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    Vehicle control by pitch modulation
    1.
    发明申请
    Vehicle control by pitch modulation 有权
    通过俯仰调制进行车辆控制

    公开(公告)号：US20060108165A1

    公开(公告)日：2006-05-25

    申请号：US11249170

    申请日：2005-10-11

    申请人： Dean Kamen ,  Robert Ambrogi ,  Catharine Flynn ,  John Kerwin

    发明人： Dean Kamen ,  Robert Ambrogi ,  Catharine Flynn ,  John Kerwin

    IPC分类号： B60K17/30

    CPC分类号： B62D37/00 ,  B60K7/0007 ,  B60L15/2036 ,  B60L2200/34 ,  B60Y2200/12 ,  B60Y2200/124 ,  B60Y2200/84 ,  B62K5/01 ,  B62K11/007 ,  B62K17/00 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

    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。 马达执行器驱动每个后轮，并且控制器以这样的方式控制马达致动器或马达致动器，以便当前轮与下面的表面接触时，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。

    Dynamic Balancing Vehicle with a Seat
    3.
    发明申请
    Dynamic Balancing Vehicle with a Seat 有权
    带座椅的动平衡车

    公开(公告)号：US20080035395A1

    公开(公告)日：2008-02-14

    申请号：US11852767

    申请日：2007-09-10

    申请人： Dean Kamen ,  Robert Ambrogi ,  Robert Duggan ,  J. Field ,  Richard Heinzmann ,  William Lambrechts ,  Matt McCambridge ,  Christopher Perry ,  M. Tellam

    发明人： Dean Kamen ,  Robert Ambrogi ,  Robert Duggan ,  J. Field ,  Richard Heinzmann ,  William Lambrechts ,  Matt McCambridge ,  Christopher Perry ,  M. Tellam

    IPC分类号： B62D61/00

    CPC分类号： B62D37/00 ,  A61G5/0891 ,  B62D61/00 ,  B62K1/00 ,  B62K11/007

    摘要： A device for transporting a human subject over a surface. The device is a dynamically balancing vehicle having a control loop for providing balance. The device includes a platform defining a fore-aft plane. The platform supports a payload including the human subject. A ground contacting module is included which may include one or more wheels. A ground-contacting member is movably coupled to the platform. The platform and the ground-contacting module form an assembly having a center of gravity that is defined with respect to the ground-contacting member and which includes any loads on the device. The device further includes a support. The support may be a seat for supporting the subject and the support is coupled to the platform in such a manner as to permit variation of the position of the center of gravity in the fore-aft plane by translation and rotation of at least a portion of the support. In one embodiment, translation and rotation of the seat of the device are mechanically coupled together.

    摘要翻译： 用于在表面上运送人类受试者的装置。 该装置是具有用于提供平衡的控制回路的动态平衡车辆。 该装置包括限定前翼面的平台。 该平台支持包括人类受试者的有效载荷。 包括地面接触模块，其可以包括一个或多个车轮。 地面接触构件可移动地联接到平台。 平台和地面接触模块形成具有相对于地面接触构件限定的重心的组件，并且其包括装置上的任何载荷。 该装置还包括支撑件。 支撑件可以是用于支撑被检体的座位，并且支撑件以允许通过平移和旋转至少一部分的平移和旋转来改变前后平面中的重心位置的方式联接到平台 支撑。 在一个实施例中，装置的座的平移和旋转被机械耦合在一起。

    Control of a Transporter Based on Attitude
    6.
    发明申请
    Control of a Transporter Based on Attitude 有权
    基于态度控制运输工具

    公开(公告)号：US20070187166A1

    公开(公告)日：2007-08-16

    申请号：US11691903

    申请日：2007-03-27

    申请人： Dean Kamen ,  Robert Ambrogi ,  Richard Heinzmann

    发明人： Dean Kamen ,  Robert Ambrogi ,  Richard Heinzmann

    IPC分类号： B60K28/14

    CPC分类号： B62D51/001 ,  B60G11/14 ,  B60G17/019 ,  B60G2400/05 ,  B60G2400/82 ,  B60K26/02 ,  B60L15/20 ,  B62D51/002 ,  B62D51/02 ,  B62K11/00 ,  B62K11/007 ,  Y02T10/7258

    摘要： A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

    摘要翻译： 用于将载荷传送到表面上的运输机。 运输机包括用于支撑负载的支撑平台。 支撑平台的特征在于前后轴线，横向轴线和相对于表面的取向，该取向被称为姿态。 至少一个接地元件以支撑平台的姿态能够变化的方式灵活地联接到支撑平台。 一个或多个接地元件由电动驱动装置驱动。 传感器模块产生表征支撑平台姿态的信号。 基于姿态，控制器指令电动驱动装置。

    User input for vehicle control
    10.
    发明申请
    User input for vehicle control 有权
    用户输入车辆控制

    公开(公告)号：US20050034553A1

    公开(公告)日：2005-02-17

    申请号：US10947122

    申请日：2004-09-22

    申请人： Dean Kamen ,  Robert Ambrogi ,  John Heinzmann ,  Richard Heinzmann ,  David Herr ,  John Morrell

    发明人： Dean Kamen ,  Robert Ambrogi ,  John Heinzmann ,  Richard Heinzmann ,  David Herr ,  John Morrell

    IPC分类号： A61G5/04 ,  A61G5/06 ,  G05B13/04 ,  B62D51/06

    CPC分类号： A61G5/061 ,  A61G5/04 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  Y10T74/20396

    摘要： A user input for controlling acceleration of a vehicle. The user input has a movable member capable of deflection by a user such that a degree of deflection corresponds to a specified velocity commanded by the user. The correspondence between the degree of deflection and the specified velocity may include a plurality of zones, each zone characterized by a distinct sensitivity that may be capable of customization for a specific user. The user input may also include a neutral position of the movable member, wherein a substantially sudden motion of the movable member to the neutral position causes a slewed slowing of the vehicle.

    摘要翻译： 用于控制车辆加速度的用户输入。 用户输入具有能够由用户偏转的可移动部件，使得偏转度对应于用户指定的指定速度。 偏转度与指定速度之间的对应关系可以包括多个区域，每个区域的特征在于可以为特定用户定制的不同的灵敏度。 用户输入还可以包括可动构件的中立位置，其中可动构件到中立位置的基本上突然的运动导致车辆的旋转减速。