公开(公告)号：US20230090682A1

公开(公告)日：2023-03-23

申请号：US17933371

申请日：2022-09-19

申请人： Tiburon Subsea Inc.

发明人： Timothy Taylor ,  Robert Havens

IPC分类号： B63G8/20 ,  B63G8/08

摘要： A submersible vehicle is provided which is able to achieve six of freedom utilizing a combination of only two thrusters with no external control planes. Each of the two thrusters can include a plurality of ducts which can be selectively opened or closed, to varying degrees, to achieve six degrees of freedom for both control and propulsion.

公开(公告)号：US11352110B1

公开(公告)日：2022-06-07

申请号：US17510767

申请日：2021-10-26

申请人： Guangzhou University ,  Guangdong Rongjun Construction Engineering Testing Corp., Ltd.

发明人： Airong Liu ,  Jiaqiao Liang ,  Junda Chen ,  Jiyang Fu ,  Bingcong Chen ,  Wengao Xie ,  Yixiao Zhang ,  Weicai Li ,  Pengcheng Su

IPC分类号： B63G8/00 ,  B63G8/08 ,  B25J9/00 ,  B63G8/16 ,  B25J9/06 ,  B63G8/20

摘要： A flexible underwater robot, a control method and a device is provided with at least one movable joint and a control module. A flexible joint module of the movable joint comprises a first connecting plate, a second connecting plate, a first spring, several second springs, several third springs, several first pulling ropes, several second pulling ropes and a pulling module. The first spring, the second springs and the third springs are arranged from inside to outside in sequence with gradually decreased rigidities correspondingly to form a gradual rigidity structure, so that it is more flexible to adjust a posture. When the robot is impacted, it may absorb and release energy to ensure the integrity of the flexible joint module, so that the stability is improved.

公开(公告)号：US11277957B2

公开(公告)日：2022-03-22

申请号：US16547151

申请日：2019-08-21

申请人： Bear Flag Robotics, Inc.

发明人： David E. Bertucci ,  Igino C. Cafiero ,  Aubrey C. Donnellan ,  Thuy T. Nguyen ,  Vaibhav K. Viswanathan

IPC分类号： G01C22/00 ,  G05D1/00 ,  A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G06F7/00 ,  G06F17/00 ,  A01B79/00 ,  G06T7/70 ,  G06K9/62 ,  G05D1/02 ,  G06F16/29 ,  G06K9/00

摘要： Systems and methods for vehicle controllers for agricultural and industrial applications are described. For example, a method includes receiving image data, captured using one or more image sensors connected to a vehicle, depicting one or more plants in a vicinity of the vehicle; detecting the one or more plants based on the image data; responsive to detecting the one or more plants, adjusting implement control data; and controlling, based on the adjusted implement control data, an implement connected to the vehicle to perform an operation on the one or more plants.

公开(公告)号：US10703315B2

公开(公告)日：2020-07-07

申请号：US15819797

申请日：2017-11-21

申请人： Ford Global Technologies, LLC

发明人： Jialiang Le ,  Manoharprasad K. Rao ,  David James Tippy

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  B60R21/0136 ,  G01M7/08 ,  B60R19/18 ,  B60R19/20 ,  B60R19/48 ,  B60R19/02 ,  B60R19/56 ,  B60R19/52 ,  B60T13/00

摘要： An apparatus includes a center component defining a center chamber therein and first and second side components defining first and second chambers therein, respectively. The first and second side components are coupled to opposing ends of the center component with the first and second chambers in fluid communication with the center chamber. The center, first side and second side components are configured to extend substantially across a width of a vehicle. The apparatus further includes first, second and third pressure sensors in communication with the first, second and center chambers, respectively.

公开(公告)号：US10507896B2

公开(公告)日：2019-12-17

申请号：US15557323

申请日：2016-01-07

申请人： NEC Corporation

发明人： Hisaya Niizawa

IPC分类号： B63G8/00 ,  B64C13/04 ,  B63G8/20 ,  G05D1/06

摘要： Provided is a maneuvering device including: an input device (101) configured to detect an input operation for instructing movement of a mobile body to generate input information, a calculator (11) configured to change the input information so as to acquire an effect equivalent to a case in which a dead zone is set to the input operation, to thereby generate changed input information; and a controller (103) configured to control the movement of the mobile body (100a) based on the changed input information. The calculator is configured to change a range of the dead zone in accordance with a detection parameter detected in relation to the movement of the mobile body.

公开(公告)号：US10442511B2

公开(公告)日：2019-10-15

申请号：US15894924

申请日：2018-02-12

申请人： Cam Habeger

发明人： Cam Habeger

IPC分类号： B63G8/00 ,  B63G8/38 ,  B63C11/52 ,  B63G8/20

摘要： A method for underwater exploration and/or recovery of objects and/or things using a submersible vehicle assembly and underwater powered observation system using a camera and source of light of a green laser to be directed to the underside of the surface of the water so as to locate the vehicle assembly by the green laser. In this manner the vehicle assembly may be utilized for the underwater tasks of locating objects and/or things on a surface of the underwater environment.

公开(公告)号：US10315688B2

公开(公告)日：2019-06-11

申请号：US15717360

申请日：2017-09-27

申请人： JTEKT CORPORATION

发明人： Toshiaki Oya

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  B62D5/04 ,  B62D5/00

摘要： A left steering ECU includes switching control unit that switches control mode between a first control mode and a second control mode. The first control mode is mode in which the left steering ECU controls left steering motor so that the steered angle of a left steered wheel becomes equal to a left target steered angle received from a higher-level control device. The second control mode is a mode in which the left steering ECU controls the left steering motor by torque feedback control so that the steered angle of the left steered wheel becomes equal to an angle corresponding to a neutral position of the left steered wheel. The switching control unit normally sets the control mode to the first control mode. The switching control unit switches the control mode to the second control mode if abnormal communication occurs between the higher-level control device and the left steering ECU.

公开(公告)号：US10272942B2

公开(公告)日：2019-04-30

申请号：US15753122

申请日：2016-08-17

申请人： BYD COMPANY LIMITED

发明人： Yubo Lian ,  Heping Ling ,  Fanliang Meng ,  Ting Wen ,  Yanfei Xiong

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  B62D5/04 ,  B62D9/00 ,  B60T8/1755 ,  B62D15/02

摘要： An auxiliary steering system (100) and method for an electric vehicle and the electric vehicle are disclosed. The system includes a detection component (6A) including a first electric motor (4) and a detection controller (6) configured to determine whether a steering assist device (2) is normal, to continue to determine whether the steering assist device (2) is normal if yes, and to control a drive rack (5A) of the first electric motor (4) to drive wheels (17) of the electric vehicle to return and to output a steering failure signal, a steering wheel torque signal and a direction signal if no; an electric motor controller (8); a second electric motor (14); and a vehicle controller (7). The electric motor controller (8) is further configured to control the second electric motor (14) to increase a drive torque for an outer front wheel (17), to brake an inner rear wheel (17), and to stop driving an inner front wheel (17) and an outer rear wheel (17).

公开(公告)号：US10239557B2

公开(公告)日：2019-03-26

申请号：US15794917

申请日：2017-10-26

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Go Inoue ,  Mitsutaka Tanimoto ,  Takahiro Yokota ,  Yoshio Kudo ,  Yutaka Aoki

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  B62D15/02 ,  B62D5/04 ,  G05D1/02 ,  B60R22/00 ,  E05F15/00 ,  G05D3/00

摘要： A vehicle travel control device includes: an EPS device turning a wheel of a vehicle; and a control device performing autonomous driving control that controls autonomous driving of the vehicle. The autonomous driving control includes: calculating a target steering angle of the wheel; and actuating the EPS device to turn the wheel such that a steering angle of the wheel becomes the target steering angle. Calculating the target steering angle includes: calculating an autonomous driving steering angle and a target state quantity required for automatic steering in the autonomous driving; calculating a counter steering angle required for vehicle stabilization control, based on the target state quantity without using a steering wheel angle; and calculating a sum of the autonomous driving steering angle and the counter steering angle as the target steering angle.

公开(公告)号：US10160490B2

公开(公告)日：2018-12-25

申请号：US15509746

申请日：2015-09-10

申请人： AISIN SEIKI KABUSHIKI KAISHA ,  TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

发明人： Shogi Fukukawa ,  Motonari Obayashi ,  Kiyoshi Takahashi ,  Hironobu Ishijima ,  Yuichi Mizutani ,  Takatomo Asai

IPC分类号： B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  G06F19/00 ,  B62D15/02 ,  B62D6/02 ,  G01C21/34 ,  G01M17/00 ,  B62B5/04

摘要： A vehicle control device according to an embodiment includes: a steering controller configured to control steering of a vehicle; and a controller configured to, when the vehicle is located at a first position on a travel route, instruct the steering controller to control the vehicle at a steering angle corresponding to a second position that is an advanced position from the first position in a traveling direction on the travel route.