公开(公告)号：US20060108156A1

公开(公告)日：2006-05-25

申请号：US11249136

申请日：2005-10-11

申请人： John Heinzmann ,  David Robinson ,  Jon Stevens ,  J. Field ,  Jeremy Lund

发明人： John Heinzmann ,  David Robinson ,  Jon Stevens ,  J. Field ,  Jeremy Lund

IPC分类号： B62D51/06

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.

公开(公告)号：US20080099265A1

公开(公告)日：2008-05-01

申请号：US11926606

申请日：2007-10-29

申请人： Dean Kamen ,  Burl Amsbury ,  J. Field ,  Christopher Langenfeld ,  John Morrell ,  Jonathan Pompa ,  Jon Stevens ,  Jeremy Lund

发明人： Dean Kamen ,  Burl Amsbury ,  J. Field ,  Christopher Langenfeld ,  John Morrell ,  Jonathan Pompa ,  Jon Stevens ,  Jeremy Lund

IPC分类号： B62D1/02

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 。