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    USER INPUT FOR VEHICLE CONTROL
    1.
    发明申请
    USER INPUT FOR VEHICLE CONTROL 审中-公开
    用户输入车辆控制

    公开(公告)号：US20100217497A1

    公开(公告)日：2010-08-26

    申请号：US12772791

    申请日：2010-05-03

    申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

    发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

    IPC分类号： G06F7/00

    CPC分类号： A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

    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。

    User input for vehicle control
    2.
    发明授权
    User input for vehicle control 有权
    用户输入车辆控制

    公开(公告)号：US07708094B2

    公开(公告)日：2010-05-04

    申请号：US12102104

    申请日：2008-04-14

    申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

    发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

    IPC分类号： B62D61/12

    CPC分类号： A61G5/04 ,  A61G5/061 ,  A61G2203/14 ,  B62K11/007 ,  G05B13/042 ,  G05G9/047 ,  G05G2009/0474

    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。

    Control of a balancing personal vehicle
    3.
    发明授权
    Control of a balancing personal vehicle 有权
    平衡个人车辆的控制

    公开(公告)号：US06799649B2

    公开(公告)日：2004-10-05

    申请号：US10166553

    申请日：2002-06-10

    申请人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

    发明人： Dean L. Kamen ,  Robert R. Ambrogi ,  John D. Heinzmann ,  Richard Kurt Heinzmann ,  David Herr ,  John B. Morrell

    IPC分类号： B62D5106

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

    摘要： A vehicle for transporting a payload over a surface that may be irregular and may include stairs. The vehicle has a support for supporting the payload and a ground contacting element movable with respect to a local axis, where the local axis can be moved with respect to some second axis that has a defined relation with respect to the support. The vehicle also has a motorized drive arrangement for permitting controllable motion of the ground contacting element so as to operate in an operating condition that is unstable with respect to tipping in at least a fore-aft plane when the motorized drive arrangement is not powered. The vehicle also has an input device for receiving an indication from an assistant who is not disposed on the vehicle of a direction of desired motion of the vehicle.

    摘要翻译： 用于在有可能不规则的表面上运送有效载荷并可能包括楼梯的车辆。 车辆具有用于支撑有效载荷的支撑件和可相对于局部轴线移动的地面接触元件，其中局部轴线可以相对于与支撑件具有限定关系的一些第二轴线移动。 车辆还具有电动驱动装置，用于允许地面接触元件的可控制运动，以便在电动驱动装置未通电时相对于至少前后平面倾斜不稳定的运行状态运行。 该车辆还具有一个输入装置，用于从未被布置在车辆上的车辆的期望运动方向的助理接收指示。

    Vehicle control by pitch modulation
    5.
    发明授权
    Vehicle control by pitch modulation 有权
    通过俯仰调制进行车辆控制

    公开(公告)号：US07757794B2

    公开(公告)日：2010-07-20

    申请号：US12337249

    申请日：2008-12-17

    申请人： John D. Heinzmann ,  David W. Robinson ,  Jon M. Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    发明人： John D. Heinzmann ,  David W. Robinson ,  Jon M. Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    IPC分类号： B62D11/02 ,  B60K11/00

    CPC分类号： B62D37/00 ,  B60L11/007 ,  B60L15/2036 ,  B60L15/2045 ,  B60L2200/24 ,  B60L2200/34 ,  B60L2220/44 ,  B60L2240/423 ,  B60L2240/463 ,  B60L2260/34 ,  B62K5/01 ,  B62K11/007 ,  B62K17/00 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7283

    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。

    Vehicle control by pitch modulation
    8.
    发明授权
    Vehicle control by pitch modulation 有权
    通过俯仰调制进行车辆控制

    公开(公告)号：US07900725B2

    公开(公告)日：2011-03-08

    申请号：US11249136

    申请日：2005-10-11

    申请人： John D. Heinzmann ,  David W. Robinson ,  Jon Michael Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    发明人： John D. Heinzmann ,  David W. Robinson ,  Jon Michael Stevens ,  J. Douglas Field ,  Jeremy B. Lund

    IPC分类号： B62D11/00 ,  B60K1/00 ,  B60K28/14

    CPC分类号： B62D37/00 ,  B60L11/007 ,  B60L15/2036 ,  B60L15/2045 ,  B60L2200/24 ,  B60L2200/34 ,  B60L2220/44 ,  B60L2240/423 ,  B60L2240/463 ,  B60L2260/34 ,  B62K5/01 ,  B62K11/007 ,  B62K17/00 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7283

    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。