公开(公告)号：US11760148B2

公开(公告)日：2023-09-19

申请号：US16585179

申请日：2019-09-27

Applicant: Nuro, Inc.

Inventor： Russell Smith

IPC: B60G17/018 ,  G05D1/02 ,  G05D1/00

CPC classification number: B60G17/018 ,  G05D1/0274 ,  B60G2400/252 ,  B60G2400/256 ,  B60G2800/914 ,  G05D1/0011

Abstract: An autonomous robotic vehicle includes a chassis, wheels movably mounted to the chassis by a suspension system, and a vehicle pose system. The vehicle pose system includes a ride height sensor system, a processor, and memory. The sensor system is configured to measure wheel displacement of the wheels relative to the chassis. The sensor system includes ride height sensors that determine wheel positions of the wheels with respect to the chassis as the vehicle travels along a surface. The memory has instructions stored thereon which, when executed by the processor cause the vehicle pose system to determine a plane of the surface corresponding to the wheel positions so that the pose system can determine a pose of the vehicle based on an angle of the surface with respect to the vehicle.

公开(公告)号：US06763288B2

公开(公告)日：2004-07-13

申请号：US10227226

申请日：2002-08-26

Applicant: Renato Caretta ,  Riccardo Cesarini ,  Federico Mancosu

Inventor： Renato Caretta ,  Riccardo Cesarini ,  Federico Mancosu

IPC: G06F700

CPC classification number: B60T8/32 ,  B60C23/066 ,  B60G17/0195 ,  B60G2400/252 ,  B60G2400/256 ,  B60G2400/258 ,  B60G2400/52 ,  B60T1/02 ,  B60T8/00 ,  B60T8/1725 ,  B60T8/241 ,  B60T8/246 ,  B60T2240/04

Abstract: A method for monitoring and/or controlling the behavior of a vehicle including at least one wheel includes determining one or more values of deformation of a tire of the at least one wheel by measuring the one or more values using a first signal emitted between a rim of the at least one wheel and a casing of the tire, providing a database comprising predetermined values of deformation of the tire that correspond to a behavior of the at least one wheel, comparing the measured one or more values of deformation with one or more of the predetermined values of deformation, and emitting a second signal dependent on at least one result of the comparison for monitoring and/or controlling the behavior of the vehicle. The one or more values of deformation are determined in vertical, transverse, and longitudinal directions or along the axes of a three-dimensional Cartesian coordinate system.

Abstract translation: 用于监测和/或控制包括至少一个车轮的车辆的行为的方法包括通过使用在轮辋之间发射的第一信号来测量所述一个或多个值来确定所述至少一个车轮的轮胎的变形的一个或多个值 的至少一个轮和轮胎的外壳，提供数据库，其包括与所述至少一个车轮的行为相对应的轮胎的变形的预定值，将所测量的一个或多个变形值与 预定的变形值，并且根据比较的至少一个结果发出第二信号，用于监视和/或控制车辆的行为。 变形的一个或多个值在垂直，横向和纵向方向上或沿三维笛卡尔坐标系的轴确定。

公开(公告)号：US08627909B2

公开(公告)日：2014-01-14

申请号：US13114763

申请日：2011-05-24

Applicant: Yoon Young Chang ,  Byeong Rim Jo ,  Juhn Ho Park ,  Byungju Dan ,  Hong Gul Jun ,  Byunghoon Min

Inventor： Yoon Young Chang ,  Byeong Rim Jo ,  Juhn Ho Park ,  Byungju Dan ,  Hong Gul Jun ,  Byunghoon Min

IPC: A61H3/04 ,  A61G5/04 ,  A61G5/06 ,  A61G5/14

CPC classification number: A61H3/04 ,  A61G5/04 ,  A61G5/06 ,  A61G2203/38 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0192 ,  A61H2201/1246 ,  A61H2201/1635 ,  A61H2201/5007 ,  A61H2201/5061 ,  B60G2400/256 ,  B60G2400/823

Abstract: A walking-assistant device is provided comprising a driving unit that includes four wheels and four actuators for adjusting heights of the four wheels, a mechanism unit that includes two vertical frames whose length is adjusted and connection frames for fixing and connecting the vertical frames, and a manipulation unit that includes a plurality of sensors for grasping a user's moving intention and controls the driving unit and the mechanism unit based on a signal detected by the sensors.

Abstract translation: 提供了一种行走辅助装置，其包括驱动单元，该驱动单元包括四个车轮和四个致动器，用于调节四个车轮的高度;一个机构单元，包括两个纵向框架，其长度被调节，连接框架用于固定和连接垂直框架;以及 操作单元，其包括用于掌握用户移动意图的多个传感器，并且基于由所述传感器检测到的信号来控制所述驱动单元和所述机构单元。

公开(公告)号：US5408411A

公开(公告)日：1995-04-18

申请号：US822323

申请日：1992-01-17

Applicant: Mitsuru Nakamura ,  Makoto Yamakado

Inventor： Mitsuru Nakamura ,  Makoto Yamakado

IPC: B60G17/018 ,  B60G17/019 ,  B60G17/0195 ,  B60G21/10 ,  B60K23/08 ,  B60K26/00 ,  B60K28/16 ,  B60K31/00 ,  B60R16/02 ,  B60T8/00 ,  B60T8/1755 ,  B60T8/60 ,  B62D6/00 ,  F02D41/10 ,  F16D48/12

CPC classification number: B60T8/17551 ,  B60G17/0182 ,  B60G17/01908 ,  B60G17/0195 ,  B60K23/0808 ,  B60K28/16 ,  B60K31/00 ,  B60T8/00 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W40/10 ,  B62D6/00 ,  B60G2400/102 ,  B60G2400/104 ,  B60G2400/106 ,  B60G2400/252 ,  B60G2400/256 ,  B60G2400/412 ,  B60G2401/904 ,  B60G2500/40 ,  B60G2800/014 ,  B60G2800/24 ,  B60G2800/90 ,  B60G2800/92 ,  B60T2220/03 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2540/18 ,  Y02T10/56 ,  Y02T10/84

Abstract: A system for detecting a physical amount of behavior of a vehicle includes, acceleration sensors arranged on at least two longitudinal axes of the vehicle, the vertical axis Of the vehicle and the lateral axis of the vehicle, a plurality of the acceleration sensors being disposed on each of the axes. A unit is provided for establishing a conversion equation for determining acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of an arbitrary coordinate system and acceleration values of rotational motion with respect to the each axis of the coordinate system while simultaneously using acceleration values detected by the acceleration sensors disposed on at least two of the vehicular longitudinal axes, the vertical axis and the lateral axis. There is also provided a unit for calculating the conversion equation to obtain the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to each axis of the coordinate system, a unit for establishing a motion equation expressing a plurality of freedom motions, and a unit for calculating the motion equation with the acceleration values of linear motion at an arbitrary point of the vehicle in the direction of each axis of the arbitrary axis of the arbitrary coordinate system and acceleration values of rotational motion with respect to the each axis of the coordinate system to obtain the physical amount associated with the behavior of the vehicle.

Abstract translation: 用于检测车辆的物理行为量的系统包括布置在车辆的至少两个纵向轴线上的加速度传感器，车辆的垂直轴线和车辆的横向轴线，多个加速度传感器被布置在 每个轴。 提供了一种单元，用于建立用于确定车辆任意点在任意坐标系的每个轴的方向上的线性运动的加速度值和相对于坐标系的每个轴的旋转运动的加速度值的转换方程 同时使用由设置在车辆纵轴，垂直轴和横轴中的至少两个上的加速度传感器检测到的加速度值。 还提供了一种用于计算转换方程的单位，以获得在任意坐标系的每个轴的方向上的车辆的任意点处的线性运动的加速度值和相对于每个轴的每个轴的旋转运动的加速度值 坐标系，用于建立表示多个自由运动的运动方程的单元，以及用于计算运动方程的单位，该运动方程用车辆的任意点在任意轴的任意点的任意点的任意轴的任意轴的任意轴的方向上的线性运动的加速度值 相对于坐标系的每个轴的旋转运动的任意坐标系和加速度值，以获得与车辆行为相关联的物理量。

公开(公告)号：US20120018233A1

公开(公告)日：2012-01-26

申请号：US13114763

申请日：2011-05-24

Applicant: Yoon Young CHANG ,  Byeong Rim Jo ,  Juhn Ho Park ,  Byungju Dan ,  Hong Gul Jun ,  Byunghoon Min

Inventor： Yoon Young CHANG ,  Byeong Rim Jo ,  Juhn Ho Park ,  Byungju Dan ,  Hong Gul Jun ,  Byunghoon Min

IPC: B62D51/04

CPC classification number: A61H3/04 ,  A61G5/04 ,  A61G5/06 ,  A61G2203/38 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0192 ,  A61H2201/1246 ,  A61H2201/1635 ,  A61H2201/5007 ,  A61H2201/5061 ,  B60G2400/256 ,  B60G2400/823

Abstract: A walking-assistant device is provided comprising a driving unit that includes four wheels and four actuators for adjusting heights of the four wheels, a mechanism unit that includes two vertical frames whose length is adjusted and connection frames for fixing and connecting the vertical frames, and a manipulation unit that includes a plurality of sensors for grasping a user's moving intention and controls the driving unit and the mechanism unit based on a signal detected by the sensors.

Abstract translation: 提供了一种行走辅助装置，其包括驱动单元，该驱动单元包括四个车轮和四个致动器，用于调节四个车轮的高度;一个机构单元，包括两个纵向框架，其长度被调节，连接框架用于固定和连接垂直框架;以及 操作单元，其包括用于掌握用户移动意图的多个传感器，并且基于由所述传感器检测到的信号来控制所述驱动单元和所述机构单元。

公开(公告)号：US5028073A

公开(公告)日：1991-07-02

申请号：US461736

申请日：1990-01-08

Applicant: Harold B. Harms ,  David M. Erdman

Inventor： Harold B. Harms ,  David M. Erdman

IPC: B60G17/00 ,  B60G17/015 ,  G05D3/12 ,  H01F7/20 ,  H02K7/06

CPC classification number: B60G13/14 ,  B60G17/00 ,  B60G17/0157 ,  H02K7/06 ,  B60G2202/32 ,  B60G2202/413 ,  B60G2202/416 ,  B60G2202/42 ,  B60G2300/50 ,  B60G2400/10 ,  B60G2400/102 ,  B60G2400/20 ,  B60G2400/252 ,  B60G2400/256 ,  B60G2400/60 ,  B60G2400/82 ,  B60G2401/172 ,  B60G2500/02 ,  B60G2500/10 ,  B60G2500/30 ,  B60G2600/02 ,  B60G2600/26 ,  B60G2600/76 ,  Y10T74/18688

Abstract: A suspension system for controlling the relative position of a vehicle and a wheel assembly supporting the vehicle for travel over a surface of terrain. The system includes a member for resiliently connecting the vehicle and the wheel assembly to establish an equilibrium position therebetween in which the vehicle is supported in a predetermined position with respect to the surface of the terrain. The system further includes a dynamoelectric machine comprising a stationary assembly and a rotatable assembly magnetically coupled thereto, the stationary assembly having a plurality of winding stages adapted to be electrically energized to apply an electromagnetic field to said rotatable assembly thereby to rotatably drive the rotatable assembly about an axis. A ball screw translates rotation of the rotatable assembly driven by the stationary assembly into linear motion between the wheel assembly and the vehicle. A control energizes the winding stages in response to deviations of the vehicle from its predetermined position whereby the vehicle is substantially maintained at its predetermined position as the vehicle travels over the surface of the terrain.

公开(公告)号：US20130140882A1

公开(公告)日：2013-06-06

申请号：US13682702

申请日：2012-11-20

Applicant: Brooks Alexander Agnew

Inventor： Brooks Alexander Agnew

IPC: H02J7/00

CPC classification number: H02J7/00 ,  B60G13/14 ,  B60G17/0157 ,  B60G2300/60 ,  B60G2400/256 ,  B60K6/30 ,  B60L50/30 ,  B60L2210/30 ,  Y02T10/7241 ,  Y02T10/92

Abstract: A Kinetic Energy Recovery System to recharge the traction storage device of an electric vehicle through inertial differentials between a static mass and the lateral motions of a vehicle in motion. A modular machine made of an eccentric mass, which tends to remain motionless, against which the vehicle moves, forming the kinetic energy to turn that eccentric wheel, which in turn drives a series of ratios of shafts to generate electricity. Further, this generated electricity is rectified and regulated to the correct voltage to recharge the storage device on board that electric vehicle.

Abstract translation: 一种动能回收系统，用于通过静态质量与运动中的车辆的侧向运动之间的惯性差异​​对电动车辆的牵引存储装置进行再充电。 由偏心质量组成的模块化机器，其倾向于保持不动，车辆移动，形成动能以转动该偏心轮，其又驱动一系列轴的比率以产生电力。 此外，该发电被整流并调节到正确的电压以对电动车辆上的存储装置充电。

公开(公告)号：US20030050743A1

公开(公告)日：2003-03-13

申请号：US10227226

申请日：2002-08-26

Applicant: PIRELLI PNEUMATICI S.p.A.

Inventor： Renato Caretta ,  Riccardo Cesarini ,  Federico Mancosu

IPC: G06F017/00

CPC classification number: B60T8/32 ,  B60C23/066 ,  B60G17/0195 ,  B60G2400/252 ,  B60G2400/256 ,  B60G2400/258 ,  B60G2400/52 ,  B60T1/02 ,  B60T8/00 ,  B60T8/1725 ,  B60T8/241 ,  B60T8/246 ,  B60T2240/04

Abstract: The invention relates to a method, a system and a pneumatic wheel for measuring the deformations of the casing of a tyre in operation, for the purpose of taking appropriate corrective action on the vehicle driving and/or control system by comparing the said measured deformations with predetermined values of the deformations. More specifically, the method implements the steps of: measuring the extent of the characteristic deformations of the casing profile of at least one tyre fitted on the vehicle, at a given inflation pressure, comparing the values of these characteristic deformations with stored values representing the behaviour of the tyre in the measured state of deformation, generating a signal for acting on at least one device regulating at least one mechanism for controlling the attitude of the said vehicle in motion, corresponding to the action which has to be taken on the said mechanism to keep the said behaviour of the vehicle within the limits of a predetermined behaviour or to bring it back within these limits.

Abstract translation: 本发明涉及一种用于测量运行中的轮胎的壳体的变形的方法，系统和气动轮，其目的是通过将所测量的变形与车辆驾驶和/或控制系统进行适当的校正， 变形的预定值。 更具体地，该方法实现以下步骤：在给定的充气压力下，测量安装在车辆上的至少一个轮胎的壳体轮廓的特征变形的程度，将这些特征变形的值与表示行为的存储值进行比较 在所测量的变形状态下，产生用于作用于至少一个装置的信号，所述装置调节用于控制所述车辆运动的姿态的至少一个机构，对应于在所述机构上必须采取的动作 将车辆的所述行为保持在预定行为的限度内或将其恢复到这些限度内。