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公开(公告)号：US06311794B1
公开(公告)日：2001-11-06
申请号：US09428007
申请日：1999-10-27
申请人： John B. Morrell , John M. Kerwin , Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key
发明人： John B. Morrell , John M. Kerwin , Dean L. Kamen , Robert R. Ambrogi , Robert J. Duggan , Richard K. Heinzmann , Brian R. Key
IPC分类号： B62D57028
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , A61G2203/46 , B60K7/00 , B62D57/00 , G05B13/042
摘要： A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.
摘要翻译： 一种用于在上升或下降楼梯中操作设备的系统和方法。 该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。 车轮和集束臂由控制器根据单独的控制规律进行控制。 装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。 移动设备和负载组合的重心来控制设备的运动方向。
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公开(公告)号：US06571892B2
公开(公告)日：2003-06-03
申请号：US09930127
申请日：2001-08-15
申请人： Dean L. Kamen , Robert R. Ambrogi , Burl Amsbury , Susan D. Dastous , Robert J. Duggan , John David Heinzmann , Richard Kurt Heinzmann , David W. Herr , John M. Kerwin , John B. Morrell , James Henry Steenson, Jr.
发明人： Dean L. Kamen , Robert R. Ambrogi , Burl Amsbury , Susan D. Dastous , Robert J. Duggan , John David Heinzmann , Richard Kurt Heinzmann , David W. Herr , John M. Kerwin , John B. Morrell , James Henry Steenson, Jr.
IPC分类号： B62D6112
CPC分类号： A61G5/061 , A61G5/045 , A61G5/046 , A61G2203/14 , G05B13/042 , Y10S180/907
摘要： Systems and methods for controlling a device are disclosed. In one embodiment, the systems and methods allow for the control of a human transport device such that the human transport device remains in an upright position regardless of the surface being traversed. The systems and methods may include a plurality of operational modes where each mode has different characteristics. Additionally, systems and method for locating a center of gravity of a device are disclosed.
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公开(公告)号：US07017686B2
公开(公告)日：2006-03-28
申请号：US10459173
申请日：2003-06-11
申请人： Dean L. Kamen , John M. Kerwin
发明人： Dean L. Kamen , John M. Kerwin
IPC分类号： B62D57/00
CPC分类号： G05D1/0891 , A61G5/02 , A61G5/04 , A61G5/048 , A61G5/1054 , B62K11/007
摘要： A personal transporter that provides both for propulsion by a user, and, at the same time, for dynamic stabilization by means of a powered actuator. A pitch variable such as pitch or time rate of change of pitch is sensed and used to determine the torque provided to a wheel, whether in a co-rotating or counter-rotating direction, in order to maintain stability of the transporter with respect to tipping in the fore-aft plane.
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公开(公告)号：US07938207B2
公开(公告)日：2011-05-10
申请号：US12708058
申请日：2010-02-18
IPC分类号： B60K1/00
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.
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公开(公告)号：US20100140009A1
公开(公告)日：2010-06-10
申请号：US12708058
申请日：2010-02-18
IPC分类号： B60K28/14
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。 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：US07690452B2
公开(公告)日：2010-04-06
申请号：US11249170
申请日：2005-10-11
IPC分类号： B60K1/00
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.
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公开(公告)号：US06343664B2
公开(公告)日：2002-02-05
申请号：US09757230
申请日：2001-01-09
申请人： John B. Morrell , John M. Kerwin
发明人： John B. Morrell , John M. Kerwin
IPC分类号： B62D6112
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , A61G2203/46 , B60K7/00 , B62D57/00 , G05B13/042
摘要： A method for operating a device ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles.
摘要翻译： 一种用于操作上升或下降楼梯的装置的方法。 该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。 车轮和集束臂由控制器根据单独的控制规律进行控制。 装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。
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公开(公告)号：US06827163B2
公开(公告)日：2004-12-07
申请号：US10460053
申请日：2003-06-12
IPC分类号： B62D5700
CPC分类号： B62D57/00 , A61G5/065 , B60K7/00 , B60L15/2045 , B60L2200/16 , B60L2200/24 , B60L2220/46 , B60L2240/12 , B60L2240/18 , B60L2240/20 , B60L2240/22 , B60L2240/423 , B60L2240/461 , B60L2240/463 , B60L2260/34 , B62K11/007 , B62K2204/00 , Y02T10/645 , Y02T10/7283
摘要： A class of transporters for carrying an individual over ground having a surface that may be irregular. Various embodiments have a motorized drive, mounted to the ground-contacting module that causes operation of the transporter in an operating position that is unstable with respect to tipping when the motorized drive arrangement is not powered. Methods of controlling the transporter are described that allow the dynamic behavior of the transporter to more closely match preferences of a rider. These methods include providing preferential responsiveness to change in pitch angles and pitch rates.
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公开(公告)号：US06615938B2
公开(公告)日：2003-09-09
申请号：US10234025
申请日：2002-09-03
申请人： John B. Morrell , John M. Kerwin
发明人： John B. Morrell , John M. Kerwin
IPC分类号： B62D6112
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , A61G2203/46 , B60K7/00 , B62D57/00 , G05B13/042
摘要： A method for operating a device ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles.
摘要翻译： 一种用于操作上升或下降楼梯的装置的方法。 该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。 车轮和集束臂由控制器根据单独的控制规律进行控制。 装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。
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公开(公告)号：US06443251B1
公开(公告)日：2002-09-03
申请号：US10051333
申请日：2002-01-18
申请人： John B. Morrell , John M. Kerwin
发明人： John B. Morrell , John M. Kerwin
IPC分类号： B62D6112
CPC分类号： A61G5/061 , A61G5/04 , A61G2203/14 , A61G2203/46 , B60K7/00 , B62D57/00 , G05B13/042
摘要： A method for operating a device ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles.
摘要翻译： 一种用于操作上升或下降楼梯的装置的方法。 该装置具有可围绕相对于群集臂固定的轴线的多个车轮，其中集束臂本身围绕轴线旋转，使得车轮搁置在连续楼梯上。 车轮和集束臂由控制器根据单独的控制规律进行控制。 装置上升还是下降是由设备相对于指定的前后角度的间距来控制的。
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