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1. 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。

2. 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。

3. 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。

4. 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。

5. 发明申请

US20050034553A1 User input for vehicle control 有权
标题翻译：用户输入车辆控制
公开(公告)号：US20050034553A1
公开(公告)日：2005-02-17
申请号：US10947122
申请日：2004-09-22
申请人： Dean Kamen , Robert Ambrogi , John Heinzmann , Richard Heinzmann , David Herr , John Morrell
发明人： Dean Kamen , Robert Ambrogi , John Heinzmann , Richard Heinzmann , David Herr , John Morrell
IPC分类号： A61G5/04 , A61G5/06 , G05B13/04 , B62D51/06
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。

6. 发明申请

US20070252683A1 Transporter Motor Alarm 有权
标题翻译：运输车辆报警
公开(公告)号：US20070252683A1
公开(公告)日：2007-11-01
申请号：US11552829
申请日：2006-10-25
申请人： Dean Kamen , Burl Amsbury , Richard Arling , J. Field , Jeffrey Finkelstein , John Heinzmann , Christopher Langenfeld , Philip LeMay , John Morrell , Jason Sachs
发明人： Dean Kamen , Burl Amsbury , Richard Arling , J. Field , Jeffrey Finkelstein , John Heinzmann , Christopher Langenfeld , Philip LeMay , John Morrell , Jason Sachs
IPC分类号： G08B3/00
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。

7. 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。

8. 发明申请

US20060125433A1 Method and system for fail-safe motor operation 有权
公开(公告)号：US20060125433A1
公开(公告)日：2006-06-15
申请号：US11273581
申请日：2005-11-14
申请人： Dean Kamen , John Morrell , David Robinson , Ronald Reich , John Heinzmann , Philip LeMay , Steven Meyer , Jason Sachs , J. Field
发明人： Dean Kamen , John Morrell , David Robinson , Ronald Reich , John Heinzmann , Philip LeMay , Steven Meyer , Jason Sachs , J. Field
IPC分类号： H02P5/00
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.

9. 发明申请

US20060108156A1 Vehicle control by pitch modulation 有权
公开(公告)号：US20060108156A1
公开(公告)日：2006-05-25
申请号：US11249136
申请日：2005-10-11
申请人： John Heinzmann , David Robinson , Jon Stevens , J. Field , Jeremy Lund
发明人： John Heinzmann , David Robinson , Jon Stevens , J. Field , Jeremy Lund
IPC分类号： B62D51/06
CPC分类号： B62D37/00 , B60L11/007 , B60L15/2036 , B60L15/2045 , B60L2200/24 , B60L2200/34 , B60L2220/44 , B60L2240/423 , B60L2240/463 , B60L2260/34 , B62K5/01 , B62K11/007 , B62K17/00 , Y02T10/645 , Y02T10/72 , Y02T10/7283
摘要： A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.

10. 发明申请

US20050017733A1 Model-based fault detection in a motor drive 有权
标题翻译：基于型号的电机驱动故障检测
公开(公告)号：US20050017733A1
公开(公告)日：2005-01-27
申请号：US10625017
申请日：2003-07-23
申请人： John Heinzmann , John Morrell , Jason Sachs
发明人： John Heinzmann , John Morrell , Jason Sachs
IPC分类号： G01R31/06 , G01R31/34
CPC分类号： G01R31/346 , G01R31/343
摘要： A method for detecting an open winding in a motor. The method employs passive monitoring of the voltage, current and speed of the motor. A residue voltage is calculated that equals the difference between an idealized set of voltage drops across the motor load elements and the actual voltage drops. When the magnitude of the residue voltage equals or exceeds a threshold, an open winding condition may be declared and appropriate action may be taken.
摘要翻译：一种用于检测电机中的开路绕组的方法。该方法采用被动监测电机的电压，电流和速度。计算残余电压，其等于电机负载元件上的理想组合电压差与实际电压降之间的差。当残余电压的大小等于或超过阈值时，可以宣布开放的绕组条件，并且可以采取适当的动作。

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