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公开(公告)号：CA2625275C
公开(公告)日：2013-03-12
申请号：CA2625275
申请日：2000-03-14
Applicant: DEKA PRODUCTS LP
Inventor： KAMEN DEAN L , AMBROGI ROBERT R , AMSBURY BURL , DASTOUS SUSAN D , DUGGAN ROBERT J , HEINZMANN JOHN DAVID , HEINZMANN RICHARD KURT , HERR DAVID W , KERWIN JOHN M , MORRELL JOHN B , STEENSON JAMES HENRY JR
Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so that the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.
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公开(公告)号：DE60026522D1
公开(公告)日：2006-05-04
申请号：DE60026522
申请日：2000-06-01
Applicant: DEKA PRODUCTS LP
Inventor： KAMEN DEAN L , AMBROGI ROBERT R , DUGGAN ROBERT J , FIELD DOUGLAS J , HEINZMANN RICHARD KURT , AMSBURY BURL , LANGENFELD CHRISTOPHER C
IPC: B62D61/12 , B62K1/00 , A61G5/04 , A61G5/06 , A63C17/00 , A63C17/01 , A63C17/08 , B60L15/20 , B62D37/00 , B62D51/00 , B62D51/02 , B62D61/00 , B62K3/00
Abstract: A vehicle capable of an extraordinary mode of motorized motion programmed to draw the attention of an operator. When one or more sensors sense a condition requiring attention of the operator, a periodic acceleration is superposed upon the motion of the ground-contacting members. The extraordinary mode of locomotion may include a mode where the vehicle alternates between braking and speeding up and braking over each period of the modulation.
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公开(公告)号：AT292816T
公开(公告)日：2005-04-15
申请号：AT99966070
申请日：1999-12-09
Applicant: DEKA PRODUCTS LP
Inventor： STEENSON JAMES HENRY JR , AMSBURY BURL
Abstract: An apparatus and method for a pitch state estimator is provided. The pitch state estimator generates a pitch state signal for establishing the orientation used in the control of a ground-traversing vehicle. The vehicle has a support for supporting a load which is preferably a human passenger. In one embodiment, the pitch state estimator includes a pitch sensor connected to the vehicle producing a pitch signal representing an estimate of a pitch angle of the vehicle. The pitch angle is associated with a coordinate system referenced to gravity. The pitch state estimator also includes at least one inertial reference sensor connected to the vehicle producing an inertial orientation signal with respect to the vehicle. Further included is a state estimator module for receiving the pitch signal and the inertial orientation signal and calculating a pitch state signal from the inertial orientation signal and the pitch signal sensor. The pitch state signal is provided to a control loop of the vehicle for dynamically maintaining stability of the vehicle.
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公开(公告)号：MXPA01009342A
公开(公告)日：2003-07-14
申请号：MXPA01009342
申请日：2000-03-14
Applicant: DEKA PRODUCTS LP
Inventor： AMSBURY BURL
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公开(公告)号：AU2170300A
公开(公告)日：2001-01-22
申请号：AU2170300
申请日：1999-12-09
Applicant: DEKA PRODUCTS LP
Inventor： STEENSON JAMES HENRY JR , AMSBURY BURL
Abstract: An apparatus and method for a pitch state estimator is provided. The pitch state estimator generates a pitch state signal for establishing the orientation used in the control of a ground-traversing vehicle. The vehicle has a support for supporting a load which is preferably a human passenger. In one embodiment, the pitch state estimator includes a pitch sensor connected to the vehicle producing a pitch signal representing an estimate of a pitch angle of the vehicle. The pitch angle is associated with a coordinate system referenced to gravity. The pitch state estimator also includes at least one inertial reference sensor connected to the vehicle producing an inertial orientation signal with respect to the vehicle. Further included is a state estimator module for receiving the pitch signal and the inertial orientation signal and calculating a pitch state signal from the inertial orientation signal and the pitch signal sensor. The pitch state signal is provided to a control loop of the vehicle for dynamically maintaining stability of the vehicle.
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Patent Agency Ranking
公开(公告)号：CA2367501A1
公开(公告)日：2000-09-21
申请号：CA2367501
申请日：2000-03-14
Applicant: DEKA PRODUCTS LP
Inventor： DASTOUS SUSAN D , HEINZMANN RICHARD KURT , HEINZMANN JOHN DAVID , HERR DAVID W , AMSBURY BURL , KERWIN JOHN M , STEENSON JAMES HENRY JR , DUGGAN ROBERT J , KAMEN DEAN L , MORRELL JOHN B , AMBROGI ROBERT R
Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so th at the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.
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公开(公告)号：CA2375645C
公开(公告)日：2009-12-15
申请号：CA2375645
申请日：2000-06-01
Applicant: DEKA PRODUCTS LP
Inventor： DUGGAN ROBERT J , FIELD J DOUGLAS , HEINZMANN RICHARD KURT , LANGENFELD CHRISTOPHER C , KAMEN DEAN L , AMBROGI ROBERT R , AMSBURY BURL
IPC: B62D61/12 , B62K1/00 , A61G5/04 , A61G5/06 , A63C17/00 , A63C17/01 , A63C17/08 , B60L15/20 , B62D37/00 , B62D51/00 , B62D51/02 , B62D61/00 , B62K3/00
Abstract: A class of transportation vehicles for carrying an individual (10) over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module (6) 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.
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公开(公告)号：AU2004214537B2
公开(公告)日：2007-01-04
申请号：AU2004214537
申请日：2004-09-23
Applicant: DEKA PRODUCTS LP
Inventor： AMSBURY BURL , STEENSON HENRY JAMES JR
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公开(公告)号：ES2260019T3
公开(公告)日：2006-11-01
申请号：ES00938046
申请日：2000-06-01
Applicant: DEKA PRODUCTS LP
Inventor： KAMEN DEAN L , AMBROGI ROBERT R , DUGGAN ROBERT J , FIELD DOUGLAS J , HEINZMANN RICHARD KURT , AMSBURY BURL
IPC: B62D61/12 , A61G5/04 , A61G5/06 , A63C17/01 , A63C17/08 , B60L15/20 , B62D37/00 , B62D51/00 , B62D51/02 , B62D61/00 , B62K1/00 , A63C17/00 , B62K3/00
Abstract: Un dispositivo para transportar un usuario, comprendiendo el dispositivo: a) una plataforma (12) que soporta una carga que incluye al usuario, b) un módulo de contacto con el suelo montado a la plataforma, que incluye al menos un miembro (20, 44) de contacto con el suelo y que define un plano antero-posterior; c) una disposición (51, 531, 532, 541, 542) de accionamiento motorizado acoplada al módulo de contacto con el suelo; constituyendo la disposición de accionamiento, el módulo de contacto con el suelo y la carga un sistema que es inestable con respecto a la inclinación cuando el accionamiento motorizado no está activado; la disposición de accionamiento motorizado, cuando está activada, produce la operación equilibrada automáticamente del sistema en una posición de operación que es inestable con respecto a la inclinación en al menos un plano antero-posterior cuando la disposición de accionamiento motorizado no está activada; y d) un control de entrada de usuario que recibe una indicacióndel usuario de un cabeceo especificado del dispositivo bajo condiciones de movimiento a una velocidad uniforme.
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公开(公告)号：MY125488A
公开(公告)日：2006-08-30
申请号：MYPI20001018
申请日：2000-03-15
Applicant: DEKA PRODUCTS LP
Inventor： KAMEN DEAN L , STEENSON JAMES HENRY JR , DUGGAN ROBERT J , AMBROGI ROBERT R , AMSBURY BURL , DASTOUS SUSAN D , HEINZMANN JOHN DAVID , HEINZMANN RICHARD KURT , HERR DAVID W , KERWIN JOHN M , MORRELL JOHN B
Abstract: 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 (200) SUCH THAT THE HUMAN TRANSPORT DEVICE (200) 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 (400) OF A DEVICE (200) ARE DISCLOSED.(FIGURE 7A)
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