失效
标题翻译：多端口/多点计算机通信
公开(公告)号：US4858230A
公开(公告)日：1989-08-15
申请号：US50692
申请日：1987-05-18
申请人： Robert J. Duggan
发明人： Robert J. Duggan
IPC分类号： H04L29/06
CPC分类号： H04L29/06
摘要： Multiport/multidrop computer communication is provided over a single communication facility between a plurality of central stations at a central location their respective remote stations at remote locations. Outbound transmissions are multiplexed from a multiport central modem to compatible multiport remote modems. The central stations are monitored to detect which one or ones have invited a response from a remote station and one central station is selected. A signal is sent to the remote modems indicating the selected central station. The signal is combined with the request to send of the invited remote computer associated with the selected central station to enable use of the return transmission lines. The request to send signal line idle or idle code stations are monitored to detect which central stations have invited a remote. Signaling is by RTS-DCD simulation in commercial modems. Another central station is selected if return transmission does not begin within a timer interval. Fast reset is provided if carrier persists after the return transmission has ended.

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