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    Yaw control for a personal transporter
    3.
    发明授权
    Yaw control for a personal transporter 有权
    对个人运输工具的控制

    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。

    System for controlling signal strength in a remote transmitter
    4.
    发明授权
    System for controlling signal strength in a remote transmitter 有权
    用于控制远程发射机信号强度的系统

    公开(公告)号：US6127740A

    公开(公告)日：2000-10-03

    申请号：US322839

    申请日：1999-05-28

    申请人： Timothy S. Roddy ,  Philip LeMay

    发明人： Timothy S. Roddy ,  Philip LeMay

    IPC分类号： B60R25/00 ,  B60L1/00

    CPC分类号： B60R25/24 ,  B60R25/406 ,  Y10T307/826 ,  Y10T307/937

    摘要： A system for controlling power in a remote signalling device includes an electronic controller, a transmitter portion and a signal conditioning portion. The electronic controller preferably determines the characteristics of the desired transmitted signal and provides information regarding those characteristics to the transmitter portion. The electronic controller also provides a power control signal to the transmitter portion. The controller determines the characteristics of the power control signal depending on the characteristics of the desired transmitted signal and other preselected factors. The power control signal preferably is processed by the signal conditioning portion so that it provides the desired voltage to the transmitter portion. The power control signal regulates the signal strength from the transmitter portion so that more consistent and effective communications are provided to accommodate a variety of transmitted signals and varying operating conditions over the life of the remote signalling device.

    摘要翻译： 用于控制远程信号装置中的电力的系统包括电子控制器，发射器部分和信号调节部分。 电子控制器优选地确定期望的发射信号的特性，并向发射机部分提供关于这些特征的信息。 电子控制器还向发射机部分提供功率控制信号。 控制器根据期望的发送信号的特性和其他预先选择的因素确定功率控制信号的特性。 功率控制信号优选地由信号调节部分处理，使得其向发射器部分提供期望的电压。 功率控制信号调节来自发射器部分的信号强度，使得提供更一致和有效的通信以在远程信号装置的寿命期间适应各种发射信号和变化的操作条件。