公开(公告)号：US06343664B2

公开(公告)日：2002-02-05

申请号：US09757230

申请日：2001-01-09

申请人： John B. Morrell ,  John M. Kerwin

发明人： John B. Morrell ,  John M. Kerwin

IPC分类号： B62D6112

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  A61G2203/46 ,  B60K7/00 ,  B62D57/00 ,  G05B13/042

摘要： A method for operating a device 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.

摘要翻译： 一种用于操作上升或下降楼梯的装置的方法。 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。

公开(公告)号：US06615938B2

公开(公告)日：2003-09-09

申请号：US10234025

申请日：2002-09-03

申请人： John B. Morrell ,  John M. Kerwin

发明人： John B. Morrell ,  John M. Kerwin

IPC分类号： B62D6112

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  A61G2203/46 ,  B60K7/00 ,  B62D57/00 ,  G05B13/042

摘要： A method for operating a device 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.

摘要翻译： 一种用于操作上升或下降楼梯的装置的方法。 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。

公开(公告)号：US06443251B1

公开(公告)日：2002-09-03

申请号：US10051333

申请日：2002-01-18

申请人： John B. Morrell ,  John M. Kerwin

发明人： John B. Morrell ,  John M. Kerwin

IPC分类号： B62D6112

CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  A61G2203/46 ,  B60K7/00 ,  B62D57/00 ,  G05B13/042

摘要： A method for operating a device 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.

摘要翻译： 一种用于操作上升或下降楼梯的装置的方法。 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。

公开(公告)号：US07130702B2

公开(公告)日：2006-10-31

申请号：US10419994

申请日：2003-04-21

申请人： John B. Morrell

发明人： John B. Morrell

IPC分类号： G05B13/02

CPC分类号： G05B13/024 ,  A61G5/061 ,  A61G5/063 ,  A61G5/1054 ,  B60L11/18 ,  B60L11/1805 ,  B60L15/2009 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7275

摘要： 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.

公开(公告)号：US06868931B2

公开(公告)日：2005-03-22

申请号：US10669879

申请日：2003-09-23

申请人： John B. Morrell ,  David W. Robinson

发明人： John B. Morrell ,  David W. Robinson

IPC分类号： 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分类号： 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

摘要： 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.

摘要翻译： 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。

公开(公告)号：US06789640B1

公开(公告)日：2004-09-14

申请号：US10308850

申请日：2002-12-03

申请人： Richard W. Arling ,  W. Patrick Kelly ,  Philip LeMay ,  John B. Morrell ,  Jonathan B. Pompa ,  David W. Robinson

发明人： Richard W. Arling ,  W. Patrick Kelly ,  Philip LeMay ,  John B. Morrell ,  Jonathan B. Pompa ,  David W. Robinson

IPC分类号： B60K2814

CPC分类号： B60L11/1803 ,  A63C17/12 ,  B62K11/007 ,  Y02T10/7005

摘要： 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.

摘要翻译： 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。

公开(公告)号：US06553271B1

公开(公告)日：2003-04-22

申请号：US09322431

申请日：1999-05-28

申请人： John B. Morrell

发明人： John B. Morrell

IPC分类号： G05B1500

CPC分类号： G05B13/024 ,  A61G5/061 ,  A61G5/063 ,  A61G5/1054 ,  B60L11/18 ,  B60L11/1805 ,  B60L15/2009 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7275

摘要： 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.

摘要翻译： 一种用于控制设备的系统和方法，使得设备以平滑的方式操作。 系统可以在控制架构之间切换或改变在控制回路中使用的增益系数来控制该设备。 当结构或增益被切换时，控制信号可以被平滑，使得设备不会经受其接收的控制信号的突然变化。 在一个实施例中，可以通过向控制信号添加衰减偏移值来平滑控制信号，以产生施加到设备的平滑控制信号。

公开(公告)号：US06538411B1

公开(公告)日：2003-03-25

申请号：US09687757

申请日：2000-10-13

申请人： J. Douglas Field ,  John B. Morrell

发明人： J. Douglas Field ,  John B. Morrell

IPC分类号： G05B19048

CPC分类号： B60L15/20 ,  A63C17/12 ,  B60L3/0046 ,  B60L3/0061 ,  B60L3/0084 ,  B60L2200/16 ,  B60L2240/22 ,  B60L2240/423 ,  B60L2240/463 ,  B60L2240/465 ,  B60L2240/545 ,  B60L2240/547 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

摘要： A system and method for automatically decelerating a personal transporter of the kind that has a controller for controlling the motion of the transporter. Upon detection of a fault condition, a goal value of a control variable is set, the control variable is adjusted at a specified increment in the direction of the goal value, and the prior steps are repeated until the control variable equals the goal value. A method is also provided that affords a user accelerated access to operation of a balancing personal transporter. The method has the steps of first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter.

摘要翻译： 一种用于自动减速具有用于控制运输者的运动的控制器的个人运输者的系统和方法。 在检测到故障状况时，设定控制变量的目标值，控制变量以目标值的方向以规定的增量进行调整，重复前述步骤，直到控制变量等于目标值。 还提供了提供用户加速访问平衡个人运输者的操作的方法。 该方法具有首先初始化单轴稳定器的步骤，并且在初始化3轴稳定器时，提醒驾驶者运输人员准备使用，允许运输机操作，然后完成3轴的初始化 稳定器，并采用3轴稳定器控制平衡个人运输机。

公开(公告)号：US07437202B2

公开(公告)日：2008-10-14

申请号：US11591284

申请日：2006-10-31

申请人： John B. Morrell

发明人： John B. Morrell

IPC分类号： G05B13/02 ,  G05B7/02

CPC分类号： G05B13/024 ,  A61G5/061 ,  A61G5/063 ,  A61G5/1054 ,  B60L11/18 ,  B60L11/1805 ,  B60L15/2009 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7275

摘要： 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.

摘要翻译： 一种用于控制设备的系统和方法，使得设备以平滑的方式操作。 系统可以在控制架构之间切换或改变在控制回路中使用的增益系数来控制该设备。 当结构或增益被切换时，控制信号可以被平滑，使得设备不会经受其接收的控制信号的突然变化。 在一个实施例中，可以通过向控制信号添加衰减偏移值来平滑控制信号，以产生施加到设备的平滑控制信号。

公开(公告)号：US6065941A

公开(公告)日：2000-05-23

申请号：US408387

申请日：1999-09-29

申请人： Larry Gray ,  Robert Bryant ,  Geoffrey Spencer ,  John B. Morrell

发明人： Larry Gray ,  Robert Bryant ,  Geoffrey Spencer ,  John B. Morrell

IPC分类号： G01F1/34 ,  A61M1/14 ,  F04B43/00 ,  F04B43/067 ,  F04B51/00 ,  G01P13/00 ,  F16K37/00

CPC分类号： F04B51/00 ,  F04B43/0081 ,  F04B43/067

摘要： A method and system for determining when a fluid has stopped flowing within a line. The pressure variation in a second fluid, separated from the first by a pumping membrane, is measured in response to energy applied in a time-varying manner to the second fluid. From the response of the second fluid to the applied energy, it is determined whether the first fluid has stopped flowing.

摘要翻译： 一种用于确定流体何时停止在管线内流动的方法和系统。 响应于以时变方式施加到第二流体的能量来测量在第一流体中由泵送膜分离的第二流体中的压力变化。 从第二流体对施加能量的响应，确定第一流体是否已经停止流动。