[특허]Control of a transporter based on attitude

Control of a transporter based on attitude 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B60D-001/00 B62D-051/00 B60G-017/019 B62D-051/02 B62K-011/00 B60L-015/20 B60G-011/14 B60K-026/02
출원번호	US-0150723 (2016-05-10)
등록번호	US-10227098 (2019-03-12)
발명자 / 주소	Kamen, Dean Heinzmann, Richard Kurt Ambrogi, Robert R.
출원인 / 주소	DEKA PRODUCTS LIMITED PARTNERSHIP
대리인 / 주소	McCormick, Paulding & Huber LLP
인용정보	피인용 횟수 : 0 인용 특허 : 190

초록 ▼

A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.

대표청구항 ▼

1. A transporter for transporting a load comprising: a plurality of support platforms, at least one of the plurality of support platforms being tiltable;at least one ground contacting element coupled to the transporter;a motorized drive arrangement driving the at least one ground contacting element; atleast one sensor generating at least one sensor signal indicative of an attitude of at least one of the plurality of support platforms;a controller commanding the motorized drive to apply a torque to the at least one ground contacting element based at least on the attitude. 2. The transporter of claim 1, wherein at least one point on one of the plurality of support platforms comprises a displaceable point with respect to a frame used to support the at least one ground contacting element. 3. The transporter of claim 1, wherein at least one of the plurality of support platforms is tiltable based on a position of a center of mass of the load relative to the at least one ground contacting element. 4. The transporter of claim 1, wherein the controller further comprises determining an inclination in the fore-aft plane of one of the plurality of support platforms. 5. The transporter of claim 1 further comprising an axle, the axle including a parallel orientation to a lateral axis of the transporter, the at least one of the plurality of support platforms being tiltable, in a fore-aft plane of the transporter, with respect to the axle. 6. The transporter of claim 1, wherein the torque comprises positive and negative values based on changes detected by the at least one sensor signal. 7. A transporter comprising; a plurality of support platforms;at least one ground contacting element coupled to the plurality of support platforms;a motorized drive arrangement for driving the at least one ground contacting element;at least one sensor generating at least one sensor signal indicative of an attitude of at least one of the plurality of support platforms;a controller commanding the motorized drive arrangement to apply a torque to one or more of the at least one ground contacting elements based at least on the attitude. 8. The transporter of claim 7, wherein the at least one ground contacting element comprises a first ground contacting element and a second ground contacting element. 9. The transporter of claim 7, further comprising a pivot mechanism tiltably attaching one of the plurality of support platforms to another of the plurality of support platforms. 10. The transporter of claim 7, wherein at least one of the plurality of support platforms tilts in a fore-aft plane relative to at least a portion of the transporter. 11. The transporter of claim 10, wherein the fore-aft plane comprises an orientation perpendicular to an axis of the at least one ground contacting element. 12. The transporter of claim 7, wherein one of the plurality of support platforms tilts relative to another of the plurality of support platforms. 13. The transporter of claim 7, wherein the at least one sensor signal is based at least in part on a tilt difference between one of the plurality of support platforms and another of the plurality of support platforms. 14. The transporter of claim 8, wherein the at least one ground contacting element comprises a first ground contacting element and a second ground contacting element, the first ground contacting element and the second ground contacting element being laterally disposed. 15. The transporter of claim 14, wherein the motorized drive arrangement comprises a first motor driving the first ground contacting element and a second motor driving the second ground contacting element. 16. The transporter of claim 15, wherein the controller determines, based at least in part on the at least one sensor signal, a desired first torque for the first motor separately from a desired second torque for the second motor. 17. The transporter of claim 16, wherein the desired first torque and the desired second torque comprise positive and negative values based on changes detected by the at least one sensor signal. 18. The transporter of claim 8, wherein the first ground contacting element and the second ground contacting element comprise wheels, the wheels rotating about a first wheel axle and a second wheel axle, at least one of the at least one sensor signals indicating a location of a fiducial point on the transporter, the fiducial point being in relation to at least one of the first wheel axle and the second wheel axle.

이 특허에 인용된 특허 (190)

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Chen, Shane, Two-wheeled self-balancing motorized personal vehicle with tilting wheels.
상세보기
Jephcott Edmund F. (Fern Hill Fairwarp ; Uckfield ; Sussex TN22 3BU GB2), Ultra narrow enclosed motor vehicles.
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Phelps, III,Arthur E.; Barnes,Dwaine R.; Norris,Elwood G.; Rock,Eugene F.; Wallace,Emitt, Ultralight coaxial rotor aircraft.
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Doi, Katsunori, Vehicle.
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Takenaka, Toru, Vehicle.
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Katsutoshi Nishizaki JP; Shiro Nakano JP; Masaya Segawa JP; Ryouhei Hayama JP, Vehicle attitude control apparatus.
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Ha, Duy Long; Wiss, Olivier, Vehicle forming a self-balancing human transporter with an integrated photovoltaic module.
상세보기
Namngani Abdulatif,SAX, Vehicle having two axially spaced relatively movable wheels.
상세보기
Nakamura, Akira, Vehicle motion control device and method.
상세보기
Nakashima Hiroshi,JPX ; Hamada Toshiaki,JPX ; Mihara Jun,JPX ; Terada Hitoshi,JPX, Vehicle motion control system.
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Schiffmann Jan Konried ; Wallner Edward J. ; Gidwani Sachal Bhagwan, Vehicle rollover sensing.
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Schiffmann Jan Konried, Vehicle rollover sensing using yaw rate estimation.
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Dagci, Oguz H.; Grimm, Donald K.; Sadekar, Varsha; Bartz, Daniel J.; Hermiz, Sarmad Y.; Hamilton, William E., Vehicle speed monitoring system.
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Tinskey, Michael R.; Tan, Hualin; Haile, Yohannes G., Vehicle stability control.
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Nishikawa,Gousuke, Vehicle steerable by movement of center of gravity.
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Yamamoto Yorihisa,JPX ; Nishi Yutaka,JPX ; Nishimori Takashi,JPX ; Tokunaga Hiroyuki,JPX ; Machino Hideki,JPX, Vehicle steering control system.
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Salmon Michael E. (2622 Makin Flint MI 48504), Vehicle steering system.
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Takehara Shin (Higashi-Hiroshima JPX) Morita Toshiki (Higashi-Hiroshima JPX), Vehicle suspension system.
상세보기
Shinmura, Tomoyuki; Kodaka, Kenji, Vehicle travel safety device.
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Chubb, Erik Christopher; Brown, Todd Allen, Wheel lift identification for an automotive vehicle.
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Joseph Carr Meyers ; Todd Allen Brown, Wheel lift identification for an automotive vehicle.
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Lu, Jianbo; Brewer, Michael Edward; Brown, Todd Allen; Meyers, Joseph Carr, Wheel lifted and grounded identification for an automotive vehicle.
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Kan Yuji,JPX ; Kitano Minoru,JPX ; Tomoshige Kazuhiro,JPX ; Nakamura Hideo,JPX, Wheelchair.
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Brown ; Robert Edward ; Hatfield ; Raymond, Wheelchair controls.
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Simmons Alden C. (Boulder CO) McFadden James T. (Arvada CO) Bennett Robert S. (Towson MD), Wheelchair-mounted control apparatus.
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Rnne Gert Steen (Kokkedal DKX) Bech Mogens Ilsted (Birkerd DKX), Wheeled chassis and steering device for steering it.
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Davenport James M. (28212 Bluebell Dr. Laguna Niguel CA 92677), Wheeled vehicle.
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Chambers Carter Carl (P.O. Box 576 Parker AZ 85344), Wheeled vehicle for semi-ambulatory medical patients.
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Charas, Philippe, Wireless multi-point communication system having automatically-updated sector-based routing capabilities.
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Arling, Richard W.; Kelly, W. Patrick; LeMay, Philip; Morrell, John B.; Pompa, Jonathan B.; Robinson, David W., Yaw control for a personal transporter.
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Shiraishi Shuji (Wako) Kiryu Hironobu (Wako JPX), Yaw motion control device.
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Monji Tatsuhiko (Katsuta JPX) Horikoshi Shigeru (Mito JPX) Shimada Kousaku (Katsuta JPX) Sugawara Hayato (Katsuta JPX), Yawing-momentum detecting apparatus for a vehicle, a detecting method thereof, and motion controlling apparatus for a ve.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

연합인증

Control of a transporter based on attitude 원문보기

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대표청구항 ▼

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연합인증

Control of a transporter based on attitude 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

전체(0) 논문(0) 특허(0) 보고서(0)

이 특허에 인용된 특허 (190)

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