JP5099971B2 - 運搬装置のための運動制御 - Google Patents
運搬装置のための運動制御 Download PDFInfo
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- JP5099971B2 JP5099971B2 JP2004521654A JP2004521654A JP5099971B2 JP 5099971 B2 JP5099971 B2 JP 5099971B2 JP 2004521654 A JP2004521654 A JP 2004521654A JP 2004521654 A JP2004521654 A JP 2004521654A JP 5099971 B2 JP5099971 B2 JP 5099971B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
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- A—HUMAN NECESSITIES
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- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
- A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
- A63C17/08—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0161—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during straight-line motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/52—Direct actuation of steering of roller skate or skateboards, e.g. by a foot plate
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- B60G2300/00—Indexing codes relating to the type of vehicle
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- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
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- B60G2400/051—Angle
- B60G2400/0512—Pitch angle
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- B60G2400/63—Location of the center of gravity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/40—Steering
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- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/019—Inclination due to load distribution or road gradient
- B60G2800/0192—Inclination due to load distribution or road gradient longitudinal with regard to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/915—Suspension load distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60L2260/00—Operating Modes
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- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
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Description
本発明は、個人であり得る負荷を運搬するための運搬装置および方法に関し、そしてより特定すると、運搬装置の運動を制御することに関する。
モータ付駆動装置を有する広汎な乗り物が、目的をもった移動であるか、または娯楽の目的のためのいずれかのために、種々の被験体を運搬することについて公知である。
本発明の第一の実施形態において、負荷を支持するための支持体プラットフォームであって、その負荷がかかった支持体プラットフォームが前後平面および側方平面を規定する、支持体プラットフォームを備える運搬装置が提供される。複数の地面接触要素が、この運搬装置が、前後平面の傾斜(tipping)に関して静的に安定であるようにこの支持体プラットフォームに連結される。この複数の地面接触要素の少なくとも1つは、モータ付駆動装置によって駆動される。センサモジュールは、負荷がかかった支持体プラットフォームのこの負荷分布の位置の指標となる信号を生成する。少なくともこの負荷分布に基づいて、コントローラは、モータ付駆動装置に命令を出す。
に、運動(例えば、加速)に基づく指示を提供するための外的に認識可能なインジケータを備え得る。このインジケータは、光であり得、運搬装置の後ろから視認可能であり得る。
本発明の1つの実施形態に従って、図1は、負荷(この負荷は、生命体被験体であり得る)を地面または他の表面(例えば、床)(これらは、本明細書において「地面」とも称する)の上で運ぶための運搬装置10を示す。運搬装置10は、負荷を支持するための支持体プラットフォーム11を備える。例えば、被験体は、支持体プラットフォーム11の上で立っていてもよく座っていてもよい。支持体プラットフォーム11に連結されているのは、握られ得、他方で運搬装置10を操作するハンドルバー12であり得る。
少なくとも1つのセンサ27は、例えば、負荷がかかった支持体プラットフォームの重力中心の位置の信号を生成する。センサ27は、制限することなく、バネおよび関連するセンサ(例えば、距離センサ);負荷センサ;傾斜センサ(例えば、インクリノメータまたはジャイロスコープ);負荷センサ;傾斜センサ(支持体プラットフォーム507の傾斜を提供するインクリノメータまたはジャイロスコープ);ウィスカ(whisker);角速度センサ;および/または非接触センサ(例えば、超音波または光学)であり得る。傾斜は、制限することなく、重力に対して、地面に対して、および/運搬装置を基準(例えば、回転軸の近位の位置)にして測定され得る。支持体プラットフォーム21に連結されるのは、運搬装置20を操作しながら握ることができるハンドルバー22であり得る。
トルク命令=K・(C+O)
ここで、K=ゲイン
C=運搬装置における起点に対する負荷がかかった支持体プラットフォームの重力の中心を規定するベクトル
O=オフセット。
右車輪504および左車輪(示さず)を備え得る。ここで、旋回要素507は、前後平面において旋回要素507が傾斜させることができるように、軸545に旋回可能に連結される。
Claims (28)
- 運搬装置であって、該運搬装置は、
負荷を支持するための支持体プラットフォームであって、該負荷がかかった支持体プラットフォームは、ある負荷分布を有する支持体プラットフォームであって、該負荷分布は、該支持体プラットフォームの地面に対する傾斜を定めるものである、支持体プラットフォーム;
複数の地面接触要素であって、該地面接触要素は、該支持体プラットフォームに連結され、その結果、該運搬装置が前後の傾斜に関して静的に安定である、地面接触要素;
該複数の地面接触要素のうちの少なくとも1つを駆動するためのモータ付駆動装置;
該支持体プラットフォームの傾斜に基づいて該負荷がかかった支持体プラットフォームの該負荷分布の指標となる信号を生成するための傾斜センサを含むセンサモジュール;
該センサモジュールからの入力に基づいて、該支持体プラットフォームの重力位置の初期中心を設定するためのスイッチ;および
該負荷分布と該支持体プラットフォームの重力位置の該初期中心とに基づいて該モータ付駆動装置に命令するためのコントローラ
を備える、運搬装置。 - 前記複数の地面接触要素が、少なくとも2つの車輪を備える、請求項1に記載の運搬装置。
- 前記少なくとも2つの車輪は、
第一軸の周りで回転可能な第一車輪;および
第二軸の周りで回転可能な第二車輪であって、該第二軸は、第一軸の後部に配置される、第二車輪
を含む、請求項2に記載の運搬装置。 - 前記支持体プラットフォームにおいて操作者が立つかまたは座るものであり、前記コントローラは、前記運搬装置の前後の運動が、前記負荷がかかった支持体プラットフォームの前後の前記負荷分布を該操作者が前後にシフトさせることによってさらに制御されるように構成される、請求項1に記載の運搬装置。
- 前記支持体プラットフォームにおいて操作者が立つかまたは座るものであり、前記負荷がかかった支持体プラットフォームは、重力の中心を有し、そしてここで前記コントローラは、前記運搬装置の前後の運動が、前記負荷がかかった支持体プラットフォームの前記重力の中心の位置を該操作者が前後にシフトさせることによってさらに制御されるように構成される、請求項1に記載の運搬装置。
- 前記支持体プラットフォームにおいて操作者が立つかまたは座るものであり、前記コントローラは、前記運搬装置の回転が、前記負荷がかかった支持体プラットフォームの前記負荷分布を該操作者が側方にシフトさせることによって制御されるように構成される、請求項1に記載の運搬装置。
- 前記支持体プラットフォームにおいて操作者が立つかまたは座るものであり、前記負荷がかかった支持体プラットフォームは、重力の中心を有し、そしてここで前記コントローラは、前記運搬装置の回転が、前記負荷がかかった支持体プラットフォームの該重力の中心の位置を該操作者が側方にシフトさせることによって制御されるように構成される、請求項1に記載の運搬装置。
- 前記複数の地面接触要素は、前記支持体プラットフォームに連結されており、その結果、前記運搬装置が前後の傾斜および側方の傾斜に関して静的に安定である、請求項1に記載の運搬装置。
- 前記センサモジュールは、負荷センサ、力センサおよび傾斜センサからなる群より選択される少なくとも1つのセンサをさらに備える、請求項1に記載の運搬装置。
- 前記コントローラは、ユーザインタフェースと接続される、請求項1に記載の運搬装置。
- 前記コントローラは、前記運搬装置の加速を生じるように前記モータ付駆動装置に命令を出し、該運搬装置は、さらに、該加速の指示を提供するためのインジケータを備え、該指示は、外的に理解可能である、請求項1に記載の運搬装置。
- 前記インジケータは、前記運搬装置の後ろから視認可能である、請求項1に記載の運搬装置。
- 前記運搬装置は、ユーザインタフェースをさらに備え、前記コントローラは、少なくとも該ユーザインタフェースによって提供される信号に基づいて前記モータ付駆動装置に命令を与える、請求項1に記載の運搬装置。
- 前記ユーザインタフェースは、ジョイスティックおよびダイヤルからなる群より選択される、請求項13に記載の運搬装置。
- 運搬装置を制御するための方法であって、該運搬装置は、
負荷を支持するための支持体プラットフォームであって、該負荷がかかった支持体プラットフォームは、ある負荷分布を有し、該負荷分布は、該支持体プラットフォームの地面に対する傾斜を定めるものである、支持体プラットフォームを有し、該運搬装置は、さらに、
複数の地面接触要素であって、該地面接触要素は、該支持体プラットフォームに連結され、その結果、該運搬装置が前後の傾斜に関して静的に安定である、地面接触要素を備え、該運搬装置は、さらに、
該複数の地面接触要素のうちの少なくとも1つを駆動するためのモータ付駆動装置と、該支持体プラットフォームの重力位置の初期中心を設定するためのスイッチとを備え、
該方法は、
該スイッチを用いて該支持体プラットフォームの重力位置の初期中心を設定する工程;
該支持体プラットフォームの傾斜に基づいて該負荷がかかった支持体の負荷分布を決定する工程;
少なくとも該負荷分布と該支持体プラットフォームの重力位置の該初期中心とに基づいて該モータ付駆動装置に命令を与える工程、
を包含する、方法。 - 前記負荷がかかったプラットフォームの負荷分布を決定する工程は、前記負荷がかかった支持体プラットフォームの横揺れ角度を感知することを包含する、請求項15に記載の方法。
- 前記モータ付駆動に命令を与える工程は、運搬装置のユーザインタフェースからの制御信号にさらに基づくことを特徴とする、請求項15に記載の方法。
- 命令された運動に基づいて、外的に認識可能な指示を提供する工程をさらに包含する、請求項15に記載の方法。
- 前記外的に認識可能な指示は、前記命令による加速の指示であることを特徴とする、請求項18に記載の方法。
- 前記外的に認識可能な指示を提供する工程は、光を照明することを包含する、請求項19に記載の方法。
- 運搬装置であって、該運搬装置は:
負荷を支持するための支持体プラットフォーム;
複数の地面接触要素であって、該地面接触要素は、該支持体プラットフォームに連結され、その結果、該支持体プラットフォームが、前後の傾斜および側方の傾斜に関して静的に安定である、地面接触要素;
旋回要素であって、該旋回要素は、該地面接触要素の少なくとも1つと旋回可能に連結され、その結果該旋回要素が少なくとも前後に傾斜させる能力を有する、旋回要素;
該旋回要素の傾斜を生じさせるためのユーザインタフェース;
該旋回要素の該傾斜の指標となる信号を生成するための傾斜センサを含むセンサモジュール;
該センサモジュールからの入力に基づいて、該支持体プラットフォームの重力位置の初期中心を設定するためのスイッチ;
該複数の地面接触要素の少なくとも1つを駆動するためのモータ付駆動装置;および
該旋回要素の該傾斜と該支持体プラットフォームの重力位置の該初期中心とに基づいて、該モータ付駆動装置に命令するためのコントローラ、を備える、運搬装置。 - 前記複数の地面接触要素は、2つの側方に配置された、軸の周りで回転可能な車輪を備え、前記旋回要素は、前記軸に旋回可能に連結される、請求項21に記載の運搬装置。
- 前記旋回要素は、前記支持体プラットフォームに可撓性をもって連結される、請求項21に記載の運搬装置。
- 前記旋回要素は、少なくとも1つのばねを介して前記支持体プラットフォームに可撓性をもって連結される、請求項23に記載の運搬装置。
- 前記ユーザインタフェースは、前記旋回要素に連結されたハンドルバーである、請求項21に記載の運搬装置。
- 負荷を支持するための支持体プラットフォームを有する運搬装置を制御するための方法であって、該運搬装置は、複数の地面接触要素を備え、その結果、該運搬装置は、傾斜に関して静的に安定であり、該運搬装置は、さらに、該地面接触要素の少なくとも1つと旋回可能に連結された旋回要素を備え、その結果、該旋回要素が少なくとも前後に傾斜させる能力を有し、および該運搬装置は、該複数の地面接触要素の少なくとも1つを駆動するためのモータ付駆動装置と、該支持体プラットフォームの重力位置の初期中心を設定するためのスイッチとを備え、該方法は、
該スイッチを用いて該支持体プラットフォームの重力位置の初期中心を設定する工程;
該旋回要素の傾斜を生じさせる工程;および
該傾斜と該支持体プラットフォームの重力位置の該初期中心とに少なくとも基づいて該モータ付駆動装置に命令を与えるための工程、
を包含する、方法。 - 前記傾斜を生じさせる工程は、前記旋回要素に連結されたハンドルバーを傾斜させることを包含する、請求項26に記載の方法。
- 前記支持体プラットフォームに前記旋回要素を可撓性をもって連結させる工程をさらに包含する、請求項26に記載の方法。
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2003
- 2003-07-11 CN CNB03821668XA patent/CN100333937C/zh not_active Expired - Fee Related
- 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 WO PCT/US2003/021662 patent/WO2004007233A2/en active Application Filing
- 2003-07-11 JP JP2004521654A patent/JP5099971B2/ja not_active Expired - Lifetime
- 2003-07-11 US US10/618,082 patent/US20040055796A1/en not_active Abandoned
- 2003-07-11 AU AU2003247975A patent/AU2003247975A1/en not_active Abandoned
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Also Published As
Publication number | Publication date |
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WO2004007233A2 (en) | 2004-01-22 |
US20080105480A1 (en) | 2008-05-08 |
CA2492393A1 (en) | 2004-01-22 |
US7789174B2 (en) | 2010-09-07 |
US20070145697A1 (en) | 2007-06-28 |
US8186462B2 (en) | 2012-05-29 |
US20050236215A1 (en) | 2005-10-27 |
CN100333937C (zh) | 2007-08-29 |
WO2004007233A3 (en) | 2005-03-10 |
CN1681678A (zh) | 2005-10-12 |
JP2009173283A (ja) | 2009-08-06 |
AU2003247975A1 (en) | 2004-02-02 |
EP1539522A2 (en) | 2005-06-15 |
US20040055796A1 (en) | 2004-03-25 |
JP2005532947A (ja) | 2005-11-04 |
US7174976B2 (en) | 2007-02-13 |
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