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1. 发明授权

US06965206B2 Method and system for fail-safe motor operation 有权
标题翻译：故障安全电机运行方法和系统
公开(公告)号：US06965206B2
公开(公告)日：2005-11-15
申请号：US10307892
申请日：2002-12-02
申请人： Dean Kamen , John B. Morrell , David W. Robinson , Ronald K. Reich , John David Heinzmann , Philip LeMay , Steven R. Meyer , Jason M. Sachs , J. Douglas Field
发明人： Dean Kamen , John B. Morrell , David W. Robinson , Ronald K. Reich , John David Heinzmann , Philip LeMay , Steven R. Meyer , Jason M. Sachs , J. Douglas Field
IPC分类号： A63C17/12 , B62K3/00 , G05B9/03 , B62D51/02
CPC分类号： A63C17/12 , B60K7/00 , B60L11/1803 , B62D57/00 , B62K11/007 , H02P29/032 , Y02T10/642 , Y02T10/7005 , Y10S388/903
摘要： An electric device includes a motor and a motor drive for commanding a torque generated by the motor. A fault control circuit detects a fault condition associated with the motor drive. Upon detection of the fault condition, the fault control circuit adjusts the torque commanded by the motor drive.
摘要翻译：电气装置包括电动机和用于指令由电动机产生的转矩的电动机驱动器。故障控制电路检测与电机驱动有关的故障状况。在检测到故障状态时，故障控制电路调整由电机驱动器指令的转矩。

2. 发明授权

US07157875B2 Method and system for fail-safe motor operation 有权
标题翻译：故障安全电机运行方法和系统
公开(公告)号：US07157875B2
公开(公告)日：2007-01-02
申请号：US11273581
申请日：2005-11-14
申请人： Dean Kamen , John B. Morrell , David W. Robinson , Ronald K. Reich , John David Heinzmann , Philip LeMay , Steven R. Meyer , Jason M. Sachs , J. Douglas Field
发明人： Dean Kamen , John B. Morrell , David W. Robinson , Ronald K. Reich , John David Heinzmann , Philip LeMay , Steven R. Meyer , Jason M. Sachs , J. Douglas Field
IPC分类号： G05B9/03
CPC分类号： A63C17/12 , B60K7/00 , B60L11/1803 , B62D57/00 , B62K11/007 , H02P29/032 , Y02T10/642 , Y02T10/7005 , Y10S388/903
摘要： An electric device includes a motor and a motor drive for commanding a torque generated by the motor. A fault control circuit detects a fault condition associated with the motor drive. Upon detection of the fault condition, the fault control circuit adjusts the torque commanded by the motor drive.
摘要翻译：电气装置包括电动机和用于指令由电动机产生的转矩的电动机驱动器。故障控制电路检测与电机驱动有关的故障状况。在检测到故障状态时，故障控制电路调整由电机驱动器指令的转矩。

3. 发明申请

US20100033315A1 TRANSPORTER MOTOR ALARM 审中-公开
标题翻译：运输车马达报警
公开(公告)号：US20100033315A1
公开(公告)日：2010-02-11
申请号：US12563853
申请日：2009-09-21
申请人： Dean Kamen , Burl Amsbury , Richard W. Arling , J. Douglas Field , Jeffrey Finkelstein , John David Heinzmann , Christopher Langenfeld , Philip LeMay , John B. Morrell , Jason M. Sachs
发明人： Dean Kamen , Burl Amsbury , Richard W. Arling , J. Douglas Field , Jeffrey Finkelstein , John David Heinzmann , Christopher Langenfeld , Philip LeMay , John B. Morrell , Jason M. Sachs
IPC分类号： B60Q1/00
CPC分类号： B62H5/20 , B60L2200/16 , B62K11/007
摘要： An audio alarm for a transporter having an electric motor. The alarm has a signal generator for generating a signal within the audible frequency range and a modulator for modulating a current that is applied to the electric motor in accordance with the signal generated by the signal generator.
摘要翻译：具有电动机的运输机的音响报警器。警报器具有用于在可听频率范围内产生信号的信号发生器和用于根据由信号发生器产生的信号调制施加到电动机的电流的调制器。

4. 发明授权

US07592900B2 Transporter motor alarm 有权
标题翻译：运输车电机报警
公开(公告)号：US07592900B2
公开(公告)日：2009-09-22
申请号：US11552829
申请日：2006-10-25
申请人： Dean Kamen , Burl Amsbury , Richard W. Arling , J. Douglas Field , Jeffrey Finkelstein , John David Heinzmann , Christopher Langenfeld , Philip LeMay , John B. Morrell , Jason M. Sachs
发明人： Dean Kamen , Burl Amsbury , Richard W. Arling , J. Douglas Field , Jeffrey Finkelstein , John David Heinzmann , Christopher Langenfeld , Philip LeMay , John B. Morrell , Jason M. Sachs
IPC分类号： G08B3/10
CPC分类号： B60L3/00 , B60L2200/16 , B60L2270/36 , B62K11/007
摘要： An audio alarm for a transporter having an electric motor. The alarm has a signal generator for generating a signal within the audible frequency range and a modulator for modulating a current that is applied to the electric motor in accordance with the signal generated by the signal generator.
摘要翻译：具有电动机的运输机的音响报警器。警报器具有用于在可听频率范围内产生信号的信号发生器和用于根据由信号发生器产生的信号调制施加到电动机的电流的调制器。

5. 发明授权

US08322477B2 Motion control of a transporter 有权
标题翻译：运输器的运动控制
公开(公告)号：US08322477B2
公开(公告)日：2012-12-04
申请号：US11471241
申请日：2006-06-20
申请人： Dean Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
发明人： Dean Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
IPC分类号： B60K26/02
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。

6. 发明授权

US08186462B2 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：US08186462B2
公开(公告)日：2012-05-29
申请号：US11926737
申请日：2007-10-29
申请人： Dean Kamen , Richard Kurt Heinzmann , John David Heinzmann , Robert R. Ambrogi , Christopher C. Langenfeld , J. Douglas Field
发明人： Dean Kamen , Richard Kurt Heinzmann , John David Heinzmann , Robert R. Ambrogi , Christopher C. Langenfeld , J. Douglas Field
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。

7. 发明授权

US07407175B2 Multiple-passenger transporter 失效
标题翻译：多乘客运输车
公开(公告)号：US07407175B2
公开(公告)日：2008-08-05
申请号：US11233276
申请日：2005-09-22
申请人： Dean Kamen , J. Douglas Field , John David Heinzmann
发明人： Dean Kamen , J. Douglas Field , John David Heinzmann
IPC分类号： B62K27/00
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。

8. 发明授权

US06866107B2 Method and device for battery load sharing 失效
标题翻译：电池负载共享的方法和装置
公开(公告)号：US06866107B2
公开(公告)日：2005-03-15
申请号：US10462225
申请日：2003-06-13
申请人： John David Heinzmann , John B. Morrell , David W. Robinson
发明人： John David Heinzmann , John B. Morrell , David W. Robinson
IPC分类号： B60L11/18 , B60L15/20 , B62K3/00 , B62K17/00 , B62M7/00 , B62M23/02 , H02J7/00
CPC分类号： B60L15/2045 , A63C17/12 , B60L11/1851 , B60L11/1861 , B60L11/1866 , B60L2200/16 , B62K11/007 , B62K2204/00 , Y02T10/645 , Y02T10/7005 , Y02T10/7044 , Y02T10/7061 , Y02T10/7283
摘要： A device and method for equalizing the charge among a plurality of batteries redundantly driving a motor. The batteries are coupled to the motor through isolated windings and to each other through the drive shaft. The device senses the charge of the batteries and then controls the current from each of the batteries to its respective winding to equalize the charge. Related methods are provided to maximize the speed limit of a balancing transporter.
摘要翻译：一种用于均衡多个电池中的电荷的装置和方法，其冗余地驱动电动机。电池通过隔离绕组并通过驱动轴彼此连接到电动机。该装置感测电池的充电，然后控制从每个电池到其各自的绕组的电流以均衡电荷。提供相关方法以最大化平衡转运器的速度限制。

9. 发明授权

US08072180B1 Synchronous sampling of PWM waveforms 有权
标题翻译： PWM波形同步采样
公开(公告)号：US08072180B1
公开(公告)日：2011-12-06
申请号：US10308887
申请日：2002-12-03
申请人： Jason M. Sachs , John David Heinzmann
发明人： Jason M. Sachs , John David Heinzmann
IPC分类号： H02P27/04 , H02P25/00
CPC分类号： G01R19/2506 , G01R19/0007 , H02P21/00 , H02P27/08
摘要： A device for filtering a carrier frequency of a PWM waveform. The device includes a low-pass filter for converting the PWM waveform into an analog signal. The device further includes a sampling analog-to-digital converter receiving the analog signal from the low-pass filter and the device also includes a controller for causing the non-integrating analog to digital converter to sample the PWM waveform at the pulse frequency rate thereby rejecting the carrier frequency. As already stated the PWM waveform includes a pulse which has a leading edge, a top portion, and a trailing edge. In one embodiment, the controller causes the A/D converter to sample during the top of the pulse. Preferably, the controller causes the A/D converter to sample at substantially the center of the pulse.
摘要翻译：用于滤波PWM波形载波频率的装置。该器件包括用于将PWM波形转换为模拟信号的低通滤波器。该装置还包括从低通滤波器接收模拟信号的采样模数转换器，并且该装置还包括用于使非积分模数转换器以脉冲频率速率采样PWM波形的控制器，由此拒绝载波频率。如已经说明的那样，PWM波形包括具有前沿，顶部和后沿的脉冲。在一个实施例中，控制器使得A / D转换器在脉冲的顶部采样。优选地，控制器使得A / D转换器基本上在脉冲的中心处采样。

10. 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。

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