CN1175205A - Transportation vehicles and methods - Google Patents

Abstract

There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a sruface that may be irregular. This embodiment has a support for supporting the subject. A ground-contacting module, movably attached to the support, serves to suspend the subject in the support over the surface. The orientation of the ground-contacting module defines fore-aft and lateral planes intersecting one another at a vertical. Ther support and the ground-contacting module are components of an assembly. A motorized drive, mounted to the ground-contacting module are components of an assembly. A motorized drive, mounted to the assembly and coupled to the ground-contacting module, causes locomotion of the assembly and the subject therewith over the suface. Finally, a conntrol loop, in which the motorized drive is included, for dynamically enhancing stability in the fore-aft plane.

Description

Haulage vehicle and method

The present invention relates to be used to transport a people's vehicle and method, in particular, relate to vehicle and method a people of ground transportation with irregular surface.

Known carrier's vehicle and method have a variety of.All satisfy stability when generally, designing these vehicles to sacrifice motility.For example, be difficult to design such vehicle, it can be handled by occupant itself, and oneself grasps direction, people of the ground of surface imperfection transportation, still can advance on more smooth road surface easily simultaneously.And those vehicles that can advance on irregular surface are mostly complicated, heavy, and are difficult to normally advance.

In a preferred embodiment, the invention provides a kind of vehicle ground carrier with irregular surface.The support that a supporting human body is arranged among this embodiment.A module that is installed in the kiss the earth that can move on this support is used for making the people of support to be suspended in ground.The direction of motion of the module of above-mentioned kiss the earth has constituted front and back and left and right plane intersecting each other on a car.The module of above-mentioned support and kiss the earth all is the parts in the assembly.One is installed on this assembly and with the driving device that motor is housed that the module of above-mentioned kiss the earth connects this assembly and people is advanced on the road surface.At last, this embodiment also has a control loop that comprises above-mentioned motorized driving device, so that the motorized driving device that module above-mentioned by means of operation and kiss the earth connects, with the stability on the dynamical fashion reinforcement pro-back plane.

In another embodiment, the module of above-mentioned kiss the earth is made the member of a pair of kiss the earth, transversely is provided with relative to each other.The member of kiss the earth can be a wheel.Perhaps, the member of each kiss the earth comprises one group of wheel, and each group wheel all is installed on the common central shaft of a horizontally set, and is driven by motor, and it can be rotated around central shaft; Each group each wheel in wheel all is installed on the axle with above-mentioned central axes, can rotate around this root axle, so the distance that each wheel leaves central shaft in one group of wheel is substantially equal to the diameter of each wheel.Each wheel in one group of wheel is all driven by motor independently.

In yet another embodiment, the member of each kiss the earth comprises and a pair ofly axially is adjacent to install that the arc component that can rotate is right.The arc component of above-mentioned each member centering is along the opposite end that is horizontally installed on a pillar, and this root pillar is installed on its mid point, can rotate.Each pillar all drives with motor.

Read following detailed description with reference to accompanying drawing, can understand the present invention better.In the accompanying drawing:

Fig. 1 is the vertical three-dimensional figure that one of the present invention has simplified, and expression has above people is sitting in;

Fig. 2 is another axonometric chart of the embodiment among Fig. 1, further represents the details of this embodiment;

Fig. 3 is the sketch map of the embodiment among Fig. 1, represents the rotary apparatus of this embodiment;

Fig. 4 is the side view of the embodiment among Fig. 1, is used for stair climbing;

Fig. 5 is a block diagram, usually power and the control performance among the embodiment of presentation graphs 1;

Fig. 6 illustrates the control scheme of the reduced form of a Fig. 1, so that utilize the moment of torsion of wheel to reach balance;

Fig. 7 operation of the Joystick controller of the wheel of embodiment in the way of illustration key diagram 1;

The program of the stair activity that the embodiment in Fig. 8 key diagram 1 is used;

Fig. 9-21 explanation the present invention utilizes the embodiment of one wheel pairs group as the member of kiss the earth;

The two-wheel wheel group that is designed to various diverse locations is used in Fig. 9-10 expression;

The three-wheel wheel group that is designed to various diverse locations and structure is used in Figure 11-21 expression;

Figure 22-24 illustrates an embodiment, and wherein, the member of each kiss the earth is made many adjacency vertically, and is mounted to the arc component group that can rotate;

The frame for movement details of the three-wheel wheel group of using among the embodiment of Figure 25-26 presentation graphs 18-20;

Figure 27 represents to be used for the block diagram of the mode of communicating between each control device of embodiment of Figure 18-20;

Figure 28 represents to be used for the block diagram of structure of a kind of general purpose control device of Figure 27;

Figure 29 is the block diagram of the connecting device assembly 273 of the driving device among expression Figure 27;

Figure 30 be among Figure 27 before central microcontroller plate, the logical flow chart in the process of a control cycle;

Figure 31 illustrates the wheel group among decision Figure 11-26, and this wheel group is with each variable of the size of imaginary stair up and down;

Figure 32 explanation and the decision wheel group various angle variables relevant with respect to the direction on vehicle and ground;

Figure 33 is the control sketch map of wheel motor in balance and normal traveling process;

Figure 34 is the control device sketch map of wheel group in balance and normal traveling process;

Figure 35 is a sketch map relevant with Figure 33, and the device of each state variable of expression decision indication wheel position is so that the effect that compensation wheel group is rotated;

Figure 36-38 explanation is by means of the wheel group structure according to Figure 11-26 of first embodiment, the control device that is used for stair climbing and surmounts obstacles;

Figure 36 is the sketch map of control device that is used for the wheel group motor of first embodiment that can stair climbing, has used a kind of tilt mode herein;

Figure 37 is the sketch map of control device that is used for the wheel motor of first embodiment that can stair climbing;

Figure 38 is to use the vehicle of first embodiment that can stair climbing, the block diagram of the vehicle-state during motion down one of in unloaded, inclination and balanced mode;

Figure 39 A-B, 40A-B, among 41A-B and the 42A-B key diagram 11-26 according to the wheel group of second embodiment that can stair climbing of the present invention just in the situation of stair climbing;

Figure 39 A and 39B explanation are according to the embodiment of second kind of stair climbing, the orientation of wheel group in the program of beginning stair climbing;

Figure 40 A and Figure 40 B illustrate the orientation of wheel group in readjusting the program of angle when this embodiment begins;

Figure 41 A and Figure 41 B illustrate the orientation of wheel group in the program of transportation weight of this embodiment;

Figure 42 A, 42B and 42C illustrate the orientation of wheel group in the stair climbing program of this embodiment;

Figure 43 is the sketch map of wheel and wheel group controller for motor in the start program of Figure 39 A and Figure 39 B;

Figure 44 is the sketch map of wheel motor control device in the program of the transportation weight of Figure 41 A and Figure 41 B;

Figure 45 is the sketch map of control device in the stair climbing program of Figure 42 A, 42B and 42C;

Figure 46 and 47 schematically represents the vehicle that the embodiment of the pick off that detects stair activity or surmount other obstacles is housed according to one of the present invention;

Figure 48 representation class is similar to Fig. 9-12, adopts the vertical cross section figure of one embodiment of the present of invention of coordinating actuating device;

Figure 49 represents the details of a wheel group of the vehicle among Figure 48;

Figure 50 represents the details of the wheel group driving device in the vehicle of Figure 48;

Figure 51 represents the end-view of the wheel group of the vehicle among Figure 48;

Figure 52 represents the details of the mechanical aspects of the buttocks of the vehicle among Figure 48 and knee endoprosthesis;

Figure 53 illustrates that one of the present invention can provide the embodiment that controls the useful non-vision output of vehicle for the people.

The present invention can implement with various embodiment.Wherein many embodiment feature is to adopt the member of the kiss the earth of a pair of lateral arrangement, and the people is suspended on the ground that he will betransported.The member of above-mentioned kiss the earth drives with motor.In many examples, the people is sitting in the member of the inside in transportation, has portion of time at least, lacks due stability in vertical direction on the pro-back plane, and is on transverse plane, and is more stable in vertical direction.The stability of front and back is to comprise that by setting the control loop of motor reaches, so that handle the motor that links to each other with the member of kiss the earth.As described below, this to the member of kiss the earth can, for example, be one wheel pairs or wheel group.When being the one wheel pairs group, each group can comprise several wheels.But the member of each kiss the earth also can be with some (normally a pair of) axially close, and supporting is radially being arranged, and be mounted to the arc component that can rotate and replace.In such an embodiment, the member of above-mentioned kiss the earth is driven by the driving device that drives with the motor in the above-mentioned control loop, make the center of gravity of vehicle remain on the member of kiss the earth and the contact point top on ground, and no matter to the interference of vehicle and active force how.

The embodiment of a simplification of expression the present invention among Fig. 1, in this embodiment, the member of main kiss the earth is an one wheel pairs, and has adopted the member of the auxiliary kiss the earth of stair activity.(following will the explanation, when the member of kiss the earth was wheel group or arc component above-mentioned, stair activity was capable and advance in the flat terrain and can be only to reach with the member on a set of contact ground.)

Embodiment shown in Fig. 1 comprises a supporting member 12 (being embodied as a chair herein), and people 13 can be sitting in above it.On this vehicle, be provided with the wheel 11 of a pair of lateral arrangement.This a pair of wheel has been determined one group of axis, comprising vertical axis Z-Z, the transversal line Y-Y parallel with the axis of wheel, and with the vertical front and back of wheel axis axis X-X.In this article, vertical axis Z-Z and the formed plane of transversal line Y-Y are called " transverse plane ", and calling " plane, front and back " by front and back axis X-X and the formed plane of vertical axis Z-Z.The direction parallel with X-X axis and Y-Y axis is called fore-and-aft direction and horizontal.Very clear, when this car was placed on the one wheel pairs 11 that contacts with ground, it was unsettled with respect to a vertical line at fore-and-aft direction certainly, and laterally more stable.

As seen from Figure 2, this vehicle also is provided with a pair ofly along lateral arrangement except wheel 11, can extend footing 21 and a footrest 22 of a controllable length in vertical direction.Above-mentioned footrest is provided with pick off, is used for definite object height that it will be put, for example the height of step.Above-mentioned footing 21 is arranged on a pair of lower limb that can correspondingly extend 23.In a preferred embodiment, when two footing all contacted with ground, vehicle was at fore-and-aft direction and all be stable laterally, and still, when having only a footing to contact with ground, lateral stability is just weaker.

A kind of device of the embodiment of Fig. 3 presentation graphs 1 and Fig. 2, this device can allow chair 12 with respect to suspension arrangement, comprise footing 21 and coupled lower limb 23, are rotated.This rotation is to carry out on the plane of approximate horizontal.The ability that this rotary apparatus and every one leg can extend and shorten combines, and makes that this vehicle can be to be similar to the mode stair activity that the people advances on stair.When lower limb 23 when bearing the lower limb of weight, every one leg can allow the remainder of vehicle in the process of once rotation, rotates around the vertical axis of this lower limb.In order to rotate, chair will change around a vertical axis that is arranged on two legs 23 central authorities, to keep chair surface direction forwards.In addition, that 23 of lower limbs vertical axis around it in the process of rotation of not bearing weight rotates, so that its relevant footing 21 keeps the direction of face forward.

Very clear, the embodiment described in Fig. 1-3 has sacrificed inherent stability, so that obtain relative motility.Change for general mild surface, it was the stability that unsettled device provides front and back in other cases originally that equilibrated mode is included as.For more irregular surface, stair for example, this embodiment has one independent " step-by-step system " that be used for stair activity.When stair activity, can regain stability, for example, as shown in Figure 4, catch common handrail 41, perhaps buttress the wall that gets near stair with a hands.

In addition, can also use various strategy to reduce the danger that damages because of toppling over.In a kind of device, be destined to take place if topple over, then vehicle can enter down the seat mode, in this mode, controlledly, reduces the center of gravity that is made up by vehicle and people fast.For example, can be with hinge or separate above-mentioned suspension arrangement in the following manner, make the height of chair built on stilts reduce.Following seat mode also has the advantageous effects of dissipation energy before bumping against the people, and the people is on the not vulnerable position, and people's position is reduced, so that reduce to clash into the energy that passes to human body.

Can see that in the block diagram of Fig. 5 a control device 51 is used for motor drive and the actuator of the embodiment of control figure 1-4, advance and equilibrated purpose to reach.Comprising: be respectively applied for the motor drive 531 and 532 of left and right wheel, be respectively applied for the actuator 541 and 542 of left and right lower limb, and rotation motor driving device 55.The data input of this control device comprises user interface 561, the pitch sensor 562 of pitching before and after being used to detect, wheel turns pick off 563, actuator height pick off 564, turn-sensitive device 565, and step dimension pick off 566.

Represent in the block diagram of Fig. 6, when wheel works when effect of advancing, the control law system that embodiment equilibrated that be used for reaching Fig. 1 of the present invention simplified.A whole set of algorithm 61 is before the application controls loop, has the equivalent of a cover equation of motion of device of the module of the kiss the earth that is driven by an independent motor.T represents the moment of torsion of wheel.Letter θ represents tilt fore and aft (with respect to gravity, i.e. the angle of pitch of the vehicle of vertical direction), and X represents with respect to the front and back displacement of datum mark along the road surface, and the letter top round dot represent one with respect to the variable behind the time diffusion.Part remaining among the figure is to be used to reach equilibrated control device.Program 62 and 63 expressions are differentiated.In order to accomplish dynamically control guaranteeing the stability of this device, and make this device remain on a datum mark on the road surface near, the wheel torque T among this embodiment should satisfy following equation: $T=\mathrm{<figure-callout\; id="1"\; label="K"\; filenames="A9519754600661.png,A9519754600741.png"\; state="\{\{state\}\}">K</figure-callout>}1\mathrm{\&theta;}+\mathrm{<figure-callout\; id="2"\; label="K"\; filenames="A9519754600661.png,A9519754600671.png"\; state="\{\{state\}\}">K</figure-callout>}2\stackrel{.}{\mathrm{\&theta;}}+K3X+K4\stackrel{.}{X}$

Above-mentioned amplification coefficient K1, K2, K3 and K4 depend on physical parameter and other factors, for example gravity of this device.Simplification among Fig. 6 the control law system when occur disturbing, for example since human body move or with the contacting of other people or object, and the center of gravity that makes device is when changing with respect to ground datum mark, balance that can holding device, and near ground datum mark.

For the device of two wheels can be installed, replacing the device of a wheel among Fig. 6, moment of torsion that need pass over from left motor and the moment of torsion that passes over from right motor can be with following according to the calculating of coming of the described common mode branch of Figure 33.In addition, the motion of two wheels just can be adjusted about tracking, prevents the unwanted turning of vehicle, and remedies the difference of performance between these two CD-ROM drive motors.

Used a kind of manual interface, for example action bars is adjusted the moment of torsion of each motor.This root action bars has axis shown in Figure 7.In the work process of this embodiment, action bars travels forward and is used to make vehicle to travel forward, and action bars moves backward and is used for making vehicle to move backward.Left-hand bend is finished to left movement by action bars, turns right and is then finished by moving right of action bars.Employed this structure when action bars moves to the left or to the right, can allow vehicle in pivot turn.As for vehicle forward and motion backward as long as that action bars is tilted forward or backward is just passable, because above-mentioned pitch sensor (measuring θ) can be distinguished the variation of the step pitch that this device will be attempted to remedy, guide it to move forwards or backwards according to the direction that tilts.Perhaps, also can implement Control Countermeasure according to fuzzy logic.

Very clear, the method for adjusting motor torsional moment under balanced mode can reach the stability of front and back, and does not need additional stable wheel or pillar (though adopting these also to help stability).In other words, stability is (in the case, these parts are formed whole vehicle) that reaches with dynamical fashion with respect to the motion of bottom surface with vehicle upper spare.Use the lower limb stair climbing

A kind of mode of the embodiment stair activity in Fig. 8 presentation graphs 1.When the stair, at the beginning two legs is withdrawn (being shown in program 71) measures the height (program 72) of first step then.Whether decision wants up/down steps (73).(at this moment, for stable, it is favourable that the people holds a handrail that gets at).

Then, (be shown in program 74) in the phase I of topping bar, the elongation of article one lower limb is crossed this step (75) up to the second lower limb.Then, vehicle rotation is in the top (78) of this step up to the second lower limb of just crossing step.(when finishing this stage, also can use a pick off to decide the distance of rotation according to the width of this step.Perhaps, rotation surpasses a specific angle, for example 90 °.) then, sensor is also measured the height (72) of next step.If determine to exist step (73), and previous step is even numbers (76), so just process continues, elongation second lower limb and article one lower limb of withdrawing are crossed next step (79) up to article one lower limb.Then, vehicle rotates, and is in the top (80) of the step of crossing up to article one lower limb.Then, sensor and measure the height (72) of next step.If determine to exist step (73), and previous step is odd number (76), so just process continues, the elongation article one lower limb and the second lower limb of withdrawing are crossed next step (78) up to the second lower limb.Begin this process of repetition from program (72).Do not have step if record,, just extend the second lower limb a little if previous step is an odd number, the article one of withdrawing fully lower limb and rotation, all towards the front, the second lower limb of withdrawing then stands on the two legs, finishes this process up to two legs.Do not have step if record,, just extend article one lower limb a little if previous step is even numbers, withdraw fully second lower limb and rotation, all towards the front, the article one of withdrawing then lower limb stands on the two legs up to two legs, finishes this process (88).

Go downstairs and also follow similar program.The phase I of going downstairs (being shown in program 81), article one lower limb extends slightly, crosses second lower limb (program 82).Then, vehicle rotation, up to the second lower limb be in will under the top (84) of this one-level step, the article one of withdrawing then lower limb elongation second lower limb stands in (85) on the step up to the second lower limb.Then, sensor and measure the height (72) of next step.If determine to exist step (73), and previous step is even numbers (76), so just process continues, the vehicle rotation is in the top (86) of the step that will extend arrival up to article one lower limb.Then, withdrawal second lower limb and extend article one lower limb is stepped on this step (square frame 87) up to article one lower limb.Then, sensor and measure the height (72) of next step.If determine to exist step (73), and previous step is even numbers, so just process continues (84), begin this process of repetition from program (72).If do not record step, just rotate vehicle, all towards the place ahead, the two legs of withdrawing then stands in (88) on the two legs, finishes the program of getting out of a predicament or an embarrassing situation up to two legs.

In another embodiment, can two legs be mounted to allow every one leg can be on horizontal plane roughly forwards, backwards direction slide, finish the relative motion between the two legs, to replace above-mentioned rotary apparatus.Perhaps, two legs can adopt the knee that is similar to the people and the connector in buttocks joint.

With wheel group stair climbing

Although the embodiment among Fig. 1 needs the member of different kiss the earths for stair climbing with advancing on smooth landform, the embodiment of the present invention in Fig. 9-21 uses the member on same set of contact ground in the time of successfully advancing at stair climbing with on smooth landform.Fig. 9-18 explanation the present invention utilizes the member of one wheel pairs group as kiss the earth, replaces the embodiment of employed one wheel pairs among the embodiment one.

Fig. 9 represents to use the side view of embodiment of the wheel group of two wheels.People 962 is sitting on the seat 95 of this embodiment.Be the wheel group 91 on right side shown in the figure, it has a pair of axle locational wheel 931 of 92 radial symmetric and 932 in the wheel group of rotating.Equally, a pair of same wheel group is also arranged in the left side.Each wheel group respectively has its independently in check motor, drives its rotate moving axis 92 and rotates.Each drives its by an independently in check motor again to wheel (931 and 932) and rotates around the axle of itself, and but, two wheels in wheel group are bound up, and synchronously rotate.

As seen from Figure 9, the position of wheel group 91 is to arrange that so promptly, two wheels 931 all contact with ground with 932.When wheel group 91 (with the wheel group in left side together) when being in this position, on the vehicle pro-back plane of present embodiment is more stable, thereby can allow a people 961 (people who is standing shown in the figure) change the position 962 that is seated on the vehicle soon into, perhaps, for example a cripple transfers to this seat from another chair.

But 91 of above-mentioned wheel groups are as shown in Figure 10, when wheel in having only each wheel group 932 contacts with ground, could rotate around its axle 92.When wheel group 91 (with the wheel group in left side together) when being on this position, just the same with embodiment among top Fig. 1, vehicle has just lost the stability of fore-and-aft direction.In order to drive these wheels, with the stability before and after the dynamical fashion foundation, the same equation of this device of control of saying above can adopting.Fig. 9 and 10 also represented, chair 95 can have the hinge bar of two sections bars 941 and 942 and the member of kiss the earth connects by one, these two sections bars can adjust between them and and seat 95 between angle.This adjustment is to finish by starting the driving device that is arranged on wheel hub 945 and 946.(this driving device can be to coordinate driving device.) result's (add wheel group rotate effect) of this adjustment is, wherein, the Level Change at seat 95; As seen from the figure, people 101 be sitting in height on the chair can reach with same (even higher) of the people that standing 961 highly.This is sought after, because the people who is sitting on the wheelchair is short than the people who is standing usually.Above said adjustment can also be adjusted to the seat and tilt forward and back, this point will be discussed in further detail below.

Figure 11-18 is illustrated in the wheel group of using a kind of three wheels under variety of way and the structure.The wheel group of two wheels in the wheel group of Figure 11 (motionless position is stablized in demonstration) and three wheels of Figure 12 (equilbrium position when demonstration is advanced) and Fig. 9 and 10 is corresponding.Each three-wheel wheel group (the wheel group 111 of only having represented the right side among the figure) all is mounted to and can rotates, and adopts controllable independent motor to drive it and rotate around axle 112.The same with two-wheeled wheel group, each wheel in each wheel group is drive all, and controlled, but the wheel in each wheel group all rotates synchronously.

Should be noted that, though said here many embodiment use the independent motors of independent control, but, also can only finish many functions with a common motor, and the independent control of each wheel can be with suitable clutch or other actuating units, and for example differential driver is realized.Be used in this description and claims in term " driving device that drives with motor ", its meaning is anyly can produce the mechanokinetic vehicle, and it is irrelevant with device itself, therefore, it comprises and has any suitable transmission mechanokinetic mechanism, electric power, hydraulic pressure, pneumatic or thermodynamic motor (latter comprises internal combustion engine or external-combustion engine); Perhaps produce the device of thrust, for example the propeller of gas engine or motor driving.

Figure 13 is similar to Figure 12, but chair 95 has a backrest 131 and a seat 132.Backrest 131 is adjustable with seat 132 angulations and seat 132 with the horizontal line angulation, so when backrest 131 was in general upright position, seat 132 can tilt with vertical line, allows user obtain more approaching position of standing.

The situation of having represented the stair climbing of this embodiment among Figure 14.Here, two hinge bars 941 and 942 all are on the position of stretching, extension, and to obtain the highest height, like this, people 101 bipod can be crossed step 141.Right wheel group 111 and revolver group (not shown) is rotated, and the rotation that is mated of each wheel around central shaft 112, just can finish the process of stair climbing.Below, with reference to the concrete mode and the control structure of the program description stair climbing among Figure 27.

Figure 15-the 17th is similar to the view of the embodiment of Figure 11 and 12, and still, in this embodiment, the one section bar (being 171 these sections among the figure) in two sections bars 161 in the hinge bar and 171 is in fact with seat 151 and coaming plate 152 in the molectron of supporting health.Also be provided with something or somebody to fall back on plate 155 on the coaming plate 152.When the direction of hinge bar 171 was near the upright position, seat 151 just left original position, made people 153 be in the standing place of being supported by seat 151, coaming plate 152 and footboard 154.

Figure 18-20 illustrates an embodiment similar to Figure 11-14, and in this embodiment, people 101 height can be adjusted by telescoping member 181, and above-mentioned telescoping member makes it flexible by the independent motors control device.In addition, the people is to adjust by the motor sub-assembly 191 of the independent control among Figure 19 around the angle of waving of the R-R axis among Figure 19, as shown in figure 18.Further, chair 181 tilting forward and back on two diverse locations shown in Figure 19 and 20 then can be adjusted by the motor sub-assembly 192 of independent control.Though the adjustment of waving in the present embodiment and tilting all is to realize with the driving device of a pivot and a motor driving, but these adjustment work also can realize by enough one group of four-link mechanism or other link mechanisms with the driving device connection of motor driving.

As seen from Figure 21, also can make according to vehicle of the present invention and do not have chair.The people stands on the platform 211 and holds handle 212 on the column 213 that is fixed on platform 211, so the vehicle of present embodiment can be driven in the mode that is similar to motor scooter.Can on handle 212, be provided with easily a action bars with thumb control come controlling party to, certainly, also can adopt other control method.For example, column 213 and handle 212 can not wanted, and equip pick off on platform 211, to survey people's deflection.In fact, as in Fig. 5, describe and also want below as described in, the pitching of vehicle is detected and compensation by control loop, so, if the people turns forward, just vehicle travel forward, to keep vertical stability.Therefore, turning forward travels forward causing, and moves backward causing and retreat.Suitable strength shifter can be set detect left and inclination to the right, and relevant controller is set, make measured bevelled junction phenolphthalein cause or right-hand rotation.Also can detect inclination with proximity transducer.Equally, the vehicle of present embodiment also can be equipped a foot switch (or power actuation switch) and comes maneuver vehicle.When the people stood on the platform 211, switch was just connected, and vehicle just automatically starts.Though only represented the left and right sides wheel group 214 of operating in the present embodiment in the mode of the wheel group of Figure 13-20, but, also can be alternatively, the member of other kiss the earth is set on vehicle, for example as shown in Figure 1 along the independent one wheel pairs of horizontally set (but not having lower limb), perhaps as Figure 22-24 (will be described below), about respectively be provided with manyly to axial vicinity, be mounted to the arc component that can rotate.

Use the arc component stair climbing

Figure 22-24 illustrates an embodiment, wherein, axial vicinity that the member of each kiss the earth is made many (they being a pair of among the figure), be mounted to the arc component group that can rotate.For example, with Figure 15 in the suitable Figure 22 of the propulsive embodiment of wheel group in, the member of the kiss the earth on right side is made paired arc component 221 and 222.Each is arranged on the relative two ends of a pillar (label is respectively 221c and 222c) to arc component 221 with 222 arch-shaped elements (label 221a-221b and 222a-222b), and this pillar is mounted to and can rotates around its mid point.Each root pillar 221c and 222c drive with motor, and can independent mutually control.During running, in the process of normally advancing, above-mentioned each effect to arch-shaped elements is similar to a wheel.For example, when normally advancing, when arch-shaped elements 221a soon breaks away from the bottom surface, the position shown in element 222a has just turned to, the feasible rolling that shape caused by arch-shaped elements continues.So this car just can be basically along with these arch-shaped elements continue to roll.Like this, usually, the angular velocity that each arch-shaped elements rotates around it axial-movement is not constant.Generally, when the neither one element contacted with ground in a pair of element, the angular velocity of this a pair of arch-shaped elements was just than comparatively fast.But, when this centering has an element to contact with ground, the angular velocity of this a pair of element (thereby the element that just contacts with ground) will be controlled, and the ground run speed of it and vehicle is matched, and vehicle just can reach needed ground run speed like this.

The angular velocity varies of arch-shaped elements, but vehicle still has this effect of constant ground speed, is that this moment of torsion attempt causes the acceleration of undesirable vehicle because reaction torque is arranged on vehicle frame.A scheme that addresses this problem is the retroaction that the reaction torque that vehicle is designed to motor drive is equaled the arch-shaped elements that it drives, and direction is opposite.This can represent with following formula $I_R{\stackrel{.}{\mathrm{\&omega;}}}_R+I_L{\stackrel{.}{\mathrm{\&omega;}}}_L=0$

In the formula, I is a moment of inertia, and subscript L represents the arch-shaped elements device, and subscript R represents rotor arrangement.This equation also can be write as: $\frac{{\stackrel{.}{\mathrm{\&omega;}}}_R}{{\stackrel{.}{\mathrm{\&omega;}}}_L}=\frac{I_L}{I_R}\&CenterDot;$ The ratio that can replace above-mentioned angular velocity with the gear ratio Ng of following formula: $N_g=\frac{I_L}{I_R}$ 。Satisfied the equation (this can by means of suitably design gear ratio and inertia be realized) of this Ng, reaction torque is with regard to balance, and vehicle just can advance reposefully.

Usually, the radially outermost boundary of each arch-shaped elements has the constant main radius of a circular arc, and this circular arc generally equals to conform to the circle of the distance of this boundary with the length of radius.Each arch-shaped elements all has a fore-end and an end section, and when vehicle was advanced forward, fore-end is kiss the earth at first, and the last built on stilts of end section.For example the fore-end of arch-shaped elements 221a is represented with label 223, and its end section is then represented with label 224.For the arch-shaped elements kiss the earth reposefully that allows in the process of advancing forward subsequently, each arch-shaped elements should be slightly smaller than the main radius of the circular arc of this element at the vertical arc radius near its fore-end.Equally, in order to allow arch-shaped elements subsequently contact with ground reposefully in the process of advancing forward, each arch-shaped elements should be slightly smaller than the main radius of the circular arc of this element at the vertical arc radius near its end section.Alternatively, perhaps add in addition near the vertical arc radius of fore-end and end section and can regulate, so that the arc component of load from this group is transferred to another member with other modes.May need to make the main radius of the radius of cambered top end in some embodiments greater than circular arc.In further embodiments, above-mentioned top may be mounted to and can turn to, and connects with a transfer, the result, and when action, partial arc radius can change.

Should be noted that, when needs, can be by means of pole 221c and 222c are diverged to an angle (near the π radian), the fore-end of an arc component is contacted with ground, and the end section of another arc component contacts with ground, and these contact points are spaced a distance d from one another, and like this, just can be placed on the vehicle of present embodiment on the immobilized position.Such position also reduces the whole height of vehicle, and is convenient to vehicle and stores compactly or transport.

Figure 23 represents that the people on the vehicle among Figure 22 stands on the platform 154, and the direction at seat 151 is vertical.This vehicle on the whole with Figure 17 in suitable with the propulsive embodiment of wheel group.

Figure 24 represents that vehicle among Figure 22 is at stair climbing.These poles are to move by this way, that is, arc component is subsequently stepped on next step.

The details of wheel group structure

Figure 25-26 provides the details of the three-wheel wheel group design of the embodiment among Figure 18-20.Each wheel group 251a and 251b have its CD-ROM drive motor, by a gear train wheels group.Wheel in each wheel group provides power separately by the motor 253a of wheel group 251a and the motor 253b of wheel group 251b.At the wheel of a given wheel group 251a or 251b inside by the motor 2531 of this wheel group or 253b geared system driven in synchronism by a radial arrangement.In the side view of the wheel group 251a of Figure 26, wheel 261a, 261b and 261c have been represented, and with driven wheel 262a, 262b and the 262c of its collaborative work, drive by running down gear 263a, 263b and 263c respectively, and these running down gears are by the shaft-driven power gear driving of motor 253a.

Figure 27 is a block diagram of representing respectively to be used for the information of transmitting between the control device of vehicle of embodiment of Figure 18-20.A same cover control device can be used for any other embodiment of this description.Vehicle provides power by set of cells 271.Bus 279 is transmission information (implementing in placed in-line mode among the figure) between each control device, and for they provide power.The control of all devices is provided by central microcontroller operating board 272 in the vehicle.The signal of the input central authorities microcontroller operating board that lays the foundation for the control of device (coming from transmitting such as action bars and the such information source of inclinometer) is provided by driver's interface module 273, and this assembly will be described in conjunction with Figure 29 below.Inclination, the height of the chair 182 among Figure 18 and wave respectively by the controller for motor 274 that tilts, the controller for motor 275 of height and the controller for motor 276 that waves and regulate.The rotation of left and right wheel group is controlled by the control device 278a of revolver group and the control device 278b of right wheel group respectively.The rotation of each wheel is controlled by the control device 277a of revolver and the control device 277b of right wheel in the left and right wheel group.

The unitary construction of each control device that is used for chair position and wheel and wheel group shown in Figure 27 is shown in Figure 28.Motor 281 is accepted three phase mains from power supply changeover device 282.Provide information from the signal of Hall effect detectors 2812 outputs for power supply changeover device 282, the phase place of the power supply of control input motor.The information of the position of relevant motor shaft turn or the machinery that driven by this motor can be provided (perhaps, can only with Hall effect detectors 2812) by one or more a plurality of potentiometer 284, tachometer 2811 or increment code converter 2813.These signals all flow to peripheral microcontroller operating board 283.The additional temperature output signal that is produced together by power supply changeover device 282 and motor 281 microcontroller operating board 283 to the periphery provides input signal.Above-mentioned peripheral microcontroller operating board 283 is communicated with central microcontroller operating board by bus 297.

Figure 29 is the block diagram of the details of the driver's interface module 273 among Figure 27.Peripheral micro computer operating board 291 is accepted the signal sent here from action bars 292 and inclinometer 293.This inclinometer provides information to the angle of pitch and pitch rate.(in entire description and claims, any device that provides the indication angle of pitch or pitch rate that signal is provided is provided " inclinometer " this term, and irrelevant with the used device of finishing this output signal; If the output signal of angle of pitch and pitch rate variable only is provided, then its dependent variable can obtain by means of time differential or integration.) in order to allow vehicle when turning, have in check gradient (so that improve when turning stability), also can use second inclinometer that the information of waving and waving degree is provided easily, perhaps, the making a concerted effort of system weight and centrifugal force.Provide other input signals 294 also to need as the input of peripheral microcontroller operating board 291.So-called other input signals comprise: switch and the decision mode of operation (control signal of the switch (button or knob) of said inclination mode or balance mode for example of adjusting chair.Above-mentioned peripheral microcontroller operating board 291 also accept from set of cells 271 send about cell voltage, the input signal of battery current and battery temperature.Peripheral microcontroller operating board 291 is communicated with central microcontroller operating board 272 by bus 279.

Figure 30 is before the central microcontroller operating board 272 of Figure 27, the logical flow chart in a control cycle.For outstanding feature, control cycle is from step 301, promptly from checking that the technical staff has without any input information.Next procedure 302 is to read the information that the driver imports from action bars, switch, button and knob.Then, in step 303, the state variable of vehicle is read out as input information.Then, in step 3011, revise the shown information (under the state of special use) of technical staff, then, basis is from the state of the input variable improvement program that step 301 to 303 obtained in step 304.Then, have a try, whether will withdraw from this program (step 3041), if the answer "Yes", all motor amplifiers would have been lost efficacy (step 3042), so program constipation bundle.Otherwise, just relevant variable (for example temperature, cell voltage etc.) is carried out safety inspection (step 3043),, the motor amplifier of wheel and wheel group was lost efficacy (step 3044) if answer is a "No", then, the state (step 3055) of improvement program.But, owing to suitably use other inspection of some levels, so the said motor amplifier only just lost efficacy after having set up limit warning actuator.If it is no problem in the safety inspection of step 3043, perhaps, in step 3055, improved after the program state, finish the calculating (step 305) of wheel group torque signal in order, the calculating (step 306) of wheel torque signal, the calculating (step 308) of rate signal is waved in the calculating (step 307) of pitch velocity signal, and the calculating (step 309) of height rate signal.Then, in step 3010, these result calculated as an output signal, are outputed in the corresponding vehicle and go.In step 3091, this program is waited for next timing signal, so that begin control cycle again.The frequency of the control cycle in the present embodiment is in the scope of 200-400Hz, and such frequency provides gratifying control reactive and stable.

Figure 31 illustrates that the structure of the size of the wheel group among definite Figure 11-26 and this wheel group can be used for the variable of size of imaginary stair up and down.The various variablees that are used for these represented sizes of definite Figure 31 are listed in table 1." nominal " size refers to that embodiment among Figure 18-20 is used for implementing and the typical sizes of these projects of working.

Table 1 size variable

Use in conjunction with the following description in the table 1 variable and below during those variablees in the table 2, use following regulation:

1. the variable of determining in terrestrial coordinate system is named with uppercase single subscript.Terrestrial coordinate system is to be fixed on tellurian (motionless).

2. the variable of determining in relative coordinate system is named with double subscript.These two subscripts are represented the end points of variable.Following target race-card shows the sign of variable.For example, θ pc is the angle between the lower limb of pillar and wheel group, at this moment, rotates to clockwise direction from the pillar of wheel group and to be forward (seeing regulation 4)." lower limb " of wheel group is equilibrated in the above up till now one section lines of taking turns subcenter from the center of wheel group." pillar " of wheel group is that center of gravity from device is to one section lines of wheel group switching centre.

3. lower subscript is used to represent other features, for example, and a left side/right side or the like: the r=right side; A 1=left side; The ref=benchmark; F=finishes; S=begins.

4. all clockwise angles all are positive, and at this moment, vehicle along the positive direction of X to overtake.

5. the round dot of variable top is represented time differential, for example:

Figure 32 explanation is used for determining that the wheel group is with respect to vehicle with respect to the angle variables and the kinematic variables of the direction of the earth.These variablees are all listed in the table 2.

Table 2 angle variables and kinematic variables

Variable e	Title	Explanation
			θ c	Wheel group angle	Vertical line and present angle between the straight line of equilibrated wheel on the wheel hub of wheel group
θ w	Wheel angle	Angle between the radius at random on vertical line and the wheel
			θ Pc	Wheel group pillar angle	Beginning to finish to equilibrated lower limb in the above from pillar, is the angle at center with the wheel hub of wheel group.(when balance on the vertical wheel of lower limb, θ Pc=180 °)
θ Pw	Wheel pillar angle	Angle between the lines at random on pillar and the wheel
			X	X	The wheel subcenter is along the linear position of frame of reference bottom surface
θ 1	The inclinometer angle	Inclinometer is with respect to the angle of gravity
			θ	The angle of pitch	Actual angle between vehicle's center of gravity and the wheel subcenter.This angle is by being used for θ cAnd θ PcThe angle θ of compensation inclinometer 1Derivation is come out.
ψ	Angle of oscillation	Angle between the X-axis line of vehicle and the X-axis line of infrastructural frame.

Figure 33-the 35th, be fit to Figure 27 in control device combine the block diagram of the control law system of use, it be suitable for advance and the two kinds of situations in fixed position under, when the one wheel pairs balance, provide the stability of vehicle for embodiment according to Figure 11-21.

Figure 33 represents to be used for the control device (corresponding to label 252a, the 252b of Figure 25) of the motor of left and right wheel.This device except by action bars along the determined directivity input signal 3300 in position of the axis X of Basic Reference Coordinate System and Y, also have θ,

(revolver is with respect to the linear velocity of earth-based coordinate system) and

The input signal of (linear velocity of right wheel).Input signal θ, , and error signal x and

(will be described below) comes according to gain K1/K2/K3 and K4 respectively, becomes the input signal of input summer 3319, and this adder is in the above in the common mode in conjunction with Fig. 6 description, for wheel produces torque command in a basic balance.The output of waving PID closed circuit 3316 (will be described below) in the output of adder 3319 and the adder 3320 combines, and removes in divider 3322, and get the limit in saturation limit device 3324, to produce the torque command of revolver.Equally, the output of the PID closed circuit 3316 in the output of adder 3319 and the adder 3321 combines, and removes in divider 3323, and get the limit in saturation limit device 3325, to produce the torque command of right wheel.

In Figure 33, along the input signal of the direction of X-axis line make Basic Reference Coordinate System along its X-axis line with respect to earth-based coordinate system (this system represents running surface), move with the speed that is directly proportional with the displacement of action bars.And make Basic Reference Coordinate System around its z axis along the input signal of the direction of Y-axis line, rotate with the angular velocity that is directly proportional with the displacement of action bars.Be readily appreciated that action bars moves to positive directions X, can be understood that to travel forward here; And action bars then is understood that to move backward to the moving of minus directions X.Equally, action bars was turned to mobile the meaning left of positive Y direction,, saw it is counterclockwise rotation from above that is, and action bars then means right-hand bend to moving of minus Y direction,, sees it is clockwise commentaries on classics from above that is.Because above-mentioned direction input signal X and Y are respectively by dead zone program 3301 and 3302 dead zones of stipulating, neutral position with the broadening action bars, pass through the amplification of K11 and K10 then, carry out rate limit by limiter 3303 and 3304 respectively then, limit the angular acceleration and the linear acceleration of Basic Reference Coordinate System respectively.The summation of these outputs that obtain by adder 3305 just becomes reference speed Xr ref, and these outputs that obtain by adder 3306 is poor, becomes reference speed Ref.Linear velocity input signal in adder 3308 and 3307 after the compensation of revolver and right wheel With

In deduct these two reference speeds (asking for an interview among following Figure 35 explanation) to this problem, obtain the speed error signal of revolver and right wheel in the Basic Reference Coordinate System

With Then, the meansigma methods of these signals of determining by adder 3317 and divider 3318 produces a linear velocity error signal

Right in integrator 3310 and 3309

With

Integration limits its answer in saturated limiter 3312 and 3311, and then obtains the meansigma methods of these signals by adder 3313 and divider 3315, has just drawn displacement error signal x.Difference between these displacements of determining by adder 3314 is exactly rolling error signal ψ.

Above-mentioned rolling error signal ψ passes a proportional-plus-integral and adds derivative (PID) control loop 3316, its output is combined with the torque command output in a basic balance of adder 3319, produce the torque command of single wheel, make the stability of wheel before and after keeping, and also make vehicle itself aligning and follow the axis of the original Basic Reference Coordinate System that is led by direction input signal 3300.

Figure 34 is the sketch map of wheel group control device.The direction of wheel group can be controlled by direction input signal 3400.If necessary, be used to the same piece action bars of wheel provider to input signal 3300, can be with an independent switch, in mode independently, provide the direction input signal of using for the direction of wheel group specially 3400.According to generally to adder 3306 mode similar by Figure 33 with 3305 single path, here added the signal that positive displacement produced of action bars to directions X, and deduct in adder 3402 and 3401 the signal that positive displacement produced to the Y direction, so that the signal of left and right sides wheel group slewing rate to be provided, these signals are through after the difference integration in integrator 3404 and 3403, and wheel group adder 3406 and 3405 provides needed angle direction information to the left and right respectively.

The input signal 3400 of lacking direction, preferred wheel prescription to (being generally θ pc ref=π radian) by the line 3413 among Figure 34, with showing the signal of actual wheel prescription, offer each adder 3406 and 3405 to θ pcl and θ pcr (obtaining by integrator 3412 and 3411 respectively) by means of the encoder of the angular velocity signal that makes the wheel group from left and right sides wheel group.Then, adder 3406 and 3405 output signal are the wheel group position error signals of left and right sides wheel group respectively just.These signals by pid control circuit 3408 and 3407 and saturated limiter 3410 and 3409 send, drive the motor of left and right sides wheel group.

Figure 35 is the sketch map relevant with Figure 33, and expression shows the device of the state variable of wheel position, the angle of pitch with it, and the speed of decision pitching, so that the effect that compensation wheel group is rotated.Listed as table 2, above-mentioned pitching angle theta is the center of gravity of vehicle and the present actual angle between the center of equilibrated wheel in the above.The angle θ I that is recorded by inclinometer is the angle of pillar with respect to vertical line.Therefore, actual pitching angle theta is according to θ I, and reuse adder 3518 cuts a correction signal θ Icorr.Signal θ Icorr calculates according to θ pc+ π-θ c in adder 3516.Above-mentioned θ pc is by the meansigma methods decision of the angle θ pcl of left and right sidesing pillar one wheel group and θ pcr, and θ pcl and θ pcr are that the output signal integration to left and right sides wheel group coding device gets in integrator 3509 and 3510; Above-mentioned meansigma methods obtains with adder 3511 and divider 3512.Suppose that vehicle is equilibrated, θ c can obtain from θ pc with following formula: $\mathrm{\&theta;c}={t_{\mathrm{an}}}^{-1}\left[\frac{L\sin \mathrm{\&theta;pc}}{l-L\cos \mathrm{\&theta;pc}}\right]$ 。This calculating is carried out in 3515 intervals.Above-mentioned θ lcorr is with differentiator 3517 differential, supplied with by adder 3519 to provide one, draws correction output signal

After the pitch rate signal

Equally, the linear left and right speed of left and right wheel

With Be by linear left and right position signal

With Differentiator 3507 and 3508 differential after obtain.And these position signallings are by means of the gain r in multiplier 3505 and 3504, amplify that the absolute angular position θ wl that has determined of left and right wheel and θ wr obtain.Above-mentioned angular position w _lWith θ wr at first in integrator 3501 and 3502 to the code device signal of left and right wheel

With Integration, with acquisition θ pwl and θ pwr, and determine.Then, these signals are sent into adder 3503 and 3504, the effect of compensation wheel group additional rotation θ c and the amount 1/2 (θ pc-π) that from adder 3513 and 3514, obtains in these two adders.

Figure 36 and 37 be expression be suitable for Figure 27 in control device combine and use, the block diagram of control law system is so that can allow a car according to the embodiment among Figure 11-21, according to the such mode stair climbing of first embodiment with surmount obstacles.In the present embodiment, the wheel group is placed to the pattern of inclination, and the wheel group is rotated in this manner, attempts to adopt the same common mode of wheel turns normal equilibrium mode with shown in Figure 33, keeps balance.What use is same fundamental formular.Among Figure 36, adder 3601 provides correction signal to drive left and right wheel group, and this correction signal obtains from inclinometer 3602, this inclinometer by gain K1 and K2 provide respectively the angle of pitch and pitch rate signal θ and Provide from the code device signal of left and right wheel group output With Input signal, by integrator 3603 and 3604 integrations respectively, and carry out saturated restriction respectively, to produce θ pcl and θ pcr by limiter 3605 and 3606.By adder 3608 and divider 3610 average after, these numerical value just become angular displacement pc, this angular displacement is by gain K3, in additional signal input summer 3601.Be defined as by adder 3617 and divider 3618

With

The speed of meansigma methods

Pc is another input signal of adder, but, this time be by gain K4.By adder 3611 and 3612, divider 3613 and 3614, and saturated limiter 3615 and 3616 can drive the motor of left and right wheel group to the output signal of adder 3601 equably respectively.But the signal of the distortion by pid control circuit is then by adder 3611 and 3612, for left and right wheel group motor provides differential driving.The signal of this distortion utilizes adder 3607 mutual subtract signal θ pcl and θ pcr and obtains.

When the wheel group was in tilt mode, wheel all was in follower mode, and in this pattern, wheel is to be driven by the function that the wheel group is rotated.This point is shown in Figure 37, among the figure, the conduct that draws from Figure 36 is multiplied by the climbing proportionality constant from the output signal θ pc of divider 3610 gain 3710, produced θ pw ref, this is one and passes through pid control circuit 3705 and 3704 respectively, and after saturated limiter 2707 and 3706, input summer 3703 and and 3702 in go, be used to control the signal of left and right wheel motor.Relatively Figure 37 and 34 shows, to be driven in the mode of vertical (π radian) input signal 3414 identical for the wheel group among the mode that the wheel in Figure 37 is driven in the wheel group and Figure 34.In Figure 37, adder 3703 and 3702 respectively has two other input signals.One is the input signal of following the tracks of from the result of the next direction input signal 3714 of action bars, this signal is in the mode similar to the processing procedure among Figure 34, by adder 3709 and 3708 and integrator 3711 and 3710, produce respectively left and right control signals to adder 3703 and 3702 inputs.Another input signal is the effect of following the tracks of wheel turns, so, left and right output signal of taking turns sub-encoders is also deducted by adder 3703 and 3702 by θ pwl and the θ pwr that integrator 2713 and 3712 obtains.

Use tilt mode that strong and stable method is provided for surmounting obstacles.The climbing ratio is by be gain 3710 selected multiplier decisions in Figure 37.(this is one and can selects to determine obstacle below the measurement of suitable airborne sensor with manual or automatic mode one after decision, perhaps all or part of according to experience, come to determine according to variable of state itself), vehicle just can or make vehicle tilt to surmount obstacles to needed direction by means of people's inclination.The wheel group is rotated, and rotates with wheel keeping the equilibrated while, surmounts obstacles.If vehicle does not run into obstacle, just require it under the balance mode of Figure 33 and 34, to work, at this moment, the wheel group is followed the π radian all the time, and wheel then keeps balance and makes vehicle operation.

Conversion between wheel balanced mode and the wheel group tilt mode should be noted that.Figure 38 is the block diagram that the state of the vehicle of the embodiment among Figure 33-37 is changed between idle running, inclination and balanced mode.At crucial moment, before (2 π/3)=0 of determining (θ pc-π) pattern, there is not the variation of state.The state that center of gravity roughly is in butt contact when top on ground is main state, in the following description with claims in, this situation is called " zero crossing mouth ".On the zero crossing mouth, the residing position of wheel group make it can, for example, follow the mode among Figure 34 all the time, be in the position of θ pc=π.After program 3801 beginnings, the initial condition of vehicle is to prepare idle running 3802, enters and stay dry run 3803 from this state then, till running/idle running switch moves to the running position.One on being in this position the time, and vehicle just enters the dry run state 3804 that leaves.Owing on that wheel group, all do not have absolute standard,, our supposition, vehicle is on the ground of smooth sustained height, is in the state of " leaving dry run " 3804, and being absolute standard under this state.By all motions of the wheel group that incremental encoder determined, all for this benchmark.At this moment, perhaps any time afterwards,, so, get back to preparation idling conditions 3802 just cross path 3812 if running/idle running switch moves back to neutral.Otherwise, just enter waiting state 3805, and remain on this state, up to definite θ=0 o'clock, just enter and prepare heeling condition 3806.Then, enter heeling condition 3807 from preparing heeling condition, and remain under this state, till having a switch to move.If be placed on rear-inclined/balance cock on the position of poised state, and the wheel group is in the zero crossing mouth, so just successfully is transformed into and leaves heeling condition 3808, arrives and prepares poised state 3809, and is last, arrives poised state 3810.If inclination/balance cock moves to the heeling condition position,, get back to and prepare heeling condition 3806 just vehicle is transformed into and leaves poised state 3811 so.

Above-mentioned waiting state can allow the motor of wheel and wheel group start reposefully.Do not have waiting state, control circuit will attempt to compensate the signal of the significant errors of sending here from inclinometer that lies dormant at once.Owing to begin at the zero crossing mouth, just can avoid this point.On the zero crossing mouth, monitor θ, and require it to be lower than the supplementary technology of some threshold values, can make startup more steady.

Figure 39 A-B, 40A-B, 41A-B and 42A-B explanation allows a vehicle as the embodiment among Figure 11-21, the program in the control device during according to the such stair climbing of second embodiment.Four base component operation sequences are arranged in this embodiment: starting; The starting point of set angle; Transfer weight; Climb the building.This embodiment can implement with the control device among Figure 27 easily.Figure 43 (starting), 44 (transfer weight) and 45 (climbing the building) are the block diagrams that the control law system of these four programs is finished in expression.(because not action in this program of starting point of set angle, so there is not to be the control law system of this program yet.) Figure 39 A and 39B represent the direction of wheel group in progress of starting sequence.In this program, the wheel group moves to from its normal equilibrium position (Figure 39 A) on two wheels that first pair of wheel (a wheel group one) is on the first step and the second pair of wheel (a wheel group one) is in the state (Figure 39 B) on the next step.In this manual in conjunction with the employed angle value of Figure 39 A-42C, all be to adopt the stair listed in the top table 1 and the numerical value that size drew of the wheel in the wheel group.In the progress of starting sequence of the algorithm shown in Figure 43, will offer wheel group program 4301 as the input signal of the θ pc ref of the function of time; This function changes to the end of a period value from initial value smoothly.The input signal of a θ c ref perhaps, also can be provided in a similar fashion.At this moment, the input signal of θ c ref calculates sin by processor 4302 ^-1The value of (Lsin θ c/L).This value offers adder 4303 with θ c ref and π as input signal, and this adder calculates: θ pc ref=π-θ c ref-sin ^-1(Lsin θ c ref/L),

Transformator offers wheel group program 4301 to this value as the input signal of θ pc ref.Identical among the design of above-mentioned wheel prescription frame and Figure 34, just θ pc ref no longer is fixed on the π, changes said just now but resemble.Equilibrium code 4304 be designed to Figure 33 in identical, but action bars gain K10 and K11 are set in above freezing.Adder 4305 with Figure 35 in same mode the pitching reading of inclinometer is afforded redress, and, the output signal of adder 4305 is carried out differential by differentiator 4306, so that provide correction to θ l according to mode shown in Figure 35, so, offer wheel quantum balancing algorithm 4303 be after proofreading and correct pitching input signal θ and

The signal of input equilibrium code

With

Also so that the described the same manner of Figure 35 is obtained.

Figure 40 A and the process of 40B explanation wheel group in the starting point program of set angle.In this step, in order to measure the variable of state, this system with the constant basis of " lower limb " from (belonging to the 2nd) in the regulation of table 1 back with below wheel link together, change into next step on wheel link together.As a result, because three wheels are arranged on the wheel group, and be 2 π radians round the total angle of wheel group switching centre, in this step, θ pc is added 2 π/3, and from θ c, cut 2 π/3 radians.In this step without any motion.

Figure 41 A and the process of 41B explanation wheel group in this program of transfer weight.In this program, on the wheel of vehicle and people's weight step above the wheel of following step is transferred to.This program is according to the physical dimension of known step and wheel group, implements as the operation that weaves program in advance.In this program, the value of θ c is constant.And the value of θ pc must change to the new position that can reflect vehicle's center of gravity.In order to reach this result, will offer line 3413 as the θ pc ref signal of time function, be input in the wheel subprogram of the wheel group program of Figure 34 and Figure 44.Because this program is what to have finished, so the wheel equilibrium code of climbing among building program and Figure 33 among Figure 45 is inoperative.In Figure 44, input signal θ pc ref is by divider 441, then, and by pid control circuit 445 and 444 and saturated limiter 447 and 446, offer adder 443 and 442, and these two adders provide control signal to the motor of left and right wheel respectively.Above-mentioned adder 443 and 442 also deducts the value of θ pwl and θ pwr, and these two values are to obtain by the angular velocity information that integrator 448 and 449 is sent here respectively from the left and right sub-encoders of taking turns by means of handling.

The direction of Figure 42 A, 42B and 42C explanation wheel group in the stair climbing program.In this program, the wheel of vehicle next step forwards rotates, and the wheel group is rotated, and the position of next balance wheel is placed on the next step.The angle θ c that the wheel group is rotated is directly proportional with wheel travel distance on step.In this program, there is not the input signal of reference position.The people tilts, and perhaps holds handrail, so that vehicle is advanced forward.Because the result who feeds back from θ w to θ c by path 451 among Figure 45, the wheel group is automatically rotated.When the stair climbing program began, x was set at zero.Control law system in this program need monitor θ c or θ pc, and when this angle arrives its final value, is transformed into the weight branching program.In the end on step, not to stop at finishing on the angle shown in Figure 42 C, but must stop on the angle of θ c=0 or θ pc=π.Then, vehicle returns to normal balanced mode.Equilibrium code 453 and wheel group program 452 be identical with described in Figure 33 and 34 respectively.To the signal θ of equilibrium code 453 inputs,

With

Derivation with above to Figure 43 and 35 described identical.In fact, the structure among Figure 45 basically with Figure 43 in identical, only difference is a no longer independent variation of θ c ref, but becomes the function of θ w, sees off get the average of θ wl and θ wr by adder 454 and divider 455 after again.Therefore, the θ w value on online 451 will be determined its numerical value by processor 456 $\frac{2\mathrm{\&pi;}}{3}\&CenterDot;\left\{\frac{\mathrm{\&theta;\&omega;}}{\left[\frac{D-\mathrm{\&gamma;}-Z}{\mathrm{\&gamma;}}\right]}\right\},$

So just drawn the correct value that wheel group and wheel rotate on the physical dimension of this stair, and with primary θ c, promptly the value of θ c st offers adder 457 as input signal together.The output signal of adder 457 is θ c ref.

Though expression is simulation control law system among Figure 33-45, also used the digitial controller of microprocessor programming to implement in many examples.But, use the direct modeling controller, perhaps use the hybrid computer of analog-and digital-control, also be completely contained in the scope of the present invention.Analog controller successfully on the vehicle of Figure 21, uses the wheel of the lateral arrangement of a pair of replacement wheel group to implement.

The speed restriction

In another embodiment, the speed restriction can be set on above-described any one embodiment according to vehicle of the present invention, to keep balance and control, if and wheel (perhaps arch-shaped elements) is allowed to reach the maximum speed that can reach at present, just may disequilibrium and control.

Speed restriction be by means of make vehicle on the direction opposite with current direct of travel to layback, so just can make vehicle deceleration.In the present embodiment, the layback of vehicle is by adding that on the pitching value of inclinometer the pitching correction realizes.As long as the speed of vehicle surpasses by the determined threshold value of the speed restrictor of vehicle, speed restrictor just works.The correction of pitching is by observing car speed and determined difference between the speed limit of time integral being determined.Before the speed of vehicle is reduced to needed low speed (perhaps speed is lower than speed limit slightly), the pitching revision program remains, and after this, the angle of pitch is got back to its original value reposefully.

One of method of the speed limit of decision vehicle is the voltage of monitoring battery, and then, this voltage just can be used to the maximum speed that estimating vehicle is keeping at present.Another method is to measure the voltage of battery and motor, and between the two poor of monitoring, and this difference can be used to the speed limit of estimating that present vehicle may reach.

In stair climbing, use pick off

As above described to Figure 37, stair climbing and surmount other obstacles and can utilize a kind of tilt mode to implement, and the climbing rate can be selected with manual or automatic mode.This section will be described purpose how to utilize pick off to reach automatic adjustment climbing rate in another embodiment.Under tilt mode, the wheel group is " initiatively ", and wheel is " passive ".The climbing rate has been expressed the ratio between the rotation of the rotation of wheel group and wheel.For example:

1. the null meaning of climbing rate is that wheel does not move, and the wheel group is in motion.

2. it is that the wheel group is whenever goed around that climbing rate equals 0.25 the meaning, and wheel changes 1/4 to same direction and changes.

3. it is that the wheel group is whenever goed around that climbing rate equals-0.5 the meaning, and wheel changes 1/2 round about and changes.

See also Figure 46 and 47, represented a vehicle among the figure, be useful on the device of supporting human body on the vehicle, for example chair 461.The module that its form is the kiss the earth of one wheel pairs group 462 is housed on the chair 461, and each wheel group drives by motor, and some (among this figure being three) wheel 463 is respectively arranged.Each wheel on each wheel group also drives with motor.In the present embodiment, pipe of two wheel group 462 usefulness connects together, and the motor of wheel group can be contained in this pipe.Wheel group 462 is the parts that comprise the assembly of chair 461, and this assembly is installed on the pipe of wheel group by thigh link rod 466 and shank link rod 464 and the buttocks and the knee connector 467 and 465 that drive with motor respectively.The driving device of above-mentioned buttocks, knee and wheel group moves together, to change the height of chair 461.Note that in this structure when it makes the shank link rod when the wheel group is rotated, the driving device of wheel group is similar to a ball pivot.The attitude of wheel group is kept by the balance algorithm.The vehicle of present embodiment is provided with a sensors A, and it is forwards seen along route 468, just in time is installed in the top of wheel group pipe, and its terrain clearance is enough to detect the facade of second step of the stair 460 that will climb.(note that if climb the road tooth, then detect less than facade.) sensors A only uses when stair climbing.The vehicle of present embodiment also is provided with pick off B, and it is seen downwards along route 469, also is installed on the wheel group pipe.This sensor from its surface to the distance on following ground.This pick off is placed on the front of pipe, and its terrain clearance is enough to detect the pedal of the step that will climb.Sensors A and B can be the patterns of any known detection distance in this technical field, comprise ultrasonic sensor.

As shown in figure 47, when vehicle descended, pick off B detected the terminal that this installs the step at present place by means of the variation that detects height.Pick off C is installed on the footrest of chair 461 and sees downwards along route 471.Its detects from its surface to the distance on ground, below.When this pick off only is used to descend.It is enough far away and leave wheel group pipe place enough far away forward that it is arranged on built on stilts, so that the edge of step surface above seeing when preparing to descend.

In the present embodiment, in order to go upstairs, the driver of vehicle sends the order of " climbing " by driver's interface under equilibrated pattern.So the seat just is elevated to the extreme higher position automatically, make driver's foot cross the step of driver front.Then, driving vehicle advances to stair.When pick off B detects a step (when the Level Change from the pick off to ground), vehicle just enters heeling condition, makes it " drop on " (two wheel grounds below, two wheels are on first step) on the first step.One when vehicle is in tilt mode, and center of gravity (CG) is skew forward automatically just.This skew makes that the driver is easy to turn forward.Leaning forward of driver formed the error of an angle of pitch.As a result, above-mentioned wheel group balance algorithm just applies a moment of torsion to wheel group motor.This moment of torsion makes the wheel group rotate, and makes this device go up stair.

Be in two steps from four wheels at vehicle and convert two wheels to and be in a moment on the step, can use an algorithm with dynamical fashion adjustment climbing ratio.This inherent moment, that was to exist really but see following information not by the pick off decision:

1. order vehicle to be climb;

2. skew is finished;

3. owing to the adjustment of last climbing ratio, the wheel group has been changeed 2 π/3;

4. the position of wheel group is in certain window;

The order of 5. above-mentioned wheel group moment of torsion is lower than certain threshold value, and the derivative of order is minus (being equivalent to set wheel under step); And

The order of 6. above-mentioned wheel group moment of torsion is higher than certain threshold value, and the derivative of order is positive (is equivalent to set wheel and is lifted to the step top).

In above-mentioned relevant moment, algorithm utilizes sensors A to be determined to the distance of next step, and the wheel group will be rotated 2 π/3, so that arrive next step, and the radius of definite wheel, so that calculate the climbing ratio.If the reading of sensors A goes beyond the scope (above do not have step surface), perhaps distance surpasses certain threshold value (too far away, as at first must to get back to balanced mode), and in other words, this is last step; So controller enters last treatment step.All repeat such program for each successive step, to the last a step.

In the end on step, above-mentioned CG retracts the center, so height just reduces.Can make although it is so to last step difficulty of steeving more, but it is more stable when vehicle is landed.To when being transformed into balanced mode, promote vehicle and land well, will select big climbing ratio.The driver turns forward again.When determining to be on the zero crossing (according to the definition of Figure 38), vehicle is just transferred to balanced mode.Now, balance on the wheel for vehicle platform up.

The processing mode that descends is similar to rising.The driver sends the order of " to descending " by driver's interface under balanced mode.The seat just is reduced to minimum altitude (if this height of no show still) automatically.This mainly is in order to improve driver's the security.Pick off C is in the far the place ahead of wheel, so vehicle does not need the edge of too close step when balanced mode.Because to leave the edge far for vehicle when entering tilt mode, so climbing is than adjusting to quite high value.So just can make vehicle once entering the edge that tilt mode arrives step.When sensor during to step (because liftoff distance has changed), vehicle just enters heeling condition.One when entering heeling condition, and center of gravity is skew backward just.The skew of center of gravity makes the driver be easy to recede so that control decline.In order to descend, the driver at first turns forward, and causes the error of an angle of pitch, makes vehicle climb down stair.Approximately turn to a half, the driver must retreat slightly, to slow down the speed of falling next step.The pick off B that looks down by use detects the termination of the step at the present place of wheel, adjusting the climbing ratio.When not detecting the termination, climbing than adjust to big on the occasion of (command signal of wheel group is positive, climbing than or minus, or nominal, and pick off B is lower than certain threshold value).Big just climbing is more very fast than the rolling that will make wheel, so vehicle arrives the edge when front step soon.Yet if make vehicle be too near to this edge, the action of setting up the big ratio of just climbing will overrun:

1. when the sensor edge, climbing than be set in nominal on the occasion of (distance is greater than specific threshold value, and climbs than being positive).One when having set this value, and it must satisfy the condition that makes vehicle enter the appropriate location.

If 2. determined the too close edge of vehicle, climbing is than adjusting to little negative value (signal of wheel group is positive, climbing ratio or minus, or nominal, pick off B is higher than certain threshold value).Minus climbing rotates backward wheel than when the wheel group is rotated, and is parked on the current step with making vehicle safety.

All repeat the manner of execution that descends for each step.One works as the bottom that vehicle drops to stair, and pick off B and C just no longer detect step (reading of pick off is lower than certain threshold value).At this moment, vehicle is transformed into balanced mode again.

The conversion of pattern

Though the conversion of the vehicle in Figure 46 and 47 between tilt mode and balanced mode can be arranged like that according to Figure 38,, the conversion among the embodiment of vehicle of the present invention below between the pattern can be arranged on the more effective and successive basis.Use connector 465 and 467 to control the height of seat 461 and connector 467 in this embodiment, particularly controlled the inclination at seat 461.In tilt mode, vehicle has four wheels to land (each wheel group respectively has two wheels to land), so its can stair climbing or surmounts obstacles.The output of wheel group motor is according to the angle of pitch and the pitch rate of inclinometer, and the speed of wheel group coding device is adjusted.When by have a down dip/during balance cock, just be transformed into balanced mode.

When being transformed into balanced mode, centre-of gravity shift is in the top of front-wheel of the kiss the earth of each wheel group.In order to finish this process, make artificial angle of pitch error with increasing the correction value that is added on the inclinometer reading gradually.This artificial angle of pitch error makes wheel group balance algorithm apply a moment of torsion on wheel group motor, and the wheel group is rotated.This moment of torsion makes the seat turn forward, with the artificial proportional degree of angle of pitch error, make the seat move to front-wheel top.(simultaneously, can tilt to a new position that is decided by the connector 467 among Figure 46, thereby keep the height at seat with same correction value order seat.)

When the position of wheel group during greater than the indexing of the wheel group of defined (side-play amount according to CG is decided), the conversion quick-recovery of wheel group is to the speed of the current motion of wheel group, and enters balanced mode.

When entering balanced mode, the wheel group has only been rotated a part, and back one wheel pairs about 2-5cm that generally is above the ground level.When entering balanced mode, " lower limb " (defined as second of table 1 back) that each wheel group must turn to it from its current position always is with vertical " pillar " (also defined as second) resembles Figure 46.This by with the regulation, the speed rotating wheel group after the conversion speed adjustment that the wheel group begins is finished gradually.The wheel group continues to rotate reposefully by this way, enters balanced mode, arrives its target location up to the wheel group.During this wheel group was rotated, artificial angle of pitch error had reduced, so that the maintenance center of gravity is in the top of ground engaging elements, up to disposing fully from the reading of inclinometer.If not so, this device will (under balanced mode) translation because of this artificial angle of pitch error.

The position of wheel group can be used for the order seat and tilt, thus when the pillar at seat is mobile backward the height at maintenance seat.One when the lower limb of wheel group and pillar all vertical (the wheel group stops operating), and seat level has just been finished the conversion from the tilt mode to the balanced mode.

If when vehicle is in balanced mode by having a down dip/balance cock, just enter conversion to tilt mode.(at this moment, the lower limb of wheel group and pillar are vertical) changes to the position (it is last that at this moment, the front one wheel pairs is in the distance of built on stilts regulation) of last requirement gradually from the home position in the position that requires the wheel group.Simultaneously, introduce an artificial angle of pitch error, to keep CG above the balance wheel.Equally, the position of wheel group also can be used for the order seat and tilt, thereby when the pillar at seat is mobile backward, the height at maintenance seat.

One turns to second pair of wheel when being in above the ground position in the distance of regulation when the wheel group, just enters tilt mode, makes device drop on the four wheels.One works as vehicle is in tilt mode, makes the pillar of wheel group keep receding, and makes the seat keep the artificial angle of pitch error that turns forward, and just in time, but has removed reposefully.As a result, the wheel group moment of torsion that is applied makes the pillar of wheel group turn to its upright position forward.Meanwhile, moment of torsion can be applied in the inclination at seat, to keep the height at seat.One when the pillar of wheel group vertical, and the seat level has just been finished the conversion from the balanced mode to the tilt mode.

Adopt the structure of coordinating driving device

In another embodiment of the present invention, the embodiment among Figure 46 and 47 implements with a kind of mechanical mode.The coordination driving device that this similar adopts in Fig. 9-12, it is shown among Figure 48-52.

Figure 48 is the vertical cross section figure that partly cuts away when the front is seen, represents the whole mechanical layout of the vehicle of this embodiment.As we can see from the figure as framework 481, buttocks assembly 482, thigh link rod 483, knee assembly 484, shank link rod 486 and wheel 485.

Figure 49 is the expanded view of the part among Figure 48, the frame for movement details of wheel group part on the expression vehicle.Two wheel motor 4913 of the left and right sides drive each wheel 485 of the left and right sides respectively; And all wheels of any given side all drive with the method for synchronization, and all drive by a double reduction gear.In the first order, motor 4913 wheels drive pulleys 496 rotate, so that make timing belt 495 motions.In the second level, used 4911, one wheels of three groups of herringbone bears to use one group, in order to the driving shaft 4912 of wheels.That side that is not connected with the wheel drive pulley on each motor 4913 is connected with a shaft encoder 4914.Two wheel groups in the present embodiment are all used same motor 4924, drive by a triple reduction gear.In the first order, motor 4924 rotates belt pulley 4921.4921 of belt pulleys drive a timing belt, and this root timing belt is seen the most clearly in Figure 50, and label is 501.Figure 50 has shown the details of wheel group driving device.Above-mentioned timing belt 501 drives a partial helical gear, comprises first gear 502 and second gear 4922.Second gear 4922 drives a pair of jackshaft 493, and this root jackshaft drives last group helical gear 494 on each wheel group again.That side that does not connect wheel group motor drive pulley 4921 on the wheel group motor 4924 is connected with a shaft encoder 4925.The far-end of the axle that wheel group drive pulley 4921 rotates is connected with wheel group brake assembly 4926, and when vehicle parking or when being in balanced mode, this brake assembly restrains the position that is used to lock the wheel group.The housing of two wheel motor 4913 and wheel group motor 4924 connects together with screw, forms a pipe.This root pipe just becomes the member that connects wheel group assembly.Shank link rod 486 is rigidly fixed on this member.

Figure 51 represents the end-view of a wheel group.Single timing belt 495 among Figure 49 is driven by the wheel drive pulley 496 that is in wheel group central authorities.One every big belt pulley 511 on three lower limbs of timing belt 495 drivings.This big belt pulley 511 drives the one group of gear that comprises pinion 512 and output gear 512, and output gear is wheels 485 again.Four running down belt pulleys 514 make belt 495 not interfere with wheel group housing 515, and the feasible cornerite that forms maximum round drive pulley.

Figure 52 represents the mechanical detail of buttocks and knee connector.These two connectors are the same on frame for movement.The Magnmet rotor 5211 of the motor that is driven by stator 5212 rotates the axle 5213 that is installed on bearing 522 and 5272.Axle 5213 makes wave-form generator 5271 rotate again, and this generator is a substantially oblong-shaped part that rotates in bearing 5272.The tooth that above-mentioned wave-form generator 5271 makes harmonic wave drive cup 5262 increases engagement or the disengagement that drives splined shaft 5261 with harmonic wave gradually.This process makes thigh connector 483 move with very high speed reducing ratio with respect to shank connector 486 or seat mount 481.The actuator of cutting out electromagnet source that has electric magnet 5281 and brake hoof 5282 acts on the wave-form generator 5271, can stop connector to rotate.This just allows motor not stop operating when connector activated.Potentiometer 524 drives cup 52462 engagements by gear pair 5241 and harmonic wave, provides the feedback of absolute position, and then 523 places are fixed on the motor drive shaft encoder (not shown) in the position, so that the information of incremental counter is provided.

A plurality of processors

Though what the embodiment among Figure 27 used is an independent microcontroller operating board 272,, have been found that the microprocessor that uses many multiple operations in some embodiments is favourable.For example, in one embodiment, used the microprocessor of four multiple operations in the Machine Design of Figure 48-52, wherein each all passes to bus to information, can allow these microprocessors monitor mutually.Also have a technical staff's interface (TI) on it, this interface can allow the technical staff change gain, is processor programming or the like.These four different microprocessors are controlled the following various different parts of this device: microprocessor 1 control knob, knee connector and buttocks connector, and action bars (x and y axis); The measurement of microprocessor 2 command ranges is checked to have (to the people), the interface of monitoring battery and user (thereby grinding stone of control vehicle); The balance algorithm of microprocessor 3 control wheel groups; The balance algorithm of microprocessor 4 control wheels.Complexity according to range measurement and other situations also may need to use additional processor.The quantity of unnecessary limiting processor.

Present embodiment has been carried out the advantage after the parallel processing: safety (each microprocessor works alone, so a processor breaks down repertoire is broken down); Ability with the numerous devices of easier exploitation; Reduced requirement to power (a plurality of lower-powered microprocessors add up ability the same big) with a PC; With can work simultaneously (a plurality of slower microprocessors can be the same with the processing speed of PC fast).

Other embodiment

The present invention can also implement with many other embodiment.Have been found that according to vehicle of the present invention to be well suited for as those because disease (for example parkinson disease or auditory abnormality) or, can help them to carry out balance or finish exercises because of the people's of residual exercise not harmony compensating device.The compensating device that reaches by means of the function of this vehicle can be used as the extension of balance sysmte of people own and motor system, because this vehicle has a feedback circuit, it has considered that the change of vehicle's center of gravity helps physiognomy moving for vehicle.Therefore, be a kind ofly can allow the people do action and equilibrated compensation method for the people with disability provides this vehicle, otherwise they can not do these to move and equilibrated.Once observed one when having parkinsonian people to use vehicle of the present invention, the surprising ability of carrying out balance and action control.

Though tool played a very important role when the driver finished motion under the condition in various variations at the vehicle that uses various embodiment of the present invention, but, no wonder, in general, direction of observation and the information that moves are very important when using the vehicle of these embodiment.Yet, have still that the information that can see suffers damage (because dark or Loss Of Vision) or the not enough such situation of information.In another embodiment of the present invention, the one or more non-visual signals of output on vehicle are with direction indication and speed.The signal of this output can be tactile or sound; These output signals are modulated with manipulator, with the speed and the direction of reflection vehicle.Expression produces acoustical signals by generator 531 among Figure 53, and by the example of the modulators modulate that has direction and speed input signal 533 and 534 respectively.In this embodiment, can use a kind of multiple sound: the multiple speed of sound can be used for expression speed, and the tone of sound can be used for representing that travel direction (for example, represent forward by high-pitched tone; Low pitch is represented backward; Medium pitch is represented vertically), and the degree of tonal variations is represented the degree that tilts, that is, and the angle of pitch of vehicle (its effect is the angle of pitch that the tone of sound equals vehicle).

Claims (80)

1. one kind is used for the vehicle carried on the ground of irregular surface being, and this vehicle comprises:

(a) support that is used to support the people;

(b) module of a kiss the earth, it is installed on the above-mentioned support, can move, and is used for making the people who is bearing in support to be suspended in above-mentioned surface, plane and transverse plane before and after the direction of motion of the module of above-mentioned kiss the earth has formed; The module of above-mentioned support and kiss the earth is the parts in the assembly;

(c) motor drive that is installed on the said apparatus is used to make this device and people to advance on above-mentioned surface;

(d) control loop comprises the said motor driving device in this loop, is used for the running by means of the said motor driving device, with the stability on the dynamical fashion reinforcement pro-back plane.

2. vehicle as claimed in claim 1, it is characterized in that, the module of above-mentioned kiss the earth is arranged in kiss the earth on many lateral attitudes, and when advancing, people in the support is suspended on the above-mentioned surface, if there is not above-mentioned control loop, this configuration will lose inherent stability at least on the plane, front and back in portion of time, yet it is more stable on transverse plane.

3. vehicle as claimed in claim 2 is characterized in that the module of above-mentioned kiss the earth comprises the member of the kiss the earth of a pair of mutual lateral arrangement.

4. vehicle as claimed in claim 3 is characterized in that the member of each kiss the earth comprises some wheels, and above-mentioned vehicle also comprises:

The wheel control device is used for controlling respectively the rotation of each wheel, and this wheel control device has a balanced mode that utilizes above-mentioned control loop, in this pattern, wheel all drives by this way, that is, drive in the equilibrated mode that can keep on the vehicle pro-back plane.

5. vehicle as claimed in claim 3, it is characterized in that, the member of each kiss the earth comprises that one is used for the wheel group of the wheel of kiss the earth, each wheel group all is installed on the central shaft of a lateral arrangement, and drives with motor, can rotate around this central shaft, each wheel in each wheel group be installed in one with central axes the axle on, can rotate, these wheels drive with motor, can be independent of the wheel group and rotate.

6. vehicle as claimed in claim 5 is characterized in that the central shaft of above-mentioned wheel group is arranged to overlap mutually basically.

7. vehicle as claimed in claim 6 is characterized in that, and is from the distance of the diameter of central shaft by each wheel, roughly identical with each wheel in this wheel group.

8. vehicle as claimed in claim 6 is characterized in that, each wheel group has two wheels that diameter is substantially the same.

9. vehicle as claimed in claim 6 is characterized in that, each wheel group has three wheels that diameter is substantially the same.

10. vehicle as claimed in claim 3 is characterized in that, the member of each kiss the earth comprise some be mounted to axially close, and the arc component group that can rotate, arc component in each group is installed on the supporting member, and each supporting member drives with motor, can rotate around a central shaft.

11. vehicle as claimed in claim 10 is characterized in that, above-mentioned each arc component is generally an arcual constant main radius to radial outermost length, and this arc conforms to the circle that radius equals above-mentioned length.

12. vehicle as claimed in claim 11, it is characterized in that, each arc component has fore-end and the end section that fore-and-aft direction is decided by the motion forward of this device, when travelling forward, said front part at first contacts with ground, each part all has a top, and wherein, arc component is slightly smaller than the main radius of the arc radius of this member near the vertical arc radius of each fore-end.

13. vehicle as claimed in claim 11, it is characterized in that, each arc component has fore-end and the end section that fore-and-aft direction is decided by the motion forward of this device, when travelling forward, said front part at first contacts with ground, each part all has a top, and wherein, each arc component is slightly smaller than the main radius of the arc radius of this member near the vertical arc radius of its end section.

14. vehicle as claimed in claim 11, it is characterized in that, each arc component has fore-and-aft direction and is decided by that this installs proal fore-end and end section, when travelling forward, said front part at first contacts with ground, each part all has a top, and wherein, each arc component is different with the main radius of circular arc near the arc radius of its at least one end.

15. vehicle as claimed in claim 11, it is characterized in that, each arc component has fore-end and the end section that fore-and-aft direction is decided by the motion forward of this device, and when travelling forward, said front part at first contacts with ground, each part all has a top, wherein, at least one top of each arc component is mounted to can deflection, and is connected on the deflection member, so when action, the local radius of circular arc can change.

16. vehicle as claimed in claim 6 is characterized in that, it also comprises:

Wheel group control device is used to control the angle direction of each wheel group around its central shaft; And

The wheel control device is used for controlling respectively the wheel that contacts with ground of each wheel group.

17. vehicle as claimed in claim 16, it is characterized in that, above-mentioned wheel control device has a balanced mode that utilizes above-mentioned control loop, and under this mode, equilibrated mode drives the wheel that contacts with ground in each wheel group in the vehicle pro-back plane to keep.

18. vehicle as claimed in claim 16 is characterized in that, above-mentioned wheel control device has a follower mode, in this pattern, and the function that the driving of wheel is rotated as its wheel group; And this wheel group control device has a tilt mode of utilizing above-mentioned control loop, in this pattern, the wheel group drives by this way, keep the balance on the vehicle pro-back plane when being in follower mode with convenient wheel, make that vehicle can stair activity, perhaps cross other rugged surfaces.

19. vehicle as claimed in claim 18, it is characterized in that, above-mentioned wheel control device has a balanced mode that utilizes above-mentioned control loop, and under this pattern, equilibrated mode drives the wheel that contacts with ground in each wheel group on the vehicle pro-back plane to keep.

20. vehicle as claimed in claim 19 is characterized in that, above-mentioned wheel control device has a wheel translative mode, is used for being transformed into balanced mode from follower mode, and its effect is before the wheel group detects the zero crossing mouth, prevents to enter balanced mode.

21. vehicle as claimed in claim 16 is characterized in that, it also comprises:

Be used to coordinate the cooperative control device of the work of wheel group control device and wheel control device, this cooperative control device has a stair climbing pattern of carrying out the following step:

(1) beginning in this step, is gone up equilibrated device near stair at first pair of wheel (wheel of each wheel group), and then, the wheel group is rotated, so second pair of wheel just rests on the stair;

(2) transfer weight, in this step, vehicle and people's weight is by means of the motion of wheel group with respect to device, transfer on second pair of wheel on the step from first pair of following wheel, simultaneously, drive these wheels, to keep the position of wheel group with respect to the earth;

(3) stair climbing in this step, drives second pair of wheel, make the facade motion of vehicle to next step, simultaneously, the wheels group, following a pair of wheel is placed on the pedal of next step, and this step will be carried out when the wheel control device is in balanced mode;

Wherein, hocket in step (2) and (3), step to the last, and at this moment, above-mentioned wheel control device enters normal balanced mode.

23. vehicle as claimed in claim 6 is characterized in that, it also comprises:

One is used the action bars of control direction of traffic by the people.

24. vehicle as claimed in claim 6 is characterized in that, it also comprises:

Tilting gearing is used to detect the inclination of people in prescribed direction, and the driving of control motor, makes vehicle move to the direction that the people tilted.

25. vehicle as claimed in claim 24 is characterized in that, above-mentioned tilting gearing comprises a gusset.

26. vehicle as claimed in claim 24 is characterized in that, above-mentioned tilting gearing comprises a proximity transducer.

27. vehicle as claimed in claim 6, it is characterized in that, above-mentioned support comprises a chair that the seat is arranged, this seat is connected on the said apparatus with hinge, makes it that a primary importance be arranged, when this primary importance, the people can be sitting on this seat, and a second position, on the second position, the people can stand.

28. vehicle as claimed in claim 6 is characterized in that, this vehicle has a rolling axis and a pitch axis, and it also comprises:

The attitude that is used for the attitude of definite above-mentioned support is determined device;

Be used to control the attitude-control device of above-mentioned support with respect to the attitude of the member of kiss the earth.

29. vehicle as claimed in claim 28 is characterized in that, it also comprises:

The rolling adjusting device is used to adjust above-mentioned support with respect to the module of the above-mentioned kiss the earth angle direction around roughly parallel with the rolling axis of a vehicle axis, and this rolling adjusting device is controlled by attitude-control device.

30. vehicle as claimed in claim 29 is characterized in that, it also comprises:

In the process of turning, make above-mentioned rolling adjusting device allow the rolling device of above-mentioned support inclination on the direction of turning.

31. vehicle as claimed in claim 28 is characterized in that, it also comprises:

The pitching adjusting device is used to adjust above-mentioned support around roughly parallel with the pitch axis of a vehicle axis, and with respect to the angle direction of the module of above-mentioned kiss the earth, this pitching adjusting device is controlled by attitude-control device.

32. vehicle as claimed in claim 6 is characterized in that, it also comprises:

Be used to adjust the height adjuster of support with respect to the height on ground.

33. vehicle as claimed in claim 32 is characterized in that, above-mentioned height adjuster comprises the member that can change length of an extension between the module of support and kiss the earth.

34. vehicle as claimed in claim 3 is characterized in that, above-mentioned support is near ground, can allow above the people stands in.

35. vehicle as claimed in claim 34 is characterized in that, it also comprises:

A column that is fixed on the above-mentioned support, it has a handle on the height of waist that roughly is the people, so can handle this vehicle in the mode that is similar to motor scooter.

36. vehicle as claimed in claim 34 is characterized in that, the member of above-mentioned kiss the earth is a wheel.

37. vehicle as claimed in claim 6 is characterized in that, above-mentioned support is near ground, can allow above the people stands in.

38. vehicle as claimed in claim 37 is characterized in that, it also comprises:

A column that is fixed on the above-mentioned support, it has a handle on the height of waist that roughly is the people, so can handle this vehicle in the mode that is similar to motor scooter.

39. vehicle as claimed in claim 10 is characterized in that, above-mentioned support is near ground, can allow above the people stands in.

40. vehicle as claimed in claim 39 is characterized in that, it also comprises:

A column that is fixed on the above-mentioned support, it has a handle on the height of waist that roughly is the people, so can handle this vehicle in the mode that is similar to motor scooter.

41. vehicle as claimed in claim 35 is characterized in that, it also comprises:

An action bars that is installed on the handle is used for being controlled by the people direction of vehicle.

42. vehicle as claimed in claim 38 is characterized in that, it also comprises:

An action bars that is installed on the handle is used for being controlled by the people direction of vehicle.

43. vehicle as claimed in claim 40 is characterized in that, it also comprises:

An action bars that is installed on the handle is used for being controlled by the people direction of vehicle.

44. vehicle as claimed in claim 34 is characterized in that, it also comprises:

Tilting gearing, be used to detect the people on assigned direction inclination and be used to control the driving device that drives with motor so that vehicle is to direction motion that the people tilted.

45. vehicle as claimed in claim 37 is characterized in that, it also comprises:

Tilting gearing, be used to detect the people on assigned direction inclination and be used to control the driving device that drives with motor so that vehicle is to direction motion that the people tilted.

46. vehicle as claimed in claim 39 is characterized in that, it also comprises:

Tilting gearing, be used to detect the people on assigned direction inclination and be used to control the driving device that drives with motor so that vehicle is to direction motion that the people tilted.

47. vehicle as claimed in claim 10 is characterized in that, it also comprises:

Driving control device, it comprises above-mentioned control loop, be used for the above-mentioned supporting member of first mode activated, wherein, first arch-shaped elements in each axially close arch-shaped elements group, still keeps in touch with ground with before ground contacts at next arch-shaped elements, up to next arch-shaped elements with till ground contacts, so that make vehicle along with arch-shaped elements is done successive basically rolling.

48. vehicle as claimed in claim 47 is characterized in that, above-mentioned driving control device comprises with second kind of pattern,, can allow its stair activity and cross the device of the above-mentioned supporting member of mode activated on other rugged surfaces that is.

49. vehicle as claimed in claim 48 is characterized in that, it also comprises:

Be used for making second arch-shaped elements respectively organizing arch-shaped elements to drop on next rugged surface (it can be a step), and respectively organize first arch-shaped elements in the arch-shaped elements still on previous rugged surface.

50. vehicle as claimed in claim 1 is characterized in that, above-mentioned control loop comprises the device that is used for finishing by the cycle the following step:

(1) reads the input signal that provides by the people;

(2) read the state variable input signal;

(3) according to the state of state variable update routine; And

(4) input signal that provides according to the people and state variable input signal are finished the calculating of the driving device that the control motor drives.

51. vehicle as claimed in claim 1 is characterized in that, it also comprises:

Be used for the speed of vehicle is limited in below the current maximum speed that can reach of vehicle, the speed limiting device on the desired threshold speed is so that continued to strengthen the fore-and-aft stability of vehicle by feedback system.

52. vehicle as claimed in claim 51, it is characterized in that, above-mentioned feedback system comprises an inclinometer, so that the output signal of expression vehicle pitching is provided, and above-mentioned speed limiting device comprises a kind of device, no matter when, when the speed of vehicle outpaced threshold value, this device just added a pitching correction value on the output signal of inclinometer.

53. vehicle as claimed in claim 52 is characterized in that, above-mentioned pitching correction value is the function that speed surpasses the amount of threshold value.

54. vehicle as claimed in claim 53 is characterized in that, above-mentioned speed limiting device is included on the basis of actual time, determines the speed probability device of the current maximum speed that can reach of vehicle.

55. vehicle as claimed in claim 54, it is characterized in that, the power supply that it also has a driving device that drives to motor to power, and above-mentioned speed probability device has the expression accepted to be offered the input port of the output current of the driving device that drives with motor by above-mentioned power supply.

56. vehicle as claimed in claim 22 is characterized in that, it also comprises:

Be used to detect the checkout gear of vehicle for rugged Surface Physical relation, this checkout gear is communicated with driven function adjustor, so vehicle can be crossed step and other special surfaces automatically.

57. vehicle as claimed in claim 19 is characterized in that, it also comprises:

Inclination-balance conversion equipment is used to make wheel group control device to be transformed into the fixed model that the wheel group is not rotated from tilt mode, and makes the wheel control device be transformed into balanced mode from follower mode.

58. vehicle as claimed in claim 57, it is characterized in that, above-mentioned feedback system comprises an inclinometer, so that the output signal of expression vehicle pitching is provided, and above-mentioned inclination-balance conversion equipment comprises a device, before the wheel group had reached the first required angle direction, this device just added a pitching correction value on the output signal of inclinometer.

59. vehicle as claimed in claim 58, it is characterized in that, above-mentioned inclination-balance conversion equipment comprises a kind of device, when reaching the first required angle direction of wheel group, this device can make the wheel control device enter balanced mode, and the wheel group is rotated further reposefully, up to reaching second angle direction that requires, at this moment, wheel group control device enters fixed model.

60. vehicle as claimed in claim 19 is characterized in that, it also comprises:

Balance one inclination conversion equipment, the fixed model that is used to wheel group control device is not rotated from the wheel group is transformed into tilt mode, and makes the wheel control device be transformed into follower mode from balanced mode.

61. vehicle as claimed in claim 60, it is characterized in that, above-mentioned feedback system comprises an inclinometer, so that the output signal of expression vehicle pitching is provided, and above-mentioned balance-tilting gearing comprises a kind of device, and this device is used to make the wheel group to turn to the first angle on target position gradually, meanwhile, on the output signal of inclinometer, add a pitching correction value, with the center of gravity that keeps vehicle above the balance wheel.

62. vehicle as claimed in claim 61, it is characterized in that, above-mentioned inclination-balance conversion equipment comprises a kind of device, when reaching the first required angle direction of wheel group, this device can make wheel group control device enter tilt mode, also can make the wheel control device enter follower mode,, and remove the pitching correction value reposefully.

63. vehicle as claimed in claim 1 is characterized in that, above-mentioned control loop comprises many microprocessors, and has been each microprocessor specifies separately with the motion of vehicle with control related task, and each microprocessor interconnects by a bus.

64. a vehicle that is used for carrying payload on the ground that may have irregular surface, this vehicle comprises:

(a) support that is used to support payload;

(b) member of the kiss the earth of a pair of mutual lateral arrangement, it is installed on the above-mentioned support, can move, and is used for making the payload that is bearing in support to be suspended in above-mentioned surface, and the direction of motion of the module of above-mentioned kiss the earth has formed front and back and transverse plane; The module of above-mentioned support and kiss the earth is the parts in the assembly;

(c) motor drive that is installed on the above-mentioned assembly is used to make this assembly and payload to advance on above-mentioned surface; And

(d) control loop comprises the said motor driving device in this loop, is used for the running by means of the said motor driving device, with the stability on the dynamical fashion reinforcement pro-back plane;

It is characterized in that, the member of each kiss the earth comprises one group of wheel that is used for kiss the earth, each wheel group is installed on the central shaft of a common lateral arrangement, and drive with motor, can rotate around this root axle, and each wheel in each wheel group is installed on the axle with central axes, can rotate around this root axle, and above-mentioned each wheel can be driven by motor under the state that is independent of the wheel group.

65., it is characterized in that it also comprises as the described vehicle of claim 64:

Wheel group control device is used to control the angle direction of each wheel group around its central shaft; And

The wheel control device is used for controlling respectively the wheel that contacts with ground of each wheel group.

66., it is characterized in that above-mentioned wheel control device has a follower mode as the described vehicle of claim 65, in this pattern, the function that the driving of wheel is rotated as its wheel group; And this wheel group control device has a tilt mode of utilizing above-mentioned control circuit, in this pattern, the wheel group drives by this way, keep the balance on the vehicle pro-back plane when being in follower mode with convenient wheel, make that vehicle can stair activity, perhaps cross other rugged surfaces.

67. as the described vehicle of claim 65, it is characterized in that, above-mentioned wheel control device has a balanced mode that utilizes above-mentioned control loop, and under this pattern, equilibrated mode drives the wheel that contacts with ground in each wheel group on the vehicle pro-back plane to keep.

68. a vehicle that is used for carrying payload on the ground that may have irregular surface, this vehicle comprises:

(a) support that is used to support payload;

(b) member of the kiss the earth of a pair of mutual lateral arrangement, it is installed on the above-mentioned support, can move, be used for making the payload that is bearing in support to be suspended in above-mentioned surface, the direction of motion of the member of above-mentioned kiss the earth has formed the front and back and the transverse plane that intersect mutually on vertical line; The module of above-mentioned support and kiss the earth is the parts in the assembly;

(c) motor drive that is installed on the said apparatus is used to make this assembly and payload to advance on above-mentioned surface; And

(d) control loop comprises the said motor driving device in this loop, is used for the running by means of the said motor driving device, with the stability on the dynamical fashion reinforcement pro-back plane;

It is characterized in that, the member of each kiss the earth comprises many axially close, and be mounted to the arc component group that to rotate, arch-shaped elements in each arc component group is installed on the supporting member, and each supporting member is installed on the central shaft, and can be driven around this root axle rotation by motor.

69. a vehicle that is used for transporter on the ground that may have irregular surface, this vehicle comprises:

(a) support that is used to support payload;

(b) module of the kiss the earth of a mutual lateral arrangement, it is installed on the above-mentioned support, can move, and is used for making the people of support to be suspended in above-mentioned surface, and the direction of motion of the module of above-mentioned kiss the earth has formed front and back and transverse plane; The module of above-mentioned support and kiss the earth is the parts in the assembly;

(c) motor drive that is installed on the above-mentioned assembly is used to make this assembly and people to advance on above-mentioned surface;

It is characterized in that the module of kiss the earth has the inherent stability of taking into account on the pro-back plane with respect to a vertical line in the process of advancing, and on transverse plane with respect to a vertical line also quite stable.

70., it is characterized in that it also comprises as the described vehicle of claim 69:

Be used for support is installed in articulated mounting on the module of kiss the earth, its mounting means be for allowing support rotate on the plane of level being similar to respect to this module, and makes support rotate an in check amount;

Wherein, the module of kiss the earth comprises the lower limb of a pair of mutual horizontally set, and every one leg can extend a controllable length to vertical direction from framework; And

The said motor driving device comprises the step device that is used to drive above-mentioned hinge means, and above-mentioned lower limb makes this assembly and people climb up successive step together in a continuous manner.

71., it is characterized in that the module of above-mentioned kiss the earth comprises the wheel of a pair of mutual lateral arrangement as the described vehicle of claim 70, and this drives by motor to wheel, this vehicle also comprises:

The control loop that comprises the said motor driving device, it is by means of the running of this motor drive, the stability before and after strengthening with dynamic mode on the plane.

72., it is characterized in that it also comprises as the described vehicle of claim 71:

Whether the motor pattern control device is used to control lower limb or wheel and works, and vehicle is advanced.

73., it is characterized in that the module of above-mentioned kiss the earth comprises the lower limb of a pair of mutual lateral arrangement as the described vehicle of claim 69, every one leg can extend a controllable length to vertical direction from framework.

74. as the described vehicle of claim 73, it is characterized in that, the module of above-mentioned kiss the earth comprises and is used for above-mentioned lower limb is installed in device on the supporting member in the mode that can allow it move upward in front and back, and the said motor driving device comprises alternately driving leg, makes the device of this two legs walking.

75. an indicating device that is used for by the vehicle of people's operation, this vehicle has the speed and the direction of motion, and this indicating device comprises:

A kind of output signal of non-vision;

One is used for modulating the manipulator of above-mentioned output signal according at least a speed and direction.

76., it is characterized in that above-mentioned non-vision output signal is the sound with tone and repetition rate as the described device of claim 75, and said modulator is designed to modulate above-mentioned tone and repetition rate.

77., it is characterized in that above-mentioned tone is modulated according to direction as the described vehicle of claim 76, above-mentioned repetition rate is then modulated according to speed.

78. a capability defect that is used for the compensator, to keep the method for balance and controlled motion, this method comprises:

(a) provide a vehicle, this vehicle has:

1. the module of a rack-mount kiss the earth that can move is used for making the people of support to hang, plane before and after the direction of motion of the module of this kiss the earth has been determined; The module of above-mentioned support and kiss the earth is the parts of an assembly; And

2. a motor drive that is installed on the above-mentioned assembly is used to make this assembly and people motion;

(b) make this people on this supporting member, occupy a position; And

(c) use a control loop, in this loop, comprise the said motor driving device, be used for running, with the stability on the dynamical fashion reinforcement pro-back plane by means of the said motor driving device.

79., it is characterized in that the module of above-mentioned kiss the earth comprises the wheel of a pair of mutual lateral arrangement as the described method of claim 78.

80. as the described method of claim 78, it is characterized in that, the module of above-mentioned kiss the earth comprises the wheel group of a pair of mutual lateral arrangement, each wheel group is installed on the central shaft of a lateral arrangement, and can drive around this central shaft rotation by motor, these wheels can be independent of above-mentioned wheel group, drive with motor.

81. as the described method of claim 78, it is characterized in that, the module of above-mentioned kiss the earth comprises the arch-shaped elements group of a pair of lateral arrangement, each group arch-shaped elements comprises some axially close, and be mounted to the arch-shaped elements that can rotate, all arch-shaped elements in each group all are installed on the supporting member, and each supporting member is installed on the central shaft, and drive with motor, can rotate around this central shaft.

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