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公开(公告)号：US20120290162A1
公开(公告)日：2012-11-15
申请号：US13555236
申请日：2012-07-23
IPC分类号： G06F7/00
CPC分类号： B60L58/12 , A61G5/043 , A61G5/1016 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2200/16 , B60L2200/24 , B60L2240/12 , B60L2240/16 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2240/429 , B60L2240/461 , B60L2240/547 , B60L2240/549 , B60L2260/34 , B60L2260/44 , B62J17/08 , B62K11/007 , G01R31/3648 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
摘要翻译： 用于控制车辆的方法，所述车辆包括支撑件，至少一个车轮，联接到所述至少一个车轮的平台;联接结构，其具有联接到所述支撑件的支撑部分和平台部分，所述平台部分联接到所述平台， 相对于平台部分前后移动或滑动;致动器，其联接到联接结构以控制支撑部分相对于平台部分的位置;驱动器，联接到至少一个车轮，以将动力传递至至少 一个车轮，用于推动车辆并维持平台水平;以及一个控制器，与控制器相连以控制驱动器，并与执行机构相连以控制执行机构。
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公开(公告)号：US08688303B2
公开(公告)日：2014-04-01
申请号：US13036728
申请日：2011-02-28
CPC分类号： B60L11/1861 , A61G5/043 , A61G5/1016 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2200/16 , B60L2200/24 , B60L2240/12 , B60L2240/16 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2240/429 , B60L2240/461 , B60L2240/547 , B60L2240/549 , B60L2260/34 , B60L2260/44 , B62J17/08 , B62K11/007 , G01R31/3648 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
摘要翻译： 用于控制车辆的方法，所述车辆包括支撑件，至少一个车轮，联接到所述至少一个车轮的平台;联接结构，其具有联接到所述支撑件的支撑部分和平台部分，所述平台部分联接到所述平台， 相对于平台部分前后移动或滑动;致动器，其联接到联接结构以控制支撑部分相对于平台部分的位置;驱动器，联接到至少一个车轮，以将动力传递至至少 一个车轮，用于推动车辆并维持平台水平;以及一个控制器，与控制器相连以控制驱动器，并与执行机构相连以控制执行机构。
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公开(公告)号：US20140222267A1
公开(公告)日：2014-08-07
申请号：US14149941
申请日：2014-01-08
CPC分类号： B60L58/12 , A61G5/043 , A61G5/1016 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2200/16 , B60L2200/24 , B60L2240/12 , B60L2240/16 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2240/429 , B60L2240/461 , B60L2240/547 , B60L2240/549 , B60L2260/34 , B60L2260/44 , B62J17/08 , B62K11/007 , G01R31/3648 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
摘要翻译： 用于控制车辆的方法，所述车辆包括支撑件，至少一个车轮，联接到所述至少一个车轮的平台;联接结构，其具有联接到所述支撑件的支撑部分和平台部分，所述平台部分联接到所述平台， 相对于平台部分前后移动或滑动;致动器，其联接到联接结构以控制支撑部分相对于平台部分的位置;驱动器，联接到至少一个车轮，以将动力传递至至少 一个车轮，用于推动车辆并维持平台水平;以及一个控制器，与控制器相连以控制驱动器，并与执行机构相连以控制执行机构。
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公开(公告)号：US20110213522A1
公开(公告)日：2011-09-01
申请号：US13036728
申请日：2011-02-28
CPC分类号： B60L11/1861 , A61G5/043 , A61G5/1016 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2200/16 , B60L2200/24 , B60L2240/12 , B60L2240/16 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2240/429 , B60L2240/461 , B60L2240/547 , B60L2240/549 , B60L2260/34 , B60L2260/44 , B62J17/08 , B62K11/007 , G01R31/3648 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
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公开(公告)号：US08490723B2
公开(公告)日：2013-07-23
申请号：US13036354
申请日：2011-02-28
申请人： John David Heinzmann , Jon M. Stevens , Raymond Debruin , Anthony Foale , Joseph Hoell, Jr. , Patrick A. Hussey , Alexander Muller
发明人： John David Heinzmann , Jon M. Stevens , Raymond Debruin , Anthony Foale , Joseph Hoell, Jr. , Patrick A. Hussey , Alexander Muller
IPC分类号： B25J11/00
CPC分类号： B60L11/1861 , A61G5/043 , A61G5/1016 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2200/16 , B60L2200/24 , B60L2240/12 , B60L2240/16 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2240/429 , B60L2240/461 , B60L2240/547 , B60L2240/549 , B60L2260/34 , B60L2260/44 , B62J17/08 , B62K11/007 , G01R31/3648 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
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公开(公告)号：US20110209929A1
公开(公告)日：2011-09-01
申请号：US13036354
申请日：2011-02-28
申请人： John David Heinzmann , Jon M. Stevens , Raymond Debruin , Anthony Foale , Joseph Hoell, JR. , Patrick A. Hussey , Alexander Muller
发明人： John David Heinzmann , Jon M. Stevens , Raymond Debruin , Anthony Foale , Joseph Hoell, JR. , Patrick A. Hussey , Alexander Muller
IPC分类号： B62D11/02
CPC分类号： B60L11/1861 , A61G5/043 , A61G5/1016 , B60L7/26 , B60L15/20 , B60L15/2009 , B60L2200/16 , B60L2200/24 , B60L2240/12 , B60L2240/16 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2240/429 , B60L2240/461 , B60L2240/547 , B60L2240/549 , B60L2260/34 , B60L2260/44 , B62J17/08 , B62K11/007 , G01R31/3648 , G05D1/0891 , Y02T10/645 , Y02T10/72 , Y02T10/7258 , Y02T10/7275
摘要： Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
摘要翻译： 用于控制车辆的方法，所述车辆包括支撑件，至少一个车轮，联接到所述至少一个车轮的平台;联接结构，其具有联接到所述支撑件的支撑部分和平台部分，所述平台部分联接到所述平台， 相对于平台部分前后移动或滑动;致动器，其联接到联接结构以控制支撑部分相对于平台部分的位置;驱动器，联接到至少一个车轮，以将动力传递至至少 一个车轮，用于推动车辆并维持平台水平;以及一个控制器，与控制器相连以控制驱动器，并与执行机构相连以控制执行机构。
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公开(公告)号：US08322477B2
公开(公告)日：2012-12-04
申请号：US11471241
申请日：2006-06-20
申请人： Dean Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
发明人： Dean Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
IPC分类号： B60K26/02
CPC分类号： B60K26/00 , A61G5/046 , A61G5/06 , A61G5/1051 , A61G5/107 , A61G5/125 , A61G5/128 , A61G2203/42 , A63C17/01 , A63C17/08 , A63C17/12 , A63C2203/52 , B60G17/0161 , B60G2300/12 , B60G2300/20 , B60G2300/26 , B60G2400/0512 , B60G2400/61 , B60G2800/014 , B60G2800/0192 , B60G2800/912 , B60G2800/915 , B60K7/00 , B60K26/02 , B60K31/00 , B60Q1/26 , B62B5/0026 , B62B5/0069 , B62B5/0073 , B62D1/12 , B62D51/02 , B62D57/00 , B62K3/002 , B62K2204/00 , B62M7/00
摘要： A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution of the loaded support platform. Based at least on the load distribution, a controller commands the motorized drive arrangement.
摘要翻译： 用于将物体运送到可能不规则的表面上的运输机。 运输机包括用于支撑负载的支撑平台，负载的支撑平台限定前后和横向平面，并且其特征在于负载分布。 多个地面接触元件联接到支撑平台。 多个接地元件中的至少一个由电动驱动装置驱动。 传感器模块产生指示所加载的支撑平台的负载分布的信号。 至少基于负载分布，控制器命令电动驱动装置。
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公开(公告)号：US08072180B1
公开(公告)日：2011-12-06
申请号：US10308887
申请日：2002-12-03
CPC分类号： G01R19/2506 , G01R19/0007 , H02P21/00 , H02P27/08
摘要： A device for filtering a carrier frequency of a PWM waveform. The device includes a low-pass filter for converting the PWM waveform into an analog signal. The device further includes a sampling analog-to-digital converter receiving the analog signal from the low-pass filter and the device also includes a controller for causing the non-integrating analog to digital converter to sample the PWM waveform at the pulse frequency rate thereby rejecting the carrier frequency. As already stated the PWM waveform includes a pulse which has a leading edge, a top portion, and a trailing edge. In one embodiment, the controller causes the A/D converter to sample during the top of the pulse. Preferably, the controller causes the A/D converter to sample at substantially the center of the pulse.
摘要翻译： 用于滤波PWM波形载波频率的装置。 该器件包括用于将PWM波形转换为模拟信号的低通滤波器。 该装置还包括从低通滤波器接收模拟信号的采样模数转换器，并且该装置还包括用于使非积分模数转换器以脉冲频率速率采样PWM波形的控制器，由此 拒绝载波频率。 如已经说明的那样，PWM波形包括具有前沿，顶部和后沿的脉冲。 在一个实施例中，控制器使得A / D转换器在脉冲的顶部采样。 优选地，控制器使得A / D转换器基本上在脉冲的中心处采样。
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公开(公告)号：US20130092461A1
公开(公告)日：2013-04-18
申请号：US13692591
申请日：2012-12-03
申请人： Dean L. Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
发明人： Dean L. Kamen , Robert R. Ambrogi , J. Douglas Field , John David Heinzmann , Richard Kurt Heinzmann , Christopher C. Langenfeld
IPC分类号： B60K26/00
CPC分类号： B60K26/00 , A61G5/046 , A61G5/06 , A61G5/1051 , A61G5/107 , A61G5/125 , A61G5/128 , A61G2203/42 , A63C17/01 , A63C17/08 , A63C17/12 , A63C2203/52 , B60G17/0161 , B60G2300/12 , B60G2300/20 , B60G2300/26 , B60G2400/0512 , B60G2400/61 , B60G2800/014 , B60G2800/0192 , B60G2800/912 , B60G2800/915 , B60K7/00 , B60K26/02 , B60K31/00 , B60Q1/26 , B62B5/0026 , B62B5/0069 , B62B5/0073 , B62D1/12 , B62D51/02 , B62D57/00 , B62K3/002 , B62K2204/00 , B62M7/00
摘要： A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution of the loaded support platform. Based at least on the load distribution, a controller commands the motorized drive arrangement.
摘要翻译： 用于将物体运送到可能不规则的表面上的运输机。 运输机包括用于支撑负载的支撑平台，负载的支撑平台限定前后和横向平面，并且其特征在于负载分布。 多个地面接触元件联接到支撑平台。 多个接地元件中的至少一个由电动驱动装置驱动。 传感器模块产生指示所加载的支撑平台的负载分布的信号。 至少基于负载分布，控制器命令电动驱动装置。
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公开(公告)号：US08186462B2
公开(公告)日：2012-05-29
申请号：US11926737
申请日：2007-10-29
申请人： Dean Kamen , Richard Kurt Heinzmann , John David Heinzmann , Robert R. Ambrogi , Christopher C. Langenfeld , J. Douglas Field
发明人： Dean Kamen , Richard Kurt Heinzmann , John David Heinzmann , Robert R. Ambrogi , Christopher C. Langenfeld , J. Douglas Field
IPC分类号： B62D5/02
CPC分类号： B62K17/00 , A63C17/01 , A63C17/08 , A63C17/12 , A63C2203/52 , B60G17/0161 , B60G2300/12 , B60G2300/20 , B60G2300/22 , B60G2300/26 , B60G2400/0512 , B60G2400/61 , B60G2400/63 , B60G2500/40 , B60G2800/014 , B60G2800/0192 , B60G2800/912 , B60G2800/915 , B60K26/02 , B60K31/00 , B60L2200/16 , B60L2200/24 , B60L2220/30 , B60L2260/34 , B60Q1/26 , B62D1/12 , B62D51/02 , B62K11/007 , B62M7/00 , Y10S180/907 , Y10S180/908
摘要： A transporter for transporting a subject over a surface that may be irregular. The transporter includes a support platform for supporting a load, the loaded support platform defining fore-aft and lateral planes and characterized by a load distribution. A plurality of ground contacting elements are coupled to the support platform such that the transporter is statically stable with respect to tipping in the fore-aft plane. At least one of the plurality of ground contacting elements is driven by a motorized drive arrangement. A sensor module generates a signal indicative of the load distribution. Based at least on the load distribution, a controller commands the motorized drive arrangement.
摘要翻译： 用于将物体运送到可能不规则的表面上的运输机。 运输机包括用于支撑负载的支撑平台，负载的支撑平台限定前后和横向平面，并且其特征在于负载分布。 多个地面接触元件联接到支撑平台，使得运送器相对于在前后平面中的倾翻是静态稳定的。 多个接地元件中的至少一个由电动驱动装置驱动。 传感器模块产生指示负载分布的信号。 至少基于负载分布，控制器命令电动驱动装置。
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