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    Traction control for a personal transporter
    2.
    发明授权
    Traction control for a personal transporter 有权
    个人运输车的牵引力控制

    公开(公告)号：US06408240B1

    公开(公告)日：2002-06-18

    申请号：US09687557

    申请日：2000-10-13

    申请人： John B. Morrell ,  Jonathan B. Pompa

    发明人： John B. Morrell ,  Jonathan B. Pompa

    IPC分类号： G06F700

    CPC分类号： A63C17/12 ,  B62K11/007

    摘要： A device and method for maintaining traction between wheels of a transporter and an underlying surface. The method has the steps of comparing acceleration of a wheel with a specified pre-set value, setting a slip condition flag based on the acceleration of the wheel, incrementally reducing the torque applied to the wheel based on the slip condition flag, determining a value of a dynamic characteristic of the wheel such as the inverse moment of inertia, and clearing the slip condition flag based on the value of that dynamic characteristic of the wheel.

    摘要翻译： 一种用于保持运输车轮和下表面之间的牵引力的装置和方法。 该方法具有以下步骤：将车轮的加速度与规定的预设值进行比较，基于车轮的加速度设定滑动条件标志，根据滑动条件标志递增地减小施加在车轮上的转矩， 的车轮的动态特性，例如反向惯性矩，并且基于车轮的该动态特性的值来清除滑移条件标志。

    Personal transporter
    4.
    发明授权
    Personal transporter 有权
    个人运输

    公开(公告)号：US06796396B2

    公开(公告)日：2004-09-28

    申请号：US10272480

    申请日：2002-10-16

    申请人： Dean L. Kamen ,  Richard W. Arling ,  J. Douglas Field ,  John B. Morrell ,  Jonathan B. Pompa ,  Richard Kurt Heinzmann

    发明人： Dean L. Kamen ,  Richard W. Arling ,  J. Douglas Field ,  John B. Morrell ,  Jonathan B. Pompa ,  Richard Kurt Heinzmann

    IPC分类号： B60K3100

    CPC分类号： B62K3/002 ,  A63C17/014 ,  A63C17/08 ,  A63C17/12 ,  B60K7/00 ,  B60L3/0038 ,  B60L3/0046 ,  B60L3/0061 ,  B60L3/0084 ,  B60L2200/16 ,  B60L2220/46 ,  B60L2240/12 ,  B60L2240/425 ,  B60L2240/545 ,  B60L2250/22 ,  B62D57/00 ,  Y02T10/642

    摘要： Improvements to a motorized balancing personal transporter are revealed in embodiments of the invention. In one embodiment of the invention, a transporter for carrying a payload includes a platform for supporting a user; a ground-contacting module, to which the platform is mounted, which propels the user; a proximity detector for determining the presence of a user; and a safety switch coupled to the detector for inhibiting operation of the ground-contacting module unless the proximity detector has determined the presence of the user; and a motorized drive arrangement coupled to the ground-contacting module for causing automatically balanced and stationary operation of the device unless the proximity detector determines the presence of the user on the device. Various other mechanisms are provided for receiving rider input in order to direct steering of the transporter.

    摘要翻译： 在本发明的实施例中揭示了对机动平衡个人运输机的改进。 在本发明的一个实施例中，用于承载有效载荷的运送器包括用于支撑用户的平台; 地面接触模块，平台安装在该接地模块上，其推动用户; 接近检测器，用于确定用户的存在; 以及耦合到所述检测器的安全开关，用于禁止接地模块的操作，除非所述接近检测器已经确定所述用户的存在; 以及耦合到地面接触模块的电动驱动装置，用于引起装置的自动平衡和平稳操作，除非接近检测器确定用户在设备上的存在。 提供了各种其他机构用于接收乘客输入以便直接转运运输者。

    Yaw control for a personal transporter
    5.
    发明授权
    Yaw control for a personal transporter 有权
    对个人运输工具的控制

    公开(公告)号：US06789640B1

    公开(公告)日：2004-09-14

    申请号：US10308850

    申请日：2002-12-03

    申请人： Richard W. Arling ,  W. Patrick Kelly ,  Philip LeMay ,  John B. Morrell ,  Jonathan B. Pompa ,  David W. Robinson

    发明人： Richard W. Arling ,  W. Patrick Kelly ,  Philip LeMay ,  John B. Morrell ,  Jonathan B. Pompa ,  David W. Robinson

    IPC分类号： B60K2814

    CPC分类号： B60L11/1803 ,  A63C17/12 ,  B62K11/007 ,  Y02T10/7005

    摘要： A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value; processing the yaw error value to obtain a yaw command signal; and applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control. The yaw command signal may include component terms quadratic in the pitch error and/or a function of a common wheel rotational velocity. A control input mechanism is wirelessly coupled to the controller of the balancing transporter so as to maintain the sealed integrity of a user interface.

    摘要翻译： 一种用于为具有两个侧向设置的接地轮的平衡运输机提供偏航控制的装置和方法。 该方法具有接收用户输入所需偏航值的步骤; 将瞬时偏航值与期望的偏航值进行比较以产生偏航误差值; 处理偏航误差值以获得偏航指令信号; 以及基于间距误差结合俯仰指令信号应用偏航指令信号，以便在执行偏航控制的过程中保持运输机的平衡。 偏航指令信号可以包括在俯仰误差中二次的分量项和/或共同轮旋转速度的函数。 控制输入​​机构与平衡运送器的控制器无线耦合，以保持用户界面的密封完整性。