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25 条记录 (耗时 0.043 秒)

    Yaw control for a personal transporter
    4.
    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。

    Shaft feedback sensor error detection
    5.
    发明授权
    Shaft feedback sensor error detection 有权
    轴反馈传感器错误检测

    公开(公告)号：US07263453B1

    公开(公告)日：2007-08-28

    申请号：US11038777

    申请日：2005-01-19

    申请人： Michael Thomas Gansler ,  Michael Field Kaufman ,  Soundararajan Manthiri ,  David W. Robinson ,  Jason M. Sachs

    发明人： Michael Thomas Gansler ,  Michael Field Kaufman ,  Soundararajan Manthiri ,  David W. Robinson ,  Jason M. Sachs

    IPC分类号： G01D18/00

    CPC分类号： G01D5/24457

    摘要： Methods and apparatus for detecting a sensor angle error in a system in which a measured quantity is determined on the basis of a phase of a signal. A signal derived from the measurement of multiple sensors is ascribed to a vector in a two-dimensional space, and a norm is calculated characterizing that vector. A value is calculated characterizing variation of that norm over a specified period of time and that value is compared with a threshold in order to identify a sensor fault.

    摘要翻译： 用于检测在基于信号的相位确定测量量的系统中的传感器角度误差的方法和装置。 从多个传感器的测量得到的信号归因于二维空间中的向量，并且计算表征该矢量的范数。 计算值在特定时间段内表征该范数的变化，并将该值与阈值进行比较以识别传感器故障。

    Vehicle control by pitch modulation
    7.
    发明授权
    Vehicle control by pitch modulation 有权
    通过俯仰调制进行车辆控制

    公开(公告)号：US07757794B2

    公开(公告)日：2010-07-20

    申请号：US12337249

    申请日：2008-12-17

    申请人： John D. Heinzmann ,  David W. Robinson ,  Jon M. Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    发明人： John D. Heinzmann ,  David W. Robinson ,  Jon M. Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    IPC分类号： B62D11/02 ,  B60K11/00

    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。

    Vehicle control by pitch modulation
    9.
    发明授权
    Vehicle control by pitch modulation 有权
    通过俯仰调制进行车辆控制

    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

    IPC分类号： B62D11/00 ,  B60K1/00 ,  B60K28/14

    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。

    Vehicle Control by Pitch Modulation
    10.
    发明申请
    Vehicle Control by Pitch Modulation 有权
    车辆控制通过调制

    公开(公告)号：US20090099762A1

    公开(公告)日：2009-04-16

    申请号：US12337249

    申请日：2008-12-17

    申请人： John D. Heinzmann ,  David W. Robinson ,  Jon M. Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    发明人： John D. Heinzmann ,  David W. Robinson ,  Jon M. Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    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。