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公开(公告)号：US07779939B2
公开(公告)日：2010-08-24
申请号：US11926606
申请日：2007-10-29
申请人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
发明人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
IPC分类号： B62D61/12
CPC分类号： B62K17/00 , A61G5/085 , A61G5/0891 , B60K7/00 , B60L11/1803 , B62D37/00 , B62D51/02 , B62D57/00 , B62D61/00 , B62K11/007 , Y02T10/7005
摘要： A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal.The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.
摘要翻译： 一种在无人驾驶的条件下进行运输的运动的方法。 运输车具有两个横向设置的主轮。 根据该方法，经由设置在运送器上的用户输入接收输入，并且生成与所接收的输入相对应的控制信号。 然后将扭矩施加到横向设置的轮上，以便至少基于控制信号推进运输机。 控制信号可以对应于指令转矩或命令运输速度。 扭矩可以包括这些术语分别与控制信号成比例的与齿轮的共同速度成比例的反作用人造摩擦的加法术语，以及与车轮的差速旋转成比例的术语，以便于转运器的转动 。
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公开(公告)号：US07757794B2
公开(公告)日：2010-07-20
申请号：US12337249
申请日：2008-12-17
CPC分类号： B62D37/00 , B60L11/007 , B60L15/2036 , B60L15/2045 , B60L2200/24 , B60L2200/34 , B60L2220/44 , B60L2240/423 , B60L2240/463 , B60L2260/34 , B62K5/01 , B62K11/007 , B62K17/00 , Y02T10/645 , Y02T10/72 , Y02T10/7283
摘要： A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
摘要翻译： 一种用于车辆前后稳定的方法，用于在下面的表面上沿指定方向运动。 车辆具有至少一个前轮和至少一个后轮，并且前轮的特征在于垂直于车辆的瞬时运动方向的力。 电动机执行器驱动每个后轮，并且当前轮与下面的表面接触时，控制器以这样的方式控制电动机致动器或电动机致动器，以便根据统一的控制规律动态地稳定车辆。 基于车辆间距或者正向于运动方向的前轮上的力，对后轮施加扭矩。 此外，可以对后轮施加周期性的旋转调制，以及基于检测到的响应提供的稳定转矩，车辆间距或前轮上的法向力。 左右电机执行器可以独立地控制左右后轮继续转动，由用户转向控制，无论前轮是否与地面接触。
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公开(公告)号：US07546889B2
公开(公告)日：2009-06-16
申请号：US10462379
申请日：2003-06-16
申请人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
发明人： Dean L. Kamen , Burl Amsbury , J. Douglas Field , Christopher C. Langenfeld , John B. Morrell , Jonathan B. Pompa , Jon M. Stevens , Jeremy B. Lund
IPC分类号： B62D61/12
CPC分类号： B62K17/00 , A61G5/085 , A61G5/0891 , B60K7/00 , B60L11/1803 , B62D37/00 , B62D51/02 , B62D57/00 , B62D61/00 , B62K11/007 , Y02T10/7005
摘要： A method for conducting the motion of a transporter under riderless conditions. The transporter has two laterally disposed primary wheels. In accordance with the method, an input is received via a user input disposed on the transporter and a control signal corresponding to the input received is generated. Then a torque is applied to the laterally disposed wheels so as propel the transporter on the basis of at least the control signal.The control signal may correspond to either a commanded torque or to a commanded transporter velocity. The torque may include coadded terms where the terms are, respectively, proportional to the control signal, to a counteracting artificial friction proportional to the common velocity of the wheels, and a term proportional to the differential rotation of the wheels to facilitate turning of the transporter.
摘要翻译： 一种在无人驾驶的条件下进行运输的运动的方法。 运输车具有两个横向设置的主轮。 根据该方法，经由设置在运送器上的用户输入接收输入，并且生成与所接收的输入相对应的控制信号。 然后将扭矩施加到横向设置的轮上，以便至少基于控制信号推进运输机。 控制信号可以对应于指令转矩或命令运输速度。 扭矩可以包括这些术语分别与控制信号成比例的与齿轮的公共速度成比例的反作用人造摩擦的术语，以及与轮的差速旋转成比例的术语，以便于转运器的转动 。
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公开(公告)号：US20090099762A1
公开(公告)日：2009-04-16
申请号：US12337249
申请日：2008-12-17
IPC分类号： G06G7/48 , B60K17/346
CPC分类号： B62D37/00 , B60L11/007 , B60L15/2036 , B60L15/2045 , B60L2200/24 , B60L2200/34 , B60L2220/44 , B60L2240/423 , B60L2240/463 , B60L2260/34 , B62K5/01 , B62K11/007 , B62K17/00 , Y02T10/645 , Y02T10/72 , Y02T10/7283
摘要： A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
摘要翻译： 一种用于车辆前后稳定的方法，用于在下面的表面上沿指定方向运动。 车辆具有至少一个前轮和至少一个后轮，并且前轮的特征在于垂直于车辆的瞬时运动方向的力。 电动机执行器驱动每个后轮，并且当前轮与下面的表面接触时，控制器以这样的方式控制电动机致动器或电动机致动器，以便根据统一的控制规律动态地稳定车辆。 基于车辆间距或者正向于运动方向的前轮上的力，对后轮施加扭矩。 此外，可以对后轮施加周期性的旋转调制，以及基于检测到的响应提供的稳定转矩，车辆间距或前轮上的法向力。 左右电机执行器可以独立地控制左右后轮继续转动，由用户转向控制，无论前轮是否与地面接触。
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公开(公告)号：US07900725B2
公开(公告)日：2011-03-08
申请号：US11249136
申请日：2005-10-11
申请人： John D. Heinzmann , David W. Robinson , Jon Michael Stevens , J. Douglas Field , Jeremy B. Lund
发明人： John D. Heinzmann , David W. Robinson , Jon Michael Stevens , J. Douglas Field , Jeremy B. Lund
CPC分类号： B62D37/00 , B60L11/007 , B60L15/2036 , B60L15/2045 , B60L2200/24 , B60L2200/34 , B60L2220/44 , B60L2240/423 , B60L2240/463 , B60L2260/34 , B62K5/01 , B62K11/007 , B62K17/00 , Y02T10/645 , Y02T10/72 , Y02T10/7283
摘要： A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.
摘要翻译： 一种用于车辆前后稳定的方法，用于在下面的表面上沿指定方向运动。 车辆具有至少一个前轮和至少一个后轮，并且前轮的特征在于垂直于车辆的瞬时运动方向的力。 电动机执行器驱动每个后轮，并且当前轮与下面的表面接触时，控制器以这样的方式控制电动机致动器或电动机致动器，以便根据统一的控制规律动态地稳定车辆。 基于车辆间距或者正向于运动方向的前轮上的力，对后轮施加扭矩。 此外，可以对后轮施加周期性的旋转调制，以及基于检测到的响应提供的稳定转矩，车辆间距或前轮上的法向力。 左右电机执行器可以独立地控制左右后轮继续转动，由用户转向控制，无论前轮是否与地面接触。
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