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    TRAILER FOR BALANCING VEHICLES
    1.
    发明申请
    TRAILER FOR BALANCING VEHICLES 审中-公开
    拖车用于平衡车辆

    公开(公告)号：WO0164502A2

    公开(公告)日：2001-09-07

    申请号：PCT/US0105351

    申请日：2001-02-16

    Applicant: DEKA PRODUCTS LP ,  FIELD J DOUGLAS ,  HEINZMANN JOHN DAVID

    Inventor： FIELD J DOUGLAS ,  HEINZMANN JOHN DAVID

    IPC: A63H17/16 ,  B62D51/00 ,  B62D51/02 ,  B62D53/02 ,  B62D63/06 ,  B62D53/00

    CPC classification number: B62D63/067 ,  B62D51/008 ,  B62D51/02 ,  B62D53/02 ,  B62K11/007

    Abstract: A trailer (30) for a dynamically balanced transporter (32) that allows leaning of the transporter such as for control of the combination of transporter and trailer. The trailer has a platform and an arm (36) with two ends, one of which ends (37) is coupled to the platform and the other of which (42) is pivotally coupled about a horizontal axis to the transporter. The trailer has a ground-contacting member that may be a wheel (46), or a ski or a skid. A locking mechanism may lock the pivot in response to a fault condition. The platform of the trailer may support a rider in a seated or standing position and may have a characteristic transverse linear dimension comparable to the shoulder width of the rider.

    Abstract translation: 一种用于动态平衡的运输机（32）的拖车（30），其允许运输者倾斜，例如用于控制运输车和拖车的组合。 拖车具有平台和具有两个端部的臂（36），其中一个端部（37）联接到平台，而另一个端部（42）围绕水平轴线枢转地联接到运送器。 拖车具有可以是轮（46）或滑雪板或滑板的接地构件。 锁定机构可以根据故障情况锁定枢轴。 拖车的平台可以支撑坐在或站立位置的骑手，并且可以具有与骑手的肩宽相当的特征横向线性尺寸。

    CONTROL OF A PERSONAL TRANSPORTER
    2.
    发明申请
    CONTROL OF A PERSONAL TRANSPORTER 审中-公开
    个人运输机的控制

    公开(公告)号：WO0230730A2

    公开(公告)日：2002-04-18

    申请号：PCT/US0142657

    申请日：2001-10-11

    Applicant: DEKA PRODUCTS LP

    Inventor： KAMEN DEAN L ,  ARLING RICHARD WILLIAM ,  FIELD J DOUGLAS ,  HEINZMANN JOHN DAVID ,  MORRELL JOHN B ,  POMPA JONATHAN B ,  YUNDT GEORGE B

    IPC: A63C17/12 ,  B62K3/00 ,  B62K11/00 ,  B62K17/00

    CPC classification number: A63C17/12 ,  B60L3/0046 ,  B60L3/0061 ,  B60L3/0084 ,  B60L3/102 ,  B60L2200/16 ,  B60L2220/46 ,  B60L2240/12 ,  B60L2240/22 ,  B60L2240/463 ,  B60L2240/465 ,  B62K11/007 ,  Y02T10/7258

    Abstract: Methods for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. Upon detection of a fault condition, a control variable is adjusted at a specified increment in the direction of a goal value until the control variable equals the goal value. A user is afforded accelerated access to operation of the balancing transporter by first initializing a single-axis stabilizer, and, while intializing a 3-axis stabilizer, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer. Traction is maintained between wheels of a transporter and an underlying surface by comparing acceleration of a wheel with a specified pre-set value and incrementally reducing the torque applied to the wheel based on the existence of slip condition, with the slip condition cleared on the basis of a determined value of a dynamic characteristic of the wheel such as the inverse moment of inertia.

    Abstract translation: 用于控制在正常操作中具有与地面接触的两个车轮的电动平衡运输机的方法。 在检测到故障状况时，控制变量在目标值的方向上以规定的增量进行调整，直到控制变量等于目标值。 通过首先初始化单轴稳定器，并且同时初始化3轴稳定器，允许运输器的操作，然后完成3轴稳定器的初始化，使用户能够加速平衡运输机的操作。 通过将车轮的加速度与规定的预设值进行比较，并且基于滑移条件的存在逐渐减小施加到车轮的转矩，保持运输车轮和底部表面之间的牵引，滑移条件基于 确定车轮的动态特性的值，例如反向转动惯量。

    APPARATUS AND METHOD FOR ATTACHING A WHEEL TO AN AXLE
    4.
    发明申请
    APPARATUS AND METHOD FOR ATTACHING A WHEEL TO AN AXLE 审中-公开
    将车轮连接到轴的装置和方法

    公开(公告)号：WO02068219A3

    公开(公告)日：2003-03-27

    申请号：PCT/US0204350

    申请日：2002-02-14

    Applicant: DEKA PRODUCTS LP

    Inventor： FIELD J DOUGLAS ,  HOELL JOSEPH A JR ,  REICH RONALD K

    IPC: A61G5/04 ,  A61G5/10 ,  B60B37/00 ,  B60B37/04 ,  B60B27/06

    CPC classification number: A61G5/10 ,  A61G5/04 ,  B60B37/00 ,  B60B37/04

    Abstract: An apparatus and method for attaching a wheel to an axle. The apparatus comprises a wheel with a hub (142) for insertion into an indentation in the end of the axle (120) and a single bolt that is offset from the axis of rotation of the wheel and axle and that attaches the wheel (140) to the axle. In a further embodiment, the apparatus comprises a wheel with a hub for insertion into an indentation in the end of the axle and a non-cylindrically-symmetrical stud attached to the axle that is concentric with the axis of rotation of the wheel and axle, thus attaching the wheel to the axle (120).

    Abstract translation: 一种用于将车轮连接到车轴上的装置和方法。 该装置包括具有用于插入到轴（120）的端部中的凹陷中的轮毂（142）的车轮和从车轮和车轴的旋转轴线偏移并且将车轮（140）附接的单个螺栓， 到车轴。 在另一实施例中，该装置包括具有用于插入到轴的端部中的凹陷中的毂的轮和附接到与轴和轴的旋转轴线同心的轴的非圆柱对称的柱， 从而将车轮附接到轴（120）。

    BALANCING PERSONAL VEHICLE
    5.
    发明专利
    BALANCING PERSONAL VEHICLE 未知

    公开(公告)号：CA2393418C

    公开(公告)日：2010-02-16

    申请号：CA2393418

    申请日：2000-12-08

    Applicant: DEKA PRODUCTS LP

    Inventor： KAMEN DEAN L ,  FIELD J DOUGLAS ,  HEINZMANN RICHARD KURT

    IPC: B62D57/00 ,  B62K5/04 ,  A61G5/04 ,  A61G5/06 ,  A61G5/10 ,  A61G5/12 ,  A61G5/14 ,  B60K7/00 ,  B62D39/00 ,  B62D61/00 ,  B62M1/00 ,  B62M7/12

    Abstract: A transportation vehicle (100) for transporting an individual over ground having a surface that may be irregular. The vehicle has a support platform (112) For supporting the subject and the support platform is coupled to a ground-contacting module at a pivot (118). While the ground-contacting module may be statically stable, balance ol the support platform with respect to the ground-contacting module (104) is maintained by motion of the ground-contacting module in response to leaning of the support platform. A motorized drive coupled to the ground-contacting module causes locomotion of the vehicle and the subject therewith over the surface, while a control loop, in which the motorized drive is included, dynamically enhances stability in the fore-aft plane by operation of the motorized drive in connection with the ground-contacting module. In the event of failure of the control loop, the pivot connection of the support platform to the ground-contacting module may be locked, thereby ensuring stability of the static assembly.

    Control of a personal transporter
    6.
    发明专利
    Control of a personal transporter 未知

    公开(公告)号：AU2002211908B2

    公开(公告)日：2006-03-02

    申请号：AU2002211908

    申请日：2001-10-11

    Applicant: DEKA PRODUCTS LP

    Inventor： YUNDT GEORGE B ,  MORRELL JOHN B ,  FIELD J DOUGLAS ,  KAMEN DEAN L ,  HEINZMANN JOHN DAVID ,  POMPA JONATHAN B ,  ARLING RICHARD WILLIAM

    IPC: B62K3/00 ,  A63C17/12 ,  B62K11/00 ,  B62K17/00

    Abstract: Methods for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. Upon detection of a fault condition, a control variable is adjusted at a specified increment in the direction of a goal value until the control variable equals the goal value. A user is afforded accelerated access to operation of the balancing transporter by first initializing a single-axis stabilizer, and, while intializing a 3-axis stabilizer, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer. Traction is maintained between wheels of a transporter and an underlying surface by comparing acceleration of a wheel with a specified pre-set value and incrementally reducing the torque applied to the wheel based on the existence of slip condition, with the slip condition cleared on the basis of a determined value of a dynamic characteristic of the wheel such as the inverse moment of inertia.

    REMOLQUE PARA VEHICULOS DE EQUILIBRIO.
    9.
    发明专利
    REMOLQUE PARA VEHICULOS DE EQUILIBRIO. 未知

    公开(公告)号：ES2280345T3

    公开(公告)日：2007-09-16

    申请号：ES01912838

    申请日：2001-02-16

    Applicant: DEKA PRODUCTS LP

    Inventor： FIELD J DOUGLAS ,  HEINZMANN JOHN DAVID

    IPC: A63H17/16 ,  B62D53/02 ,  B62D51/00 ,  B62D51/02 ,  B62D63/06

    Abstract: Un procedimiento para acoplar un remolque (30) que tiene un elemento (46) en contacto con el suelo a un vehículo (18) de transporte equilibrado dinámicamente con respecto a un vuelco en sentido longitudinal, estando caracterizado el procedimiento por: acoplar un extremo de un brazo (36) al remolque; y acoplar el otro extremo del brazo (37) al vehículo de transporte equilibrado dinámicamente con un acoplamiento (34) de pivote que puede pivotar libremente alrededor de un eje (38) horizontal en un plano vertical en sentido longitudinal de modo que el vehículo de transporte conserva las características de control de un vehículo de dos ruedas estabilizado dinámicamente.

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