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    Improvement of personal transportation vehicle
    1.
    发明专利
    Improvement of personal transportation vehicle 审中-公开
    个人运输车辆的改进

    公开(公告)号：JP2007269316A

    公开(公告)日：2007-10-18

    申请号：JP2007121853

    申请日：2007-05-02

    Applicant: Deka Products Lp ,  デカ・プロダクツ・リミテッド・パートナーシップ

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

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

    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: PROBLEM TO BE SOLVED: To provide a method providing access accelerated relative to the action of a balancing personal transportation vehicle to a user. SOLUTION: The method controls the balancing transportation vehicle with motive power having two wheels contacted with a ground surface by usual action. When a failure condition is detected, a control parameter is adjusted in a target direction by a specific increase degree until the control parameter becomes equal to a target value. The user firstly initializes a single-shaft stabilizer and the transportation vehicle can be operated during when initializing a three-shaft stabilizer. The access accelerated relative to the action of the balancing transportation vehicle is provided by completing initialization of the three-shaft stabilizer. Acceleration of the wheel and a previously set specific value are compared with each other and torque applied to the wheel is gradually reduced based on existence of a slip condition. Thereby, traction is maintained between the wheel of the transportation vehicle and a surface of a base board at the slip condition made clear making a value determined regarding dynamic characteristic of the wheel such as inverse of inertia moment as reference. COPYRIGHT: (C)2008,JPO&INPIT

    Abstract translation: 要解决的问题：提供一种提供相对于平衡的个人运输车辆对用户的动作加速的方法。 解决方案：该方法通过通常的动作控制具有与地面接触的两个轮的动力的平衡运输车辆。 当检测到故障条件时，控制参数在目标方向上被调整特定增加程度，直到控制参数变得等于目标值。 用户首先初始化单轴稳定器，并且在初始化三轴稳定器时可以运行运输车辆。 通过完成三轴稳定器的初始化，提供相对于平衡运输车辆的作用加速的通路。 将车轮的加速度和先前设定的特定值进行比较，并且基于滑动条件的存在，施加到车轮的扭矩逐渐减小。 因此，在滑移状态下，运输车辆的车轮和基板的表面之间的牵引力被保持为清晰的，从而确定关于车辆的动态特性的值，例如作为参考的惯性力矩的倒数。 版权所有（C）2008，JPO＆INPIT

    Safety separation system
    4.
    发明专利
    Safety separation system 审中-公开
    安全分离系统

    公开(公告)号：JP2008194466A

    公开(公告)日：2008-08-28

    申请号：JP2008022123

    申请日：2008-01-31

    Applicant: Deka Products Lp ,  デカ・プロダクツ・リミテッド・パートナーシップ

    Inventor： KAMEN DEAN L ,  AMBROGI ROBERT ,  MORRELL JOHN B ,  LANGENFELD CHRISTOPHER C ,  SMITH STANLEY B III ,  STEENSON JAMES H JR

    IPC: B60R21/02 ,  A61G5/04 ,  A61G5/06 ,  B62K17/00

    CPC classification number: A61G5/061 ,  A61G5/04 ,  A61G2203/723 ,  B62K11/007

    Abstract: PROBLEM TO BE SOLVED: To provide a safety mechanism for a vehicle that provides for separation of the motion of a body support from a ground contacting assembly of the vehicle in case of accident.
    SOLUTION: The body support 14 is attached to the ground contacting module via a slide mechanism that permits the body support to continue upright motion despite overturning of the ground contacting assembly 18 in order to prevent injury to the passenger 16. Another embodiment provides for coupling of the body support or the ground contacting assembly via either a real or virtual pivot 20 located above the respective centers of mass of the body support and ground contacting assembly.
    COPYRIGHT: (C)2008,JPO&INPIT

    Abstract translation: 要解决的问题：提供一种用于车辆的安全机构，其用于在发生事故时分离车身支撑件与车辆的地面接触组件的运动。 解决方案：身体支撑件14通过滑动机构附接到接地模块，该滑动机构允许身体支撑件继续直立运动，尽管地面接触组件18的翻转，以防止对乘客16的伤害。另一实施例提供 用于经由位于身体支撑体和地面接触组件的相应质心上方的实心或虚拟枢轴20联接身体支撑件或地面接触组件。 版权所有（C）2008，JPO＆INPIT

    User input device which controls acceleration of vehicle
    6.
    发明专利
    User input device which controls acceleration of vehicle 有权
    用户输入装置，用于控制车辆加速

    公开(公告)号：JP2009056321A

    公开(公告)日：2009-03-19

    申请号：JP2008270874

    申请日：2008-10-21

    Applicant: Deka Products Lp ,  デカ・プロダクツ・リミテッド・パートナーシップ

    Inventor： KAMEN DEAN L ,  AMBROGI ROBERT R ,  HEINZMANN JOHN DAVID ,  HEINZMANN RICHARD KURT ,  HERR DAVID ,  MORRELL JOHN B

    IPC: A61G1/02 ,  B62K3/00 ,  A61G5/00 ,  A61G5/04 ,  A61G5/06 ,  B62B3/00 ,  B62B5/02 ,  B62B5/06 ,  G05B13/04 ,  G05G9/047

    CPC classification number: A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

    Abstract: PROBLEM TO BE SOLVED: To provide a vehicle for transporting a payload on the surface which can be uneven, or may include stairs.
    SOLUTION: The vehicle 10 includes a support to support the payload 14, and a ground contact element movable with respect to a local axis that is movable with respect to a second axis having a defined relation with respect to the support. The vehicle also comprises a motorized drive arrangement for permitting controllable motion of the ground contact element so as to operate in an operation condition that is unstable with respect to tilting in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also comprises an input device to receive an indication of a desired motion direction of the vehicle from an assistant 100 who is not on the vehicle.
    COPYRIGHT: (C)2009,JPO&INPIT

    Abstract translation: 要解决的问题：提供一种用于在表面上运送有效载荷的车辆，其可以是不均匀的，或者可以包括楼梯。 车辆10包括用于支撑有效载荷14的支撑件以及可相对于局部轴线移动的接地触头元件，其可相对于具有与支撑件具有限定关系的第二轴线移动。 该车辆还包括电动驱动装置，用于允许接地触头元件的可控制的运动，以便在电动驱动装置未被供电时在至少前后平面中相对于倾斜不稳定的操作状态下操作。 车辆还包括输入装置，用于从不在车辆上的助手100接收车辆的期望运动方向的指示。 版权所有（C）2009，JPO＆INPIT

    CONTROL OF A PERSONAL TRANSPORTER
    8.
    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。

    CONTROL OF A BALANCING PERSONAL VEHICLE
    10.
    发明申请
    CONTROL OF A BALANCING PERSONAL VEHICLE 审中-公开
    控制平衡的个人车辆

    公开(公告)号：WO0054721A3

    公开(公告)日：2000-12-14

    申请号：PCT/US0006636

    申请日：2000-03-14

    Applicant: DEKA PRODUCTS LP

    Inventor： KAMEN DEAN L ,  AMBROGI ROBERT R ,  HEINZMANN JOHN DAVID ,  HEINZMANN RICHARD KURT ,  HERR DAVID ,  MORRELL JOHN B

    IPC: B62K3/00 ,  A61G5/04 ,  A61G5/06 ,  B62B3/00 ,  B62B5/02 ,  B62B5/06 ,  G05B13/04 ,  G05G9/047

    CPC classification number: A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

    Abstract: A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

    Abstract translation: 运输有效载荷的车辆，可能是不规则的表面，可能包括楼梯。 车辆具有用于支撑有效载荷的支撑件和可相对于局部轴线移动的地面接触元件，其中局部轴线可相对于与支撑件具有限定关系的某个第二轴线移动。 该车辆还具有机动驱动装置，用于允许地面接触元件的可控制的运动，以便当机动驱动装置未被供电时在至少前后平面倾斜不稳定的运行状况下运行。 该车辆还具有输入装置，用于从没有布置在车辆上的助手接收车辆期望运动方向的指示。

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