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公开(公告)号：US07263453B1
公开(公告)日：2007-08-28
申请号：US11038777
申请日：2005-01-19
Applicant: Michael Thomas Gansler , Michael Field Kaufman , Soundararajan Manthiri , David W. Robinson , Jason M. Sachs
Inventor： Michael Thomas Gansler , Michael Field Kaufman , Soundararajan Manthiri , David W. Robinson , Jason M. Sachs
IPC: G01D18/00
CPC classification number: G01D5/24457
Abstract: Methods and apparatus for detecting a sensor angle error in a system in which a measured quantity is determined on the basis of a phase of a signal. A signal derived from the measurement of multiple sensors is ascribed to a vector in a two-dimensional space, and a norm is calculated characterizing that vector. A value is calculated characterizing variation of that norm over a specified period of time and that value is compared with a threshold in order to identify a sensor fault.
Abstract translation: 用于检测在基于信号的相位确定测量量的系统中的传感器角度误差的方法和装置。 从多个传感器的测量得到的信号归因于二维空间中的向量，并且计算表征该矢量的范数。 计算值在特定时间段内表征该范数的变化，并将该值与阈值进行比较以识别传感器故障。
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公开(公告)号：US06866107B2
公开(公告)日：2005-03-15
申请号：US10462225
申请日：2003-06-13
Applicant: John David Heinzmann , John B. Morrell , David W. Robinson
Inventor： John David Heinzmann , John B. Morrell , David W. Robinson
CPC classification number: 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
Abstract: 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.
Abstract translation: 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。
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公开(公告)号：USD280279S
公开(公告)日：1985-08-27
申请号：US502796
申请日：1983-06-09
Applicant: Merlin A. Brunner , David W. Robinson , Harvey J. Draheim
Designer： Merlin A. Brunner , David W. Robinson , Harvey J. Draheim
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公开(公告)号：USD280277S
公开(公告)日：1985-08-27
申请号：US507893
申请日：1983-06-24
Applicant: Merlin A. Brunner , David W. Robinson , Harvey J. Draheim
Designer： Merlin A. Brunner , David W. Robinson , Harvey J. Draheim
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公开(公告)号：USD278398S
公开(公告)日：1985-04-16
申请号：US463776
申请日：1983-02-04
Applicant: Merlin A. Brunner , David W. Robinson , Harvey J. Draheim
Designer： Merlin A. Brunner , David W. Robinson , Harvey J. Draheim
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Patent Agency Ranking
6.发明授权Method for graphically providing continuous change of state directions to a user of medical robotic system 有权用于向医疗机器人系统的用户图形化地提供状态方向的连续变化的方法公开(公告)号：US08583274B2
公开(公告)日：2013-11-12
申请号：US13654631
申请日：2012-10-18
Applicant: Paul W. Mohr , David W. Robinson
Inventor： Paul W. Mohr , David W. Robinson
IPC: A61B17/00
CPC classification number: A61B19/5225 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/37 , A61B2090/0811 , B25J9/1689 , B25J9/1692 , G05B2219/39024 , G05B2219/45123 , Y10S901/02 , Y10S901/06 , Y10S901/09
Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.
Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。
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7.发明申请METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF A MEDICAL ROBOTIC SYSTEM 有权用于向医疗机器人系统用户图形化地呈现状态方向的连续变化的方法公开(公告)号：US20100082039A1
公开(公告)日：2010-04-01
申请号：US12238631
申请日：2008-09-26
Applicant: PAUL W. MOHR , David W. ROBINSON
Inventor： PAUL W. MOHR , David W. ROBINSON
CPC classification number: A61B19/5225 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/37 , A61B2090/0811 , B25J9/1689 , B25J9/1692 , G05B2219/39024 , G05B2219/45123 , Y10S901/02 , Y10S901/06 , Y10S901/09
Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.
Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。
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8.发明授权Speed limiting for a balancing transporter accounting for variations in system capability 有权衡量系统能力差异的平衡运输车的速度限制公开(公告)号：US06868931B2
公开(公告)日：2005-03-22
申请号：US10669879
申请日：2003-09-23
Applicant: John B. Morrell , David W. Robinson
Inventor： John B. Morrell , David W. Robinson
IPC: A61G5/04 , A61G5/06 , A61G5/10 , A61G5/12 , B60K7/00 , B60L11/18 , B60L15/20 , B62D57/00 , B62K1/00 , B62K3/00 , B62K17/00 , B62M7/00 , B62M23/02 , B60K19/00
CPC classification number: A63C17/12 , A61G5/065 , B60K7/00 , B60L11/1851 , B60L15/2045 , B60L2200/16 , B60L2220/46 , B60L2240/12 , B60L2240/18 , B60L2240/20 , B60L2260/34 , B62D57/00 , B62K1/00 , B62K11/007 , B62K17/00 , Y02T10/645 , Y02T10/7005 , Y02T10/705 , Y02T10/7283
Abstract: A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided for determining the maximum operating speed of the transporter from measurement of battery parameters and transporter motor current and for limiting the speed of the transporter to maintain stability based on various sets of operationally imposed margins.
Abstract translation: 一类用于携带具有可能不规则的表面的地面上的个体的转运体。 各种实施例具有电动驱动器，其安装到地面接触模块，其使得运送器的操作在电动驱动装置未通电时相对于倾翻不稳定的操作位置。 提供了相关方法，用于根据电池参数和运输电机电流的测量来确定运输车的最大运行速度，并且基于各种操作上的利润集合来限制运输者的速度以保持稳定性。
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公开(公告)号：US06789640B1
公开(公告)日：2004-09-14
申请号：US10308850
申请日：2002-12-03
Applicant: Richard W. Arling , W. Patrick Kelly , Philip LeMay , John B. Morrell , Jonathan B. Pompa , David W. Robinson
Inventor： Richard W. Arling , W. Patrick Kelly , Philip LeMay , John B. Morrell , Jonathan B. Pompa , David W. Robinson
IPC: B60K2814
CPC classification number: B60L11/1803 , A63C17/12 , B62K11/007 , Y02T10/7005
Abstract: A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value; processing the yaw error value to obtain a yaw command signal; and applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control. The yaw command signal may include component terms quadratic in the pitch error and/or a function of a common wheel rotational velocity. A control input mechanism is wirelessly coupled to the controller of the balancing transporter so as to maintain the sealed integrity of a user interface.
Abstract translation: 一种用于为具有两个侧向设置的接地轮的平衡运输机提供偏航控制的装置和方法。 该方法具有接收用户输入所需偏航值的步骤; 将瞬时偏航值与期望的偏航值进行比较以产生偏航误差值; 处理偏航误差值以获得偏航指令信号; 以及基于间距误差结合俯仰指令信号应用偏航指令信号，以便在执行偏航控制的过程中保持运输机的平衡。 偏航指令信号可以包括在俯仰误差中二次的分量项和/或共同轮旋转速度的函数。 控制输入机构与平衡运送器的控制器无线耦合，以保持用户界面的密封完整性。
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公开(公告)号：USD313361S
公开(公告)日：1991-01-01
申请号：US224440
申请日：1988-07-26
Applicant: David W. Robinson
Designer： David W. Robinson
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