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。

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。

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。

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.

公开(公告)号：US5971091A

公开(公告)日：1999-10-26

申请号：US384705

申请日：1995-02-03

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard Kurt Heinzmann ,  Brian R. Key ,  Andrzej Skoskiewicz ,  Phyllis K. Kristal

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard Kurt 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 ,  B60L11/1859 ,  B60L11/1861 ,  B60L11/1877 ,  B60L15/20 ,  B60L3/0046 ,  B60L3/08 ,  B62D57/00 ,  B62K11/007 ,  A61G2203/14 ,  A61G2203/20 ,  A61G5/1032 ,  A61G5/1059 ,  A61G5/107 ,  A61G5/1075 ,  B60K7/00 ,  B60L2200/16 ,  B60L2200/24 ,  B60L2200/34 ,  B60L2220/46 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/545 ,  B60L2240/547 ,  B60L2240/549 ,  B60L2240/642 ,  B60L2250/10 ,  B60L2250/24 ,  B60L2260/34 ,  B60L2260/44 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  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 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 duster 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轮的除尘器。 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。

公开(公告)号：US06367817B1

公开(公告)日：2002-04-09

申请号：US09635936

申请日：2000-08-10

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  Burl Amsbury ,  Christopher C. Langenfeld

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  Burl Amsbury ,  Christopher C. Langenfeld

IPC分类号： B60G17005

CPC分类号： B60L15/20 ,  A63C17/01 ,  A63C17/08 ,  A63C17/12 ,  B60L2200/14 ,  B60L2200/16 ,  B60L2200/22 ,  B60L2220/46 ,  B60L2240/20 ,  B60L2240/423 ,  B60L2240/461 ,  B60L2240/463 ,  B60L2250/12 ,  B60L2250/22 ,  B62K1/00 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/7275

摘要： A class of transportation vehicles 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 vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Related methods are provided.

公开(公告)号：US06651766B2

公开(公告)日：2003-11-25

申请号：US09862839

申请日：2001-05-22

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard Kurt Heinzmann

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  Richard Kurt Heinzmann

IPC分类号： B62D6100

CPC分类号： B62D57/00 ,  A63C17/12 ,  B60K7/00 ,  B60L15/2036 ,  B60L2200/14 ,  B60L2200/16 ,  B60L2200/22 ,  B60L2220/46 ,  B60L2240/22 ,  B60L2240/423 ,  B60L2240/461 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275 ,  Y10S180/907

摘要： A class of transportation vehicles for carrying an individual over ground having a surface that may be irregular. This embodiment has a motorized drive, mounted to the ground-contacting module that causes operation of the vehicle in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered.

摘要翻译： 一类运输车辆，用于携带具有可能不规则的表面的地面上的个体。 该实施例具有电动驱动器，安装到接地模块，其使得当电动驱动装置未被供电时车辆的操作在相对于倾翻不稳定的操作位置。

公开(公告)号：US07690447B2

公开(公告)日：2010-04-06

申请号：US11852767

申请日：2007-09-10

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  William Lambrechts ,  Matt McCambridge ,  Christopher Perry ,  Mark E. Tellam

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  William Lambrechts ,  Matt McCambridge ,  Christopher Perry ,  Mark E. Tellam

IPC分类号： B62D61/00

CPC分类号： B62D37/00 ,  A61G5/0891 ,  B62D61/00 ,  B62K1/00 ,  B62K11/007

摘要： A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

摘要翻译： 用于在表面上运送人类受试者的装置。 该装置是具有用于提供平衡的控制回路的动态平衡车辆。 该装置包括限定前翼面的平台。 该平台支持包括人类受试者的有效载荷。 包括地面接触模块，其可以包括一个或多个车轮。 地面接触构件可移动地联接到平台。 平台和地面接触模块形成具有相对于地面接触构件限定的重心的组件，并且其包括装置上的任何载荷。 该装置还包括支撑件。 支撑件可以是用于支撑被检体的座位，并且支撑件以允许通过平移和旋转至少一部分的平移和旋转来改变前后平面中的重心位置的方式联接到平台 支撑。 在一个实施例中，装置的座的平移和旋转被机械耦合在一起。

公开(公告)号：US07004271B1

公开(公告)日：2006-02-28

申请号：US10436889

申请日：2003-05-13

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  William Lambrechts ,  Matt McCambridge ,  Christopher Perry ,  Mark E. Tellam

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  William Lambrechts ,  Matt McCambridge ,  Christopher Perry ,  Mark E. Tellam

IPC分类号： B62D61/00

CPC分类号： B62D37/00 ,  A61G5/0891 ,  B62D61/00 ,  B62K1/00 ,  B62K11/007

摘要： A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

摘要翻译： 用于在表面上运送人类受试者的装置。 该装置是具有用于提供平衡的控制回路的动态平衡车辆。 该装置包括限定前翼面的平台。 该平台支持包括人类受试者的有效载荷。 包括地面接触模块，其可以包括一个或多个车轮。 地面接触构件可移动地联接到平台。 平台和地面接触模块形成具有相对于地面接触构件限定的重心的组件，并且其包括装置上的任何载荷。 该装置还包括支撑件。 支撑件可以是用于支撑被检体的座位，并且支撑件以允许通过平移和旋转至少一部分的平移和旋转来改变前后平面中的重心位置的方式联接到平台 支撑。 在一个实施例中，装置的座的平移和旋转被机械耦合在一起。

公开(公告)号：US06302230B1

公开(公告)日：2001-10-16

申请号：US09325978

申请日：1999-06-04

申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  Burl Amesbury ,  Christopher C. Langenfeld

发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  Robert J. Duggan ,  J. Douglas Field ,  Richard Kurt Heinzmann ,  Burl Amesbury ,  Christopher C. Langenfeld

IPC分类号： B60K3100

CPC分类号： B60L15/20 ,  A63C17/01 ,  A63C17/08 ,  A63C17/12 ,  B60L2200/14 ,  B60L2200/16 ,  B60L2200/22 ,  B60L2220/46 ,  B60L2240/20 ,  B60L2240/423 ,  B60L2240/461 ,  B60L2240/463 ,  B60L2250/12 ,  B60L2250/22 ,  B62K1/00 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/7275

摘要： An automatically balancing vehicle having a headroom monitor. The headroom monitor determines the difference between the maximum velocity of the vehicle and the present velocity of the vehicle. An alarm receives a signal from the headroom monitor and produces a warning when the headroom falls below a specified limit.

摘要翻译： 具有净空监视器的自动平衡车。 净空监视器确定车辆的最大速度与车辆的当前速度之间的差。 报警器从上行空间监视器接收到信号，当上行空间低于指定限制时，发出警告。