CN1681678A - 运输装置的运动控制 - Google Patents
运输装置的运动控制 Download PDFInfo
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Abstract
一种用于运输表面上的物体的运输装置,该表面可以是不规则的。所述运输装置包括支承载荷的支承平台,负载支承平台具有纵向平面和横向平面并表征为载荷分布。多个触地元件与支承平台相连接从而该运输装置就沿着纵向平面上倾斜而言是静态稳定的。多个触地元件中的至少一个由机动化驱动装置来驱动。传感器模块产生指示载荷分布的信号。控制器至少基于载荷分布来控制机动化驱动装置。
Description
技术领域
本发明涉及一种用于运输载荷的运输装置和方法,该载荷可以是人体,更具体地说,本发明涉及运输装置的运动控制。
背景技术
已知许多具有机动化驱动装置的车辆,用于输送各种物体,或者是为了有目的地移动或者是为了娱乐。操作人员用来控制机动化驱动装置运动的装置多种多样。例如,操作人员可以操纵油门踏板来控制汽车的前向移动,同时通常利用方向盘来实现驾驶。或者可通过向前或向后摇动踏板来控制娱乐型车辆的移动,其中使用者站在该踏板上,以使节气门刚绳(throttle cable)机械地移动,如美国专利NO.4,790,548(Francken)所述。例如,基于操作人员的身体素质,或运输装置的预计功能,希望得到一种控制运输装置运动的其它方法。
发明内容
在本发明的第一实施例中,提供一种运输装置,其包括用于支承载荷的支承平台,负载支承平台具有纵向平面和横向平面并表征为载荷分布。多个触地元件与支承平台相连接从而所述运输装置就沿着纵向平面倾斜而言是静态稳定的。多个触地元件中的至少一个由机动化驱动装置来驱动。传感器模块产生指示负载支承平台的载荷分布状态的信号。控制器至少基于载荷分布来控制机动化驱动装置。
根据本发明相关的实施例,多个触地元件包括至少两个车轮。所述的至少两个车轮包括可围绕第一轴旋转的第一车轮和可围绕第二轴旋转的第二车轮,第二轴位于第一轴的后面。控制器可被配置成通过沿纵向改变负载支承平台的载荷分布和/或重心位置来控制运输装置的纵向运动。该控制器还可被配置成通过沿横向改变负载支承平台的载荷分布和/或重心位置来控制运输装置的横向运动。运输装置可包括诸如操纵杆和刻度盘之类的用户界面,其中该控制器至少基于一个由用户界面提供的信号来控制机动化驱动装置。传感器模块可包括力传感器、载荷传感器、和/或诸如倾斜传感器之类的角速率传感器,该倾斜传感器例如可以是陀螺仪或倾斜计。在产生信号时可使用偏移量。该偏移量可通过运输装置或遥控装置上的用户界面调节。控制器可控制机动化驱动装置从而促使该运输装置加速。运输装置还可包括可从外部观察的指示器,用于对基于诸如加速之类的运动提供指示。所述指示器,可以是指示灯,从运输装置后面可视。
根据本发明的另一个实施例,提出了一种控制运输装置的方法,该运输装置具有支承载荷的支承平台。负载支承平台具有纵向平面和横向平面并由载荷分布来表征。运输装置包括多个触地元件,从而该运输装置就沿着纵向平面倾斜而言是静态稳定的,其中机动化驱动装置驱动多个触地元件中的至少一个。所述方法包括确定负载支承平台的载荷分布,至少基于载荷分布来控制机动化驱动装置。
根据本发明的又一个实施例,运输装置包括支承载荷的支承平台,该支承平台具有纵向平面和横向平面。多个触地元件与支承平台相连接从而该支承平台就沿着纵向平面和横向平面倾斜而言是静态稳定的。枢转元件与至少其中一个触地元件以可枢轴转动方式连接从而该枢转元件能够通过用户界面倾斜。传感器模块产生表明枢转元件倾斜的信号。控制器基于枢转元件的倾斜来控制机动化驱动装置。机动化驱动装置驱动多个触地元件中的至少一个。
在本发明相关的实施例中,枢转元件至少能够沿纵向平面倾斜。多个触地元件可包括两个横向设置的可围绕轴旋转的车轮,枢转元件与该轴以可枢轴转动方式连接。枢转元件经由例如至少一个弹簧可与支承平台挠性连接。用户界面可以是与枢转元件连接的手柄。
根据本发明的另一个实施例,一种控制运输装置的方法具有支承载荷的支承平台,该支承平台具有纵向平面和横向平面。运输装置包括多个触地元件,从而该运输装置就倾斜而言是静态稳定的。运输装置还包括与至少其中一个触地元件以可枢轴转动方式连接的枢转元件,从而该枢转元件能够倾斜,机动化驱动装置驱动多个触地元件中的至少一个。所述方法包括使枢转元件倾斜和控制机动化驱动装置作为其倾斜功能。
附图的简要说明
参照附图并参考下面的详细描述,本发明的上述特征将更易于理解,其中:
图1为根据本发明的一个实施例的运输装置的侧视图;
图2(a)为根据本发明的一个实施例的运输装置的侧视图;
图2(b)为根据本发明的一个实施例的运输装置的侧视图;
图3为动力平衡车辆的侧视图;
图4为根据本发明的一个实施例、用于控制运输装置的机动化驱动器的控制器框图;
图5为根据本发明的一个实施例的运输装置。
具体实施例方式
根据本发明的一个实施例,图1示出了一种用于在地面或诸如地板之类的其它表面上支承载荷的运输装置10,所述载荷可以是有生命的物体,所述的地面或其它表面在这里称为“地面”。运输装置10包括支承载荷的支承平台11。例如,物体可立在或搁置在支承平台11上。与支承平台11相连的是手柄12,当操作运输装置10时可握住该手柄12。
与支承平台11相连接的是多个触地元件13,14,它们提供支承平台11与地面之间的接触。触地元件可包括,但不限于,弧形部件、轨道、胎面、和车轮(以下在说明书中将使用术语“车轮”指代任何这种不受限制的触地元件)。车轮13,14有助于限定多根轴线,这些轴线包括垂直轴线Z-Z,其沿重力方向经过车轮与地面的接触点;横向轴线Y-Y,其平行于车轮的轴;纵向轴线X-X,其垂直于车轮轴。与轴线X-X和Y-Y平行的方向分别称为纵向和横向。
运输装置10至少在纵向平面上就倾斜而沿是静态稳定的。为了在纵向平面上获得静态稳定性,运输装置10至少可包括第一和第二车轮13,14。第一车轮13可围绕第一轴旋转,第二车轮14可围绕第一轴后面的第二轴旋转,这样运输装置10的重心位于第一和第二车轮之间。
通过改变负载支承平台的重心来控制运输装置10的运动。要理解的是,这里所使用的“重心位置”是载荷分布瞬时的实例。根据载荷分布来控制所述装置的运动的任何机构落在这里所描述的本发明的范围内和所有附随的任何权利要求中。重心位置的改变,例如可通过物体移动其在支承平台11上的重量来实现。为了确定重心的移动,运输装置10包括传感器模块。该传感器模块产生一个信号,表示负载支承平台的重心相对于运输装置10上基准点的位置。
传感器模块包括至少一个传感器。该至少一个传感器可以是,但不限于,载荷传感器、力传感器、和/或角速率传感器,例如可以是陀螺仪或倾斜仪之类的倾斜传感器。
参照图1,例如,运输装置10包括两个载荷传感器15,16。载荷传感器15连接在支承平台11和第一车轮13之间,而载荷传感器16连接在支承平台11与第二车轮14之间。利用所检测的每个车轮13和14上的载荷,沿着运输装置10纵向轴线的重心位置可相对于例如,但不限于,平台11前端的基准点进行计算。在各种实施例中,可采用单一的载荷传感器。例如,如果已知负载支承平台的重量,那么仅采用一个载荷传感器就可确定重心。载荷传感器的输出由于改变负载支承平台的重心而产生的变化也可用来控制运输装置10的运动。
图2(a)示出了根据本发明的一个实施例的另一种运输装置20。该运输装置20包括支承平台21,该支承平台可基于例如该平台21的重心在纵向平面上倾斜,同时至少就沿着纵向平面倾斜而言仍是静态稳定的。例如,但不限于,一对弹簧26和25可分别连接在车轮23和24与支承平台21之间。在其它实施例中,触地元件23和24可具有一些柔性并具有弹簧的功能。根据支承平台21在纵向平面上的倾斜,至少有一个传感器27产生一个信号,表明例如负载支承平台重心的位置。传感器27可以是,但不限于:弹簧和相关的传感器(例如距离传感器);载荷传感器;诸如倾斜计或陀螺仪之类的提供支承平台21倾斜度的倾斜传感器;螺旋触簧(whiskers);角速率传感器;和/或诸如超声波或光学之类的非接触式传感器。可相对于重力、地面、和/或运输装置上的诸如旋转轴附近的位置之类的基准点(不限于这些)测量倾角。与支承平台21相连的可以是手柄22,当操作运输装置20时可以握住该手柄22。
在本发明的另一个实施例中,图2(b)示出的运输装置200包括第一支承平台290和第二支承平台210。第一支承平台290连接在车轮230和240之间,从而就沿着纵向平面倾斜而言是静态稳定的。第二支承平台210与第一支承平台290相连,从而该第二支承平台210基于例如该第二平台210的重心可在纵向平面上倾斜。第二支承平台210可利用,不限于,弹簧250和260和/或枢转机构280与第一支承平台相连。与上述实施例类似,基于第二支承平台210在纵向平面上的倾斜,至少有一个传感器270产生一个信号,表明第二支承平台210重心的位置。传感器270可以是,但不限于:弹簧和相关的传感器(例如距离传感器);载荷传感器;诸如倾斜计或陀螺仪之类的提供支承平台210倾斜的倾斜传感器;螺旋触簧(whiskers);角速率传感器;和/或诸如超声波或光学之类的非接触式传感器。可相对于重力、地面、第一支承平台290和/或运输装置上的其它基准点测量倾角。与第一支承平台290相连的是手柄220,当操作运输装置200时可以握住该手柄220。
在本发明的另一个实施例中,运输装置就沿着纵向平面和横向平面倾斜而言均是静态稳定的。为了提供这种稳定性,运输装置可包括三个或多个车轮。于是,可在纵向轴线和横向轴线上确定重心。例如,可将力传感器或载荷传感器连接在支承平台与每个车轮之间,或可将倾斜传感器与连接在每个车轮之间的弹簧相结合。
在再一个实施例中,在美国专利NO.5,701,965和5,971,091中所描述的人体运输装置的情况下,运输装置仅就沿着横向平面倾斜而言是静态稳定的,这些专利在此一并作为参考。例如,图3示出了一种主要用标号38标明的人体运输装置。人运输装置38包括支承平台32。手柄34与支承平台32相连。人体30站立在支承平台32上,这样可以按类似于滑行车的方式操作本实施例的运输装置38。人体30的倾斜促使支承平台32倾斜,这通过,不限于,倾斜传感器(未示出)来检测。提供一种控制回路从而人体30在正向或反向上的倾斜导致车轮33围绕轴35产生转距,由此促使车辆加速。然而,车辆38是静态不稳定的,需要操作该控制回路从而保持动态稳定性。
在上述的实施例中,控制器从传感器模块接收表示重心位置和/或倾角的信号。控制器至少基于重心位置和/或倾角,控制机动化驱动装置驱动多个车轮中的至少一个。该控制器也可以响应来自例如与手柄相连的诸如操纵杆或调节控制盘之类的其它操作界面的命令。
根据本发明的一个实施例,图4的框图示出了控制运输装置的机动化驱动器的控制器40。控制器40从传感器模块44接收关于指示负载支承平台的重心位置和/或倾角的输入。至少基于来自传感器模块44的输入,控制器40操纵至少一个机动化驱动器45,46。该控制器40还与用户界面41和车轮旋转传感器43连接。用户界面41例如可包括操纵控制器40的打开或关闭。当控制器40关闭时,运输装置的车轮可自由移动,从而该运输装置可用作典型的推动式滑行车。用户界面41还可控制锁定机构42,用来锁定运输装置的一个或多个车轮。
控制器40包括控制算法,以基于负载支承平台的重心位置和/或倾角来确定施加在一个或两个车轮上的转距量。根据当前的操作模式和操作条件以及用户参数,控制算法可按***结构方式配置或按实时方式配置。控制器40可使用控制回路实现控制算法。在机电工程领域中,控制回路的操纵是公知的,并在例如Fraser&Milne的“连续控制原理”,(机电工程,IEEE出版社(1994)),特别是第11章中略述了所述控制回路,这里一并作为参考。
举例来说,但不限于此,控制算法可采用下列形式:
转距命令=K·(C+O)
其中K=增益
C=定义有负载支承平台相对于运输装置上基准点的重心的一个矢量,而
O=偏移量
负载支承平台的重心位置,C,可以是误差项的形式,该误差项定义为负载平台的理想重心位置减去负载平台的被检测到的重心位置。在控制算法中,负载平台的理想重心位置可以为预定的常数。作为另一选择,运输装置上的物体可以通过用户界面41控制平台的理想重心位置的设置。例如,在踩踏平台的过程中并且在允许运输装置移动之前,物体可激活运输装置手柄上的开关,从而基于从传感器模块44所接收的输入来确定重心的理想位置。这允许物体获得一个已知的初始位置,然后物体可以偏离该初始位置从而引起负载平台的重心位置的改变。
增益,K,可以是预定的常数,或者可由操作人员通过用户界面41输入/调节。增益K,最通常是一个矢量,其中转距被确定为增益与重心位移矢量的标积。运输装置对于负载支承平台的重心改变的响应度可以用K控制。例如,如果矢量K的至少一个元素的量值增加,驾驶员将察觉到明显的(stiffer)响应,因为负载平台的重心位置的较小变化将导致较大的转距控制。
除了C的直接作用以外,或者独立于C的直接作用,偏移量O,可以结合在控制算法中以控制施加在机动化驱动器上的转距。这样,例如,用户可以经由任何种类的用户界面41提供输入,该输入可通过与例如负载平台重心位置的变化等效的控制***进行处理。
这样,在上述的本发明实施例中,可通过改变负载平台的重心位置,例如通过操作人员倾斜或可选择地改变他在平台上的位置来控制运输装置的运动。根据控制算法,重心沿向前方向的初始变化会在至少一个车轮上产生正转距,从而促使车轮向前移动。同样地,重心沿向后方向的初始变化会在至少一个车轮上产生负转距,从而促使车轮向后移动。于是,如果物体继续倾斜(或保持其在平台上的变化位置),从而负载平台的重心保持不变,那么电机将继续以近似相同的速率传递转矩。
如上所述,运输装置除了在纵向平面上是静态稳定以外,其在横向平面上就倾斜而言也可以是静态稳定的,其中表示重心位置的信号在纵向和横向上或者其中一个方向上被确定。在这些实施例中,负载平台的重心可独自地横向改变,或者与纵向平面上的重心一起改变,从而控制运输装置的运动。例如,但不限于,负载支承平台的重心位置的纵向改变可控制纵向的运动,而重心的横向改变可控制运输装置的操纵方向。
在具有至少两个横向设置的车轮(也即,左右车轮)的一个实施例中,例如通过给左右车轮提供独立的电机可以实现驾驶。左侧电机所需的转距和右侧电机所需的转距可独立地进行计算。此外,控制领域的普通技术人员都知道,对左轮运动和右轮运动二者的跟踪是可以进行调节的,以防止车辆进行不希望的转动且允许两电机之间的性能存在差异。
根据本发明的其它实施例,图5示出了一种运输装置501,其包括能够支承载荷的支承平台502。支承平台502连接到多个车轮503和504,并且在纵向平面和横向平面上就倾斜而言是静态稳定的。枢转元件507与车轮503和504中的至少一个以可枢轴转动方式连接,这样该枢转元件507能够倾斜。例如,多个触地元件可包括两个横向设置的车轮,右轮504和左轮(未示出),它们可围绕轴545旋转,其中枢转元件507与该轴545以可枢轴转动方式连接从而该枢转元件507可在纵向平面上倾斜。
枢转元件507的倾斜可通过操作界面来实现,该操作界面可以是,但不限于,手柄512。手柄512与枢转元件507相连接,从而,例如手柄512在纵向方向上的倾斜将导致枢转元件507相应的倾斜。
至少一个传感器555产生一个表明枢转元件507发生倾斜的信号。传感器555可以是,但不限于:弹簧和相关的传感器(例如距离传感器);载荷传感器;诸如倾斜计或陀螺仪之类的提供支承平台502倾斜的倾斜传感器;螺旋触簧(whiskers);角速率传感器;和/或诸如超声波或光学之类的非接触式传感器。可相对于重力、地面、和/或运输装置上的诸如旋转轴附近的位置之类的基准点测量倾角。控制器至少基于所述倾斜来命令机动化驱动装置驱动至少一个车轮504。
在各个实施例中,枢转元件507例如通过多个弹簧508-509与支承平台502挠性连接。当手柄512没有受到操纵时,这允许枢转元件507保持预定的倾角。在各个实施例中,控制器可预先设置从而基于预定的倾角控制特定的运动。例如,当检测到预定的倾角时,控制器可控制机动化驱动装置不产生运动。运输装置的响应度也可通过弹簧508-509来控制。
如上述实施例所述,运输装置501的驾驶可通过,例如但不限制于,设置在手柄上或紧靠手柄的诸如操纵杆或拇指轮之类的本领域公知的任意数目的用户界面来进行控制。如上所述,机动化驱动装置可具有独立的电机,用于基于从用户界面所接收的信号独立地驱动横向设置的左轮(未示出)和右轮504。横向设置的左轮(未示出)和右轮504可以是,例如,能够围绕垂直轴转动从而支持运输装置501转动的脚轮。
在本发明的上述实施例中,运输装置可包括图5中参考标号540所指的指示器。根据机动化驱动装置所控制的运动,指示器540是可从外部观察的。例如,指示器540可以以加速命令为基准。可从外部观察的指示器540可包括,但不限于,可照明的灯。
本发明的所述实施例仅用来作例证,各种变化和修改对本领域技术人员是显然的。所有这些变化和修改意欲落在附随的权利要求所限定的本发明范围内。
Claims (32)
1.一种运输装置,包括:
用于支承载荷的支承平台,负载支承平台限定有纵向平面和横向平面并表征为载荷分布;
多个触地元件,它们与支承平台相连接,从而该运输装置就沿着纵向平面倾斜而言是静态稳定的;
机动化驱动装置,用于驱动多个触地元件中的至少一个;
传感器模块,用于产生指示负载支承平台载荷分布的信号;
控制器,用于基于载荷分布控制机动化驱动装置。
2.根据权利要求1所述的运输装置,其特征在于,所述多个触地元件包括至少两个车轮。
3.根据权利要求2所述的运输装置,其特征在于,所述至少两个车轮包括:
可围绕第一轴旋转的第一车轮;和
可围绕第二轴旋转的第二车轮,该第二轴位于第一轴后面。
4.根据权利要求1所述的运输装置,其特征在于,控制器被配置为通过沿纵向改变负载支承平台的载荷分布来控制运输装置的纵向运动。
5.根据权利要求1所述的运输装置,其特征在于,负载支承平台通过具有一定位置的重心来表征,并且其中控制器被配置为通过沿纵向改变负载支承平台的重心位置来控制运输装置的纵向运动。
6.根据权利要求1所述的运输装置,其特征在于,控制器被配置为通过横向改变负载支承平台的载荷分布来控制运输装置的转动。
7.根据权利要求1所述的运输装置,其特征在于,负载支承平台由具有一定位置的重心来表征,其中控制器被配置为通过横向改变负载支承平台的重心位置来控制运输装置的转动。
8.根据权利要求1所述的运输装置,其特征在于,多个触地元件与支承平台相连接从而该运输装置就沿着纵向平面和横向平面倾斜而言均是静态稳定的。
9.根据权利要求1所述的运输装置,其特征在于,传感器模块包括选自由载荷传感器、力传感器和倾斜传感器构成的传感器组中的至少一个传感器。
10.根据权利要求1所述的运输装置,其特征在于,传感器模块在产生信号时加入偏移量。
11.根据权利要求10所述的运输装置,其特征在于,所述偏移量可通过用户界面进行调节。
12.根据权利要求1所述的运输装置,其特征在于,控制器控制机动化驱动装置从而使得运输装置加速,该运输装置还包括基于所述加速度提供指示的指示器,所述指示可从外部观察。
13.根据权利要求1所述的运输装置,其特征在于,在运输装置后面可以看到指示器。
14.根据权利要求1所述的运输装置,其特征在于,运输装置还包括用户界面,其中控制器至少基于由用户界面提供的信号来控制机动化驱动装置。
15.根据权利要求14所述的运输装置,其特征在于,用户界面选自由操纵杆和刻度盘构成的用户界面组。
16.一种控制运输装置的方法,该运输装置具有支承载荷的支承平台,负载支承平台限定有纵向平面和横向平面并表征为载荷分布,该运输装置还包括多个触地元件从而该运输装置就沿着纵向平面倾斜而言是静态稳定的,该运输装置还包括用于驱动多个触地元件中的至少一个的机动化驱动装置,所述方法包括:
确定负载支承平台的载荷分布;
至少基于载荷分布来控制机动化驱动装置。
17.根据权利要求16所述的方法,其特征在于,确定负载平台的载荷分布的步骤包括检测至少一个触地元件上的载荷。
18.根据权利要求16所述的方法,其特征在于,确定负载平台的重力载荷分布的步骤包括检测负载支承平台的倾角。
19.根据权利要求16所述的方法,其特征在于,确定负载平台的载荷分布的步骤包括检测负载支承平台的滚转角。
20.根据权利要求16所述的方法,其特征在于,控制机动化驱动器的步骤还基于来自运输装置用户界面的控制信号。
21.根据权利要求16所述的方法,还包括基于所控制的运动提供可从外部观察的指示的步骤。
22.根据权利要求21所述的方法,其特征在于,基于所控制的加速度提供可从外部观察的指示。
23.根据权利要求22所述的方法,其特征在于,提供可从外部观察的指示的步骤包括提供照明灯。
24.一种运输装置,包括:
用于支承载荷的支承平台,支承平台限定有纵向平面和横向平面;
多个触地元件,它们与支承平台相连接从而该支承平台就沿着纵向平面和横向平面倾斜而言是静态稳定的;
枢转元件,它与多个触地元件中的至少一个以可枢轴转动方式连接从而该枢转元件能够倾斜;
使得枢转元件倾斜的用户界面;
传感器模块,用于产生表明枢转元件发生倾斜的信号;
机动化驱动装置,用于驱动多个触地元件中的至少一个;和
控制器,其基于枢转元件发生的倾斜来控制机动化驱动装置。
25.根据权利要求24所述的运输装置,其特征在于,枢转元件至少沿纵向平面能够倾斜。
26.根据权利要求24所述的运输装置,其特征在于,多个触地元件包括两个横向设置的可绕轴旋转的车轮,枢转元件与该轴以可枢轴转动方式连接。
27.根据权利要求24所述的运输装置,其特征在于,枢转元件与支承平台挠性连接。
28.根据权利要求27所述的运输装置,其特征在于,枢转元件经由至少一个弹簧与支承平台挠性连接。
29.根据权利要求24所述的运输装置,其特征在于,用户界面是与枢转元件连接的手柄。
30.一种控制运输装置的方法,该运输装置具有支承载荷的支承平台,该支承平台限定有纵向平面和横向平面,运输装置包括多个触地元件从而该运输装置就倾斜而言是静态稳定的,运输装置还包括与至少一个触地元件以可枢轴转动方式连接的枢转元件从而该枢转元件能够倾斜,以及用于驱动多个触地元件中的至少一个的机动化驱动装置,所述方法包括:
使得枢转元件倾斜;和
至少基于所述倾斜来控制机动化驱动装置。
31.根据权利要求30所述的方法,其特征在于,引起所述倾斜的步骤包括使得与枢转元件连接的手柄发生倾斜。
32.根据权利要求30所述的方法,还包括将枢转元件与支承平台挠性连接的步骤。
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- 2003-07-11 JP JP2004521654A patent/JP5099971B2/ja not_active Expired - Lifetime
- 2003-07-11 CN CNB03821668XA patent/CN100333937C/zh not_active Expired - Fee Related
- 2003-07-11 US US10/618,082 patent/US20040055796A1/en not_active Abandoned
- 2003-07-11 CA CA002492393A patent/CA2492393A1/en not_active Abandoned
- 2003-07-11 EP EP03764477A patent/EP1539522A2/en not_active Withdrawn
- 2003-07-11 AU AU2003247975A patent/AU2003247975A1/en not_active Abandoned
- 2003-07-11 WO PCT/US2003/021662 patent/WO2004007233A2/en active Application Filing
-
2005
- 2005-06-03 US US11/144,309 patent/US7174976B2/en not_active Expired - Lifetime
-
2007
- 2007-02-08 US US11/672,743 patent/US7789174B2/en not_active Expired - Lifetime
- 2007-10-29 US US11/926,737 patent/US8186462B2/en not_active Expired - Fee Related
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2009
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103950479A (zh) * | 2014-02-20 | 2014-07-30 | 青岛海艺自动化技术有限公司 | 具有适应不平整地面能力的蛇形机器人 |
CN103950479B (zh) * | 2014-02-20 | 2017-11-10 | 青岛海艺自动化技术有限公司 | 具有适应不平整地面能力的蛇形机器人 |
CN105416353A (zh) * | 2015-11-26 | 2016-03-23 | 成都佳美嘉科技有限公司 | 新型物流推车 |
CN109070966A (zh) * | 2016-03-23 | 2018-12-21 | 福特全球技术公司 | 多功能城市电动运输装置和*** |
CN106426201A (zh) * | 2016-10-31 | 2017-02-22 | 沈阳工业大学 | 一种坐式服务机器人及运动方向识别方法 |
CN106426201B (zh) * | 2016-10-31 | 2019-03-08 | 沈阳工业大学 | 一种坐式服务机器人及运动方向识别方法 |
WO2019006652A1 (zh) * | 2017-07-01 | 2019-01-10 | 杭州畅动智能科技有限公司 | 人机互动体感车 |
Also Published As
Publication number | Publication date |
---|---|
WO2004007233A2 (en) | 2004-01-22 |
CA2492393A1 (en) | 2004-01-22 |
US7789174B2 (en) | 2010-09-07 |
WO2004007233A3 (en) | 2005-03-10 |
US8186462B2 (en) | 2012-05-29 |
US20040055796A1 (en) | 2004-03-25 |
US7174976B2 (en) | 2007-02-13 |
US20050236215A1 (en) | 2005-10-27 |
US20070145697A1 (en) | 2007-06-28 |
EP1539522A2 (en) | 2005-06-15 |
AU2003247975A1 (en) | 2004-02-02 |
JP2009173283A (ja) | 2009-08-06 |
US20080105480A1 (en) | 2008-05-08 |
JP5099971B2 (ja) | 2012-12-19 |
JP2005532947A (ja) | 2005-11-04 |
CN100333937C (zh) | 2007-08-29 |
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