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公开(公告)号：US20150083508A1
公开(公告)日：2015-03-26
申请号：US14032470
申请日：2013-09-20
Applicant: The U.S.A As Represented by the Administrator of the National Aeronautics and Space Administration , GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： William J. Bluethmann , Thomas M. Waligora , Nathan Fraser-Chanpong , Ryan Reed , Akinjide Akinniyi Akinyode , Ivan Spain , Andrew D. Dawson , Joshua M. Figuered , Eduardo Herrera , Mason M. Markee , Robert L. Vitale , Chunhao J. Lee , Lucien Q. Junkin , Ross Briant Winn , James Jonathan Rogers , Raymond Guo
CPC classification number: B60W30/18009 , B60G3/02 , B60G2200/132 , B60G2200/44 , B60G2300/37 , B60K7/0007 , B60K2007/0038 , B60T13/662 , B60T13/74 , B60T2260/06 , B60T2260/09 , B60W10/08 , B60W10/192 , B60W10/20 , B62D5/0418 , B62D7/026
Abstract: A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function. The steering motor may have a dual-wound stator with windings controlled via the respective steering controllers.
Abstract translation: 为具有底盘，主控制器和具有推进制动模块的驱动轮的车辆提供多功能电动模块（eModule）。 eModule包括转向控制组件，安装支架，推进控制组件，制动控制器，外壳和控制臂。 转向控制组件包括响应于来自主控制器的控制信号由转向控制器控制的转向马达。 支架的安装特征连接到机箱。 推进控制组件和制动控制器与推进制动模块连通。 控制臂连接到下部并且包含悬挂系统的元件，其中控制臂可经由车轮输入/输出块连接到驱动轮。 控制器响应于主控制器来控制相应的转向，推进和制动功能。 转向电动机可以具有双绕组定子，其中绕组通过相应的转向控制器控制。
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公开(公告)号：US10350852B2
公开(公告)日：2019-07-16
申请号：US14938682
申请日：2015-11-11
Applicant: GM Global Technology Operations LLC
Inventor： Raymond Guo , John P. Spicer , Yhu-tin Lin , Ryan C. Sekol , Jeffrey A. Abell , Mark A. Smith
IPC: B32B37/12 , B32B3/26 , B32B7/12 , C09J7/00 , B32B5/02 , B32B5/22 , B32B5/26 , B32B7/06 , B32B25/02 , B32B25/10 , B32B25/20
Abstract: A releasable adhesive system for joining a first surface to a second surface. The system includes a primary material having a first portion including at least one first-portion molecule configured to be positioned parallel with at least one first-surface molecule of the first surface, and a second portion, opposite the first portion, including at least one second-portion molecule configured to be positioned parallel with at least second surfaced one molecule of the second surface. The first surface molecule, positioned parallel with the first-surface molecule, is configured to maintain bonds between the first portion and the first surface up to one or more pre-determined three scenarios, such as pre-determined shear, pull, and peel forces being exerted on the first surface. The second portion can function similarly with respect to the second surface.
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公开(公告)号：US09505134B2
公开(公告)日：2016-11-29
申请号：US14689721
申请日：2015-04-17
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , The United States of America As Represented by the Administrator of the National Aeronautics and Space Administration
Inventor： Raymond Guo , Lyndon Bridgwater , Vienny Nguyen , Nicolaus A. Radford
CPC classification number: B25J15/0009 , B25J9/104 , B25J13/084 , B25J19/04 , Y10S901/39
Abstract: A lower robotic arm includes a base structure, a plurality of digits, and a plurality of tendons. The digits each include first, second, third, and fourth phalanges. Each digit is operatively attached to the base structure at the respective first phalange. A first joint operatively connects the first and second phalange to define a first axis, a second operatively connects the second and third phalange to define a second axis, and a third joint operatively connects the third and fourth phalange to define a third axis, such that the phalanges are selectively rotatable relative to the adjacent phalange, about the respective axis. The tendons are operatively connected to a respective one of the fourth phalanges. Each tendon selectively applies a first torque to the respective fourth phalange to urge the respective phalanges to rotate in a first direction about the respective axes.
Abstract translation: 下部机器人臂包括基部结构，多个数字和多个腱。 每个数字包括第一，第二，第三和第四趾骨。 每个数字可操作地连接到相应的第一趾骨处的基部结构。 第一接头可操作地连接第一和第二法兰以限定第一轴线，第二接头可操作地连接第二和第三法兰以限定第二轴线，第三接头可操作地连接第三和第四法牙以限定第三轴线，使得 趾骨相对于相邻的趾部围绕相应的轴线选择性地可旋转。 腱可操作地连接到第四趾骨中的相应一个。 每个腱选择性地将第一扭矩施加到相应的第四趾部以促使相应的指骨围绕相应的轴在第一方向上旋转。
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公开(公告)号：US20160129936A1
公开(公告)日：2016-05-12
申请号：US14997850
申请日：2016-01-18
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration
Inventor： Andrew D. Dawson , William J. Bluethmann , Chunhao J. Lee , Robert L. Vitale , Raymond Guo , Venkata Prasad Atluri
CPC classification number: B62D6/002 , B60W10/20 , B62D6/007 , B62D6/02 , B62D7/14 , B62D7/1509 , B62D7/1581
Abstract: A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.
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公开(公告)号：US09266518B2
公开(公告)日：2016-02-23
申请号：US14075290
申请日：2013-11-08
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
Inventor： Nathan Fraser-Chanpong , Ivan Spain , Andrew D. Dawson , William J. Bluethmann , Chunhao J. Lee , Robert L. Vitale , Raymond Guo , Thomas M. Waligora , Akinjide Akinniyi Akinyode , Ryan M. Reed
CPC classification number: B60W10/00 , B60W10/04 , B60W10/18 , B60W10/20 , B60W50/023 , B60W2050/0006
Abstract: A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.
Abstract translation: 车辆包括底盘，模块化部件和中央操作系统。 模块化组件由机箱支持。 中央操作系统包括组件控制系统，主主控制器和辅助主控制器。 组件控制系统被配置为控制模块化组件。 主和副主控制器与组件控制系统进行操作通信。 主控制器和辅助主控制器被配置为同时向组件控制系统发送命令。 组件控制系统仅在主主控制器发生故障时才配置为接受来自辅助主控制器的命令。
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Patent Agency Ranking
公开(公告)号：US09254866B2
公开(公告)日：2016-02-09
申请号：US14075262
申请日：2013-11-08
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
Inventor： Andrew D. Dawson , William J. Bluethmann , Chunhao J. Lee , Robert L. Vitale , Raymond Guo , Venkata Prasad Atluri
CPC classification number: B62D6/002 , B60W10/20 , B62D6/007 , B62D6/02 , B62D7/14 , B62D7/1509 , B62D7/1581
Abstract: A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.
Abstract translation: 提供了一种通过多个模块化电子角组件（eModules）的设定轮角来控制车辆的转向的方法。 该方法包括接收从模式选择菜单中选择的驾驶模式。 在主控制器中确定转向输入装置的位置。 在主控制器中，当确定的转向输入装置的位置接近中心时，确定车辆的速度。 将与所选择的驾驶模式对应的驱动模式请求发送到主控制器。 在主控制器中，根据确定的转向输入装置的位置，确定的车辆速度和所选择的第一驾驶模式来确定多个eModules中的每一个的所需转向角。 eModules被设置为各自确定的转向角。
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公开(公告)号：US09102331B2
公开(公告)日：2015-08-11
申请号：US14032470
申请日：2013-09-20
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , The United States of America As Represented by the Administrator of the National Aeronautics and Space Administration
Inventor： William J. Bluethmann , Thomas M. Waligora , Nathan Fraser-Chanpong , Ryan Reed , Akinjide Akinniyi Akinyode , Ivan Spain , Andrew D. Dawson , Joshua M. Figuered , Eduardo Herrera , Mason M. Markee , Robert L. Vitale , Chunhao J. Lee , Lucien Q. Junkin , Ross Briant Winn , James Jonathan Rogers , Raymond Guo
CPC classification number: B60W30/18009 , B60G3/02 , B60G2200/132 , B60G2200/44 , B60G2300/37 , B60K7/0007 , B60K2007/0038 , B60T13/662 , B60T13/74 , B60T2260/06 , B60T2260/09 , B60W10/08 , B60W10/192 , B60W10/20 , B62D5/0418 , B62D7/026
Abstract: A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function. The steering motor may have a dual-wound stator with windings controlled via the respective steering controllers.
Abstract translation: 为具有底盘，主控制器和具有推进制动模块的驱动轮的车辆提供多功能电气模块（eModule）。 eModule包括转向控制组件，安装支架，推进控制组件，制动控制器，外壳和控制臂。 转向控制组件包括响应于来自主控制器的控制信号由转向控制器控制的转向马达。 支架的安装特征连接到机箱。 推进控制组件和制动控制器与推进制动模块连通。 控制臂连接到下部并且包含悬挂系统的元件，其中控制臂可经由车轮输入/输出块连接到驱动轮。 控制器响应于主控制器来控制相应的转向，推进和制动功能。 转向电动机可以具有双绕组定子，其中绕组通过相应的转向控制器控制。
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公开(公告)号：US09085302B2
公开(公告)日：2015-07-21
申请号：US14032473
申请日：2013-09-20
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , The U.S.A. As Represented by the National Aeronautics and Space Administration
Inventor： Christopher E. Borroni-Bird , Robert L. Vitale , Chunhao J. Lee , Robert O. Ambrose , William J. Bluethmann , Lucien Q. Junkin , Jonathan J. Lutz , Raymond Guo , Anthony Joseph Lapp , Justin S. Ridley
CPC classification number: B60W30/18009 , B60G3/02 , B60G2200/44 , B60G2300/13 , B60G2300/37 , B60K1/04 , B60K7/0007 , B60K17/356 , B60K17/358 , B60K2001/0438 , B60K2001/0461 , B60K2007/0038 , B60K2007/0092 , B60T13/74 , B60T2260/06 , B60T2260/09 , B60W10/08 , B60W10/192 , B60W10/20 , B62D5/0418 , B62D7/026
Abstract: A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.
Abstract translation: 模块化机器人车辆包括底盘，驱动器输入装置，能量存储系统（ESS），电力电子模块（PEM），经由PEM连接到ESS的模块化电子组件（eModule），一个或多个主控制器以及各种 嵌入式控制器 每个eModule包括一个包含推进制动模块的驱动轮，以及包含具有相应的嵌入式推进和制动控制器的推进和制动控制组件的壳体，以及覆盖具有嵌入式转向控制器的转向控制组件的安装支架。 与每个eModule以及驱动程序输入设备通信的主控制器通过嵌入式控制器与线路连接并独立地控制每个eModule，以建立所需的操作模式。 模式可以包括两轮，四轮，金刚石和全向转向模式以及公园模式。 保险杠可能可以与另一辆车对接，共同控制车辆的eModules。
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公开(公告)号：US20150134202A1
公开(公告)日：2015-05-14
申请号：US14075262
申请日：2013-11-08
Applicant: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Adminstration , GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Andrew D. Dawson , William J. Bluethmann , Chunhao J. Lee , Robert L. Vitale , Raymond Guo , Venkata Prasad Atluri
CPC classification number: B62D6/002 , B60W10/20 , B62D6/007 , B62D6/02 , B62D7/14 , B62D7/1509 , B62D7/1581
Abstract: A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.
Abstract translation: 提供了一种通过多个模块化电子角组件（eModules）的设定轮角来控制车辆的转向的方法。 该方法包括接收从模式选择菜单中选择的驾驶模式。 在主控制器中确定转向输入装置的位置。 在主控制器中，当确定的转向输入装置的位置接近中心时，确定车辆的速度。 将与所选择的驾驶模式对应的驱动模式请求发送到主控制器。 在主控制器中，根据确定的转向输入装置的位置，确定的车辆速度和所选择的第一驾驶模式来确定多个eModules中的每一个的所需转向角。 eModules被设置为各自确定的转向角。
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公开(公告)号：US20150107401A1
公开(公告)日：2015-04-23
申请号：US14061085
申请日：2013-10-23
Applicant: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration , GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Logan Christopher Farrell , Eduardo Herrera , Joshua M. Figuered , Mason M. Markee , William J. Bluethmann , Raymond Edward Eggleston, IV , Justin S. Ridley , Chunhao J. Lee , Robert L. Vitale , Raymond Guo , Steven J. Weber , Shaun Michael Azimi
IPC: B60T7/06
CPC classification number: B60T7/042 , G05G1/36 , G05G1/44 , G05G5/05 , Y10T74/20528
Abstract: A pedal module includes a support structure, and a lever rotatably mounted to the support structure for rotation about a rotation axis. The lever includes a lower pedal portion and an upper guide portion. A cam plate is attached to the support structure and defines a cam slot. A guide rod is coupled to the upper guide portion of the lever, and is also coupled to the cam plate to follow the cam slot. A biasing device includes a first end coupled to the support structure, and a second end coupled to the guide rod, and is operable to bias the guide rod toward the rotation axis. Resistance to movement of the lever in a first rotational direction about the rotation axis is dependent upon a spring constant of the biasing device, and a profile of the cam slot perpendicular to the rotation axis.
Abstract translation: 踏板模块包括支撑结构，以及可旋转地安装到支撑结构上用于绕旋转轴线旋转的杆。 杠杆包括下踏板部分和上引导部分。 凸轮板附接到支撑结构并且限定凸轮槽。 导杆联接到杆的上引导部分，并且还联接到凸轮板以跟随凸轮槽。 偏置装置包括联接到支撑结构的第一端和联接到导杆的第二端，并且可操作以将导向杆朝向旋转轴线偏压。 杠杆在围绕旋转轴线的第一旋转方向上的运动的阻力取决于偏置装置的弹簧常数以及垂直于旋转轴线的凸轮槽的轮廓。
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