JP2008024305A - Transportation vehicle and method of transportation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle for transporting persons on the ground having irregular surfaces. <P>SOLUTION: This transportation vehicle has a support body for supporting persons. A ground contact module movably mounted on the support body is so operated as to support the persons in the support body on the surface. When the ground contact module is directed, longitudinal and lateral planes crossing each other at a vertical position are formed. The support body and the ground contact module are components of an assembly. A drive device with a motor fitted to the assembly and coupled to the ground contact module moves the assembly and the persons following the assembly on the surface. The embodiment has a control loop. The drive device with the motor is included in the control loop. The control loop dynamically increases the stability of the ground contact module in the longitudinal and lateral planes by operating the drive device with the motor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

TECHNICAL FIELD The present invention relates to vehicles and methods for transporting individuals, and more particularly to vehicles and methods for transporting individuals on the ground with irregular surfaces.

BACKGROUND ART A wide range of vehicles and methods are known for transporting humans. The design of these vehicles is generally a compromise product that favors stability over maneuverability. For example, it is difficult to provide a self-propelled user-driven vehicle for transporting people on the ground with irregular surfaces. However, close movement on the ground with a relatively flat surface is possible. Vehicles that achieve irregular surface movement are complex, heavy and difficult to move normally.

SUMMARY OF THE INVENTION In a preferred embodiment, the present invention provides a vehicle for transporting humans on the ground with an irregular surface. This embodiment has a support for supporting a person. A ground contact module movably attached to the support operates to support a person in the support on the surface. The orientation of the ground contact module defines an anterior-posterior and transverse plane that intersects each other in a vertical position. The support and ground contact module are components of the assembly. A motorized drive attached to the assembly and coupled to the ground contact module moves the assembly and its associated person over the surface. Finally, this embodiment has a control loop, which includes a motorized drive, which dynamically drives stability in the front-rear and lateral planes by actuation of the motorized drive with respect to the ground contact module. Increase.

  In another embodiment, the ground contact module is embodied as a pair of ground contact members disposed laterally with respect to each other. The ground contact member may be a wheel. Further, the ground contact member may be constituted by an assembly of wheels, and each assembly is rotatably attached to a central shaft disposed in a common lateral direction, and driven around by a motor. Each assembly wheel is mounted for rotation about an axis parallel to the central axis. Thus, the distance from the central axis through the diameter of each wheel is roughly the same as each of the wheels in the assembly. The wheels are driven by a motor independent of the assembly.

  In yet another embodiment, each ground contact member includes a pair of axially adjacent and rotatably mounted arcuate element pairs. The arcuate elements of each element pair are disposed laterally at the opposite ends of the support struts. This support column is rotatably mounted at its midpoint. Each support column is driven by a motor.

Detailed Description of the Embodiments The invention is embodied in a wide range of embodiments. Many features of these embodiments are to support a person on a surface on which the person is transported using a plurality of laterally arranged ground contact members. The ground contact member is driven by a motor. In many embodiments, the configuration that supports the person during movement lacks inherent stability for at least a portion of the time relative to the vertical plane in the anterior-posterior plane, but is relatively stable with respect to the vertical plane in the lateral plane. is there. Pre-post stability is achieved by providing a control loop that includes a motor. This is to operate the motor with respect to the ground contact member. As described below, the pair of ground contact members may be, for example, a pair of wheels or a pair of wheel assemblies. In the case of a wheel assembly, each assembly may include a plurality of wheels. However, each ground contact member may be replaced by a plurality (typically a pair) of axially adjacent, radially supported and rotatably mounted arcuate elements. In these embodiments, the ground contact member is driven by a motorized drive in the control loop. This is done in such a way as to maintain the center of mass of the vehicle at the point of contact of the ground contact member with the ground, regardless of the disturbances or forces acting on the vehicle.

FIG. 1 shows a simplified embodiment of the present invention. Here, the main ground contact member is a pair of wheels, and an auxiliary ground contact member is used to raise and lower the stairs. (For both climbing stairs and moving flat terrain as shown below, if the single set of ground contact members is a wheel assembly or arcuate element as described above, this single set of ground contact members Achieved.)
The embodiment shown in FIG. 1 includes a support 12. This is embodied here as a chair on which a human sits. The vehicle includes a pair of wheels 11 disposed laterally with respect to each other. The wheel helps define a series of axes including a vertical axis ZZ, a horizontal axis YY parallel to the wheel axis, and a front-rear axis XX perpendicular to the wheel axis. A plane defined by the vertical axis ZZ and the horizontal axis YY may be referred to as a “lateral plane”, and a plane defined by the front-rear axis XX and the vertical axis ZZ is “ Sometimes referred to as the “front-rear plane”. The directions parallel to the front-rear axis XX and the horizontal axis YY are called the front-rear direction and the lateral direction, respectively. When relying on the pair of wheels 11 to contact the ground, the vehicle is inherently unstable with respect to the front-rear vertical plane, but is relatively stable with respect to the lateral vertical plane.

  In FIG. 2, the vehicle includes a pair of laterally arranged legs 21 and footrests 22 that can be extended in a vertical direction by a controllable amount in addition to the wheels 11. The pedestal has a sensor disposed on it to determine the height of the object, such as a staircase. Legs 21 are disposed on a pair of extendable legs 23. In the preferred embodiment, the vehicle is stable not only in the lateral direction but also in the front-rear direction when both legs are in contact with the ground, but lateral stability is achieved when one leg is in contact with the ground. If you are, you might be sacrificed. FIG. 3 illustrates an embodiment of the embodiment of FIGS. 1 and 2 that enables the chair 12 to pivot with respect to a support system that includes a leg 23 associated with a foot 21. The swivel operates in a plane that is generally horizontal. This turning mode, in conjunction with the ability to extend and retract each foot, allows the vehicle to move up and down the stairs in a manner similar to human movement on the stairs. Each leg 23, when functioning as a weight bearing leg, allows the remainder of the vehicle to rotate about the vertical axis of the leg during a turn. In order to achieve the turning, the chair is turned around a leg and a vertical axis disposed at the center of the leg so as to maintain the front direction of the chair. Furthermore, during turning, the leg 23 that does not support weight rotates about its vertical axis to maintain the associated foot 21 in the forward direction.

  The embodiment described with reference to FIGS. 1 to 3 sacrifices inherent pre-post stability to achieve relative movement. In general, for gradual surface changes, the equilibrium mode provides pre-post stability to an inherently unstable system. For more irregular surfaces such as stairs, this embodiment has another “step mode” used to raise and lower the stairs. In raising and lowering the stairs, for example, a hand may be used to grab an ordinary handrail as shown in FIG. 4, or contact with an available wall near the stairs to restore stability.

  In addition, various methods can be used to reduce the risk of injury from falling. In one aspect, if it is determined that a fall will occur, the vehicle will enter a muddy mode. In this mode, it is controllable and quickly drops to the center of mass of the combined vehicle and human. Decreasing the center of mass may be accomplished by hinged or separated from the support system, for example, in a manner that reduces the height of the chair from the surface. In addition, the roaring mode has the useful effect of dissipating energy before giving it to humans, positioning humans where their vulnerability is reduced, and the energy transmitted to humans in the event of a collision. Position humans low so that they decrease.

  In the block diagram of FIG. 5, it can be seen that the control system 51 is used to control the motor drive and actuator of the embodiment of FIGS. 1 to 4 to achieve movement and balance. These include motor drives 531 and 532 for the left and right wheels, actuators 541 and 542 for the left and right legs, respectively, and a turning motor drive 55. The control system has data inputs including a user interface 561, a gradient sensor 562 that detects a longitudinal gradient, a wheel rotation sensor 563, an actuator height sensor 564, a turn sensor 565, and a step size sensor 566.

  A simplified step-by-step approach to achieving equilibrium in the embodiment of the invention according to FIG. 1 when the wheels are in operation for movement is shown in the block diagram of FIG. Plant 61 corresponds to the equation of motion for a system with a ground contact module driven by a single motor before the control loop is added. T means wheel torque. The letter θ is the forward-backward inclination (gravity, ie, the vehicle's slope angle with respect to the vertical line), X is the forward-backward movement along the surface with respect to the reference point, and the point on the letter is a variable differentiated with respect to time means. The remainder of the number is the control used to achieve equilibrium. Boxes 62 and 63 represent differentiation. In order to ensure system stability to achieve dynamic control and maintain a system near the reference point on the surface, the wheel torque T in this embodiment is set to satisfy the following equation:

利得Ｋ１、Ｋ２、Ｋ３、及びＫ４はシステムの物理的パラメーター及び重量のような他の影響を受ける。第６図の簡略化した制御の段階的手法は、人間の身体運動又は他の人又は対象物との接触により、表面上の基準点に関する質量のシステムの中心への変化のような変動が存在するとき、表面上の基準点への平衡及び接近を維持する。

Gains K1, K2, K3, and K4 are subject to other effects such as system physical parameters and weight. The simplified step-by-step approach of Fig. 6 shows that there is a variation, such as a change of mass to the center of the system with respect to a reference point on the surface, due to human body movement or contact with another person or object When maintaining, maintain balance and proximity to the reference point on the surface.

  The torque required from the left motor and the torque required from the right motor to accept two wheels instead of the one wheel system described in FIG. 6 are calculated separately in the general manner described below with reference to FIG. can do. In addition, tracking both left and right wheel movements prevents accidental vehicle rotation and allows adjustments to account for performance variations between the two drive motors.

  The torque of each motor is adjusted using a manual interface like a control stick. The control stick has an axis as shown in FIG. In the operation of this embodiment, the forward movement of the control stick is the forward movement of the vehicle, and the backward movement of the control stick is the backward movement of the vehicle. Similarly, leftward movement of the control stick causes leftward rotation, and rightward movement of the control stick causes rightward rotation. The configuration used here rotates the vehicle to the appropriate position when the control stick moves left or right. For forward or backward movement, it may be tilted forward or backward as an alternative to the control stick. This is because the gradient sensor (measuring θ) tries to compensate for certain gradient changes that the system results in back and forth motion but depends on the direction of the slope, It is because it admits. Alternatively, a control method based on fuzzy logic can be implemented.

Attempting to adjust the motor torque when in equilibrium mode allows for front-to-rear stability without the need for stabilizing wheels or struts (which increases stability). In other words, stability is achieved dynamically by movement of vehicle components (which in this case constitutes the entire vehicle) relative to the ground.
Stair climbing with legs FIG. 8 shows one method of raising and lowering the stairs in the embodiment of FIG. When one of the stairs is encountered, the legs are first retracted (shown in block 71) and then the height of the first step is measured (block 72). A stair climb or descent has occurred (73) (at this point it is desirable to achieve stability because a human being grabs the handrail).

  Thereafter, in the first stage of stair climbing (shown in block 74), the first leg extends until the second leg clears step (75). The vehicle then turns until the second leg passes the cleared (78) step. (When performing this stage, it is possible to use a sensor to determine the degree of turning based on the depth of the step. Alternatively, the turning can exceed a certain angle, such as 90 degrees. ). The sensor is then checked to measure the height of the next step (72). If a step is determined to be present (73) and the previous step was odd (76), extend the second leg until the first leg clears the next step (79) The process continues by retracting the first leg. This process begins repeatedly at block 72. If no step is detected and the previous step is an odd number, extend the second leg slightly, retract the first leg completely, swivel until both legs are facing forward, and retract the second leg And complete by standing on both feet (88). If no step is detected and the previous step is flat, extend the first leg slightly, retract the second leg completely, swivel until both legs face forward, and retract the first leg And complete by standing on both feet (88).

  Below is a similar way to get down the stairs. In the first stage of stair descent (shown in block 81), the first leg is slightly extended to clear the second leg (block 82). Thereafter, the vehicle turns until the second leg gets over the step to be lowered (84), the first leg is retracted and the second leg is extended until the second leg is on the step (85). The sensor is then checked to determine the height of the next step (72). If it is determined that a step exists (73) and the previous step is an odd number (76), by turning until the first leg has overcome the step to extend (86) there The process continues. The second leg then retracts and the first leg extends until the first leg is above the step (block 87). The sensor is checked to measure the height of the next step (72). If the step is determined to be present (73) and the previous step was an even number, the process continues (84) and then the iteration is started at block 72. If no step is detected, the descent is completed by turning until both legs are facing forward, and then both legs are retracted to stand on both legs (88).

As a next embodiment instead of the above-described turning mode, each leg is attached in such a manner that it can slide in a substantially horizontal plane in the front-rear direction, thereby causing the relative movement of the legs. Alternatively, these legs may utilize joints similar to the human knee and hip joints.
Stair climbing by the assembly The embodiment of FIG. 1 requires different ground contact members for climbing the stair and for maneuvering horizontal terrain, but the embodiment of the invention shown in FIGS. Successfully used the same set of ground contact elements for climbing stairs and maneuvering horizontal terrain. 9 to 18 illustrate an embodiment in which a pair of wheel assemblies are used instead of the pair of wheels used in the embodiment of FIG.

A side view of an embodiment using a two-wheel assembly design is shown in FIG. The human 962 is supported on the sheet 95 of this embodiment. A right hand assembly 91 in which a pair of wheels 931 and 932 are symmetrically positioned in the radial direction is seen around the rotation axis 92 of the assembly. A similar left hand assembly is used. Each assembly has a respective controllable motor for driving around a rotation axis 92. Each pair of wheels (here, 931 and 9332) is driven by a motor that is separately controlled around its own axis of rotation, but the wheels of one aggregate are coupled to rotate synchronously.

  In FIG. 9, the assembly 91 is positioned such that both wheels 931 and 932 are in contact with the ground. When the assembly 91 (with the left hand assembly) is in this position, the vehicle in this embodiment is relatively stable in the front-rear plane, which allows the human 961 (seen standing) to be quickly comfortable on the vehicle. It ensures a sitting position or allows, for example, a disabled person to transfer from another chair.

  However, as shown in FIG. 10, the assembly 91 may be rotated around its rotation axis 92 until only the wheels 932 of each assembly contact the ground. When the assembly 91 (with left hand assembly) is in this position, the vehicle has inherent front-rear stability similar to that described above in connection with the embodiment of FIG. The same equations governing this system may be used to drive the wheels and dynamically obtain front-rear stability as discussed above. As shown in FIGS. 9 and 10, the chair 95 is coupled to the ground contact member via arms 941 and 942 and articulated arms that are angled relative to each other and the seat 95. May be. Adjustment is accomplished by motorized drives disposed in hubs 945 and 946. As a result of these adjustments (in addition to the effect of rotating the assembly), in particular the height of the seat 95 may be changed. Human 101 can be seen to achieve a height sitting on the vehicle comparable to (or higher than) standing human 961. This is desirable. This is because, for example, a person sitting in a wheel chair is usually dwarfed by a standing person. As discussed in more detail below, the aforementioned adjustments also allow for the adjustment of the front-to-back inclination of the seat.

  FIGS. 11-18 illustrate the use of a three wheel assembly design of various modes and shapes. FIG. 11 (showing a stable rest position) and FIG. 12 (showing an equilibrium position for movement) for a three-wheel assembly correspond to FIG. 9 and FIG. 10 for a two-wheel assembly. Each three-wheel assembly (right hand assembly 111 is shown here) is mounted about shaft 112 and is driven by a respective controllable motor. As in the two-wheel assembly design, the wheels of each assembly are driven and controlled separately, but each assembly is driven synchronously.

  Although many of the embodiments described herein use independently controlled motors, a common motor may be used for many functions, each controlled by an appropriate clutch or differential drive. It should be noted that this can be achieved with other transmission devices such as devices. As used herein and in the claims, the term “motorized drive” means any vehicle that produces mechanical power and is therefore electrically, hydraulic, pneumatic, or thermal (the latter includes internal or external combustion engines) And a suitable device capable of transmitting such mechanical power, or a thrust generating device such as a turbojet engine or a motor driven propeller.

  FIG. 13 is similar to FIG. 12, but here a chair 95 with a stop 131 and a seat 132 is seen. The angle of the bump 131 with respect to the sheet 132 and the angle of the sheet 132 with respect to the horizontal plane can be adjusted. When the bump 131 is positioned in a substantially vertical direction, the sheet 132 is inclined to the vertical plane and the user takes almost a standing position.

  FIG. 14 shows an example of climbing stairs. Here, the articulated arm sections 941 and 942 are in an extended position and provide maximum height, and the foot of the human 101 gets over the stairs 141. Ascent of the stairs is achieved by the rotation of each of the right assembly 111 and the left assembly (not shown) rotating about the central axis 112 and the adjusted rotation of the wheels. The actual modes and control preparations for achieving stair climbing will be described below with reference to FIG.

FIGS. 15-17 are similar to the embodiment of FIGS. 11 and 12, except that one of the articulated arm segments 161 and 171, in this case segment 171, has a seat 151 and an enclosure 152. The main body support combination sheet 151 is supported. Here, the enclosure 152 includes a headrest 155. When section 171 assumes a generally vertical position, seat 151 moves out of the path, allowing human 153 to assume an upright position supported by seat 151, enclosure 152, and footrest 154.

  FIGS. 18 to 20 are similar to the embodiment of FIGS. 11 to 14 except that the height of the human 101 is adjustable by a telescopic member 181 and its extension is controlled by a separate motor. . Further, the rotation angle of the human being around the axis R-R in FIG. 19 is adjusted via the independently controlled motor unit 191 in FIG. 19, as shown in FIG. Furthermore, the front-rear tilt of the chair 181 shown in two different positions in FIGS. 19 and 20 is adjustable via an independently controlled motor unit 19. The rotation and tilt adjustments are performed with a pivot and motorized drive, but each of these adjustments is also performed with, for example, a four-bar or other coupling member coupled to the motorized drive.

FIG. 21 shows that a vehicle can be manufactured according to the present invention without providing a chair. A human stands on the platform 211, grabs the grip 212 on the handle 213 attached to the platform 211, and steers the vehicle of this embodiment in a manner similar to a scooter. Although other control methods can be used, it is convenient to provide the grip 212 with a thumb-actuated control stick for directional control. For example, the handle 213 and the grip 212 may be avoided at all, but the platform 211 may be provided with a sensor for detecting a human inclination. In fact, as described in connection with FIG. 5 and described below, the vehicle slope is sensed and compensated in the control loop, and if the person leans forward, the vehicle maintains forward stability to maintain vertical stability. Exercise. Thus, forward tilt encourages forward movement. Back tilt causes backward motion. Appropriate force transducers may be used to sense left and right tilts, as well as left and right turns as a result of the sensed tilt provided with an associated controller. Tilt may also be detected using a proximity sensor.
Similarly, the vehicle of this embodiment may be provided with a foot- (or force) activation switch for operating the vehicle. Here, when a human is standing on the platform 211, the switch is closed and power is automatically supplied to the vehicle. Although this embodiment is shown for left and right wheel assemblies 214 operating in the assembly method of FIGS. 13-20, the vehicle may alternatively be provided with other ground contact members. This can be done, for example, by providing a single pair of wheels arranged laterally as in the method of FIG. 1 (but without legs), or in a method similar to the method of FIGS. 22-24 described below. In addition, a left and right pair of arcuate element pairs that are rotatably mounted close to each other in the axial direction may be provided.
Stair climbing using arcuate elements FIGS. 22-24 show an embodiment embodied as a group of arcuate elements in which the ground contact members are axially adjacent to one another and are rotatably mounted. ing. For example, FIG. 22 generally corresponds to the embodiment of propulsion by the assembly of FIG. 15, but here the right hand ground contact members are embodied as arcuate pairs 221 and 222. The arcuate elements (reference numbers 221a-221b and reference numbers 222a-222b) of each pair 221 and 222 are at opposite ends of support struts (respectively reference numbers 221c-222c) that are rotatably mounted at their midpoints. It is arranged to cross. Each support column 221c and 222c is driven by a motor motor and can be controlled independently of each other. In normal movement operation, each pair of arcuate elements generally operates as a wheel. For example, during such movement, when the arcuate element 221a fails to contact the ground, the element 222a rotates, thereby reaching a position that allows continued rotation caused by the shape of the arcuate element. In this way there is a substantial rotational movement of the vehicle along the arcuate element. Thus, the movement of each arcuate element about the rotational axis is not performed at a substantially constant angular velocity. Typically, each arcuate element pair moves at a high angular velocity when no element of the pair touches the ground. However, when one element of the pair comes in contact with the ground, the angular speed of the pair (and therefore of the ground contact element) is controlled to match the vehicle's predetermined ground speed, so that a constant ground speed can be achieved when necessary. it can.

  The effect that results from the change in the angular velocity of the arcuate element that allows constant ground speed is the presence of reaction torque on the frame. This can cause unexpected vehicle acceleration. One solution is to design the vehicle so that the reaction torque of the motor drive is equal and opposite to the reaction of the arcuate element driven by the drive. This is shown below.

ここでＩは慣性モーメント、下付きＬは弓状要素システム、及び下付きＲはローターシステムを表わす。この方程式は下記のように書き直すことができる。

Where I is the moment of inertia, subscript L is the arcuate element system, and subscript R is the rotor system. This equation can be rewritten as:

歯数比Ｎ_ｇは以下のように角加速度の比率の代わりとしてもよい。

Gear ratio N _g may be as an alternative of the ratio of the angular accelerations, as follows.

このＮ_ｇのための方程式を、歯数比と慣性の適当な構成により満足させることによって、反応性トルクは平衡し、車両は円滑に進む。

The equation for this N _g, by satisfying the suitable configuration of the gear ratio and the inertia, the reactive torque is balanced, the vehicle proceeds smoothly.

  The radially outermost extent of each arcuate element preferably has a constant principal radius of curvature that roughly matches the principal radius of curvature of a circle having a length equal to the distance of this extent. Each arcuate element has a leading edge that first reaches the ground during forward movement of the vehicle and a trailing edge that finally leaves the ground during forward movement of the vehicle. The leading edge of the arcuate element, eg, 221a, appears to be identical to item 223, and the trailing edge of the arcuate element, 221a, appears to be identical to item 224. In order to allow continuous and smooth contact of the arcuate element to the ground during the forward movement process, the radius of curvature near the tip of the leading edge of each arcuate element is less than the main radius of curvature of such element. It is preferable to make it small. Similarly, in order to allow continuous and smooth contact of the arcuate element to the ground during the backward movement process, the radius of curvature near the tip of the trailing edge of each arcuate element is the principal curvature of such element. It is preferable to make it somewhat smaller than the radius. Alternatively or additionally, the radius of curvature near the leading edge of the leading and trailing edges may be adjusted in other ways to facilitate the transfer of load from one arcuate member to the next. Good. For example, it may be desirable in some embodiments to make the radius of curvature of the tip greater than the main radius of curvature. As another example, the tip may be mounted to be deflected or coupled to a deflection arrangement. As a result, the local radius of curvature may be changed during operation.

If necessary, the vehicle of this embodiment may be placed at the stop position. To do so, the struts 221c and 222c are cut with scissors, the leading edge of one arcuate element contacts the ground, the trailing edge of the other arcuate element contacts the ground, and the contact points are separated from each other. It is necessary to make such an angle (approach to radians). Such a position reduces the overall height of the vehicle and facilitates compact storage or transportation of the vehicle.

  FIG. 23, which generally corresponds to the assembly propulsion example of FIG. 17, shows a platform 154 having the vehicle of FIG. 22 and a seat 151 standing vertically.

FIG. 24 shows the embodiment of FIG. The struts move so that successive arcuate elements follow a continuous staircase.
Details of Implementation with Aggregation FIGS. 25 and 26 show the details of the design of the three-wheel assembly for the embodiment of FIGS. Each of the aggregates 251a and 251b has drive motors 252a and 252b that drive the aggregate through a gear train, respectively. The wheels of each aggregate are independently supplied with power by the motor 253a for the aggregate 251a and by the motor 253b for the aggregate pair 251b. The wheels in a given assembly 251a or 251b are driven synchronously by the assembly motor 253a or 253b via a radially arranged gear train. In FIG. 26, a side view of the assembly 251a is shown in FIG. Wheels 261a, 261b, and 261c having 262c are shown.

  FIG. 27 is a block diagram showing communication in the control assembly used in the vehicle according to the embodiment of FIGS. Similar sets of assemblies are used for any of the other embodiments described herein. The vehicle is supplied with power from the stacked battery 271. Bus 279 provides communication (performed here in series) and power for the various assemblies. Overall system control of the vehicle is performed by a central microcontroller board 272. Inputs derived from sources such as control sticks and inclinometers to the central microcontroller board 272 that establishes the basis for system control are the drive interface assemblies 273 described below in connection with FIG. Provided by. The tilt, height, and roll of the chair 182 of FIG. 18 are adjusted by a tilt motor control assembly 274, a height motor control assembly 275, and a roll motor control assembly 276, respectively. The rotation of the right and left assemblies is controlled by the right assembly control assembly 278a and the left assembly control assembly 278b, respectively. The rotation of the wheels in the right and left assemblies is controlled by a right wheel control assembly 277a and a left wheel control assembly 277b, respectively.

  The general structure of each of the control assemblies shown in FIG. 27 and used for chair positions, wheels, and assemblies is shown in FIG. Motor 281 receives three phase power from power converter 282. The output from the Hall effect detector 2812 sends an information signal to the power converter 282 to control the phase of power to the motor. An information signal regarding the shaft rotation of the motor or the position of the mechanical system powered by the motor is provided by one or more of potentiometer 284, tachometer 2811, or incremental encoder 2813 (alternatively, Hall effect detector 2812 itself can be used). These signals are sent to the peripheral microcontroller board 283. In addition, the temperature output associated with power converter 282 and motor 281 sends an input signal to peripheral microcontroller board 283. The peripheral microcontroller board 283 is in communication with the central microcontroller board 272 sequentially via the bus 279.

FIG. 29 is a block diagram showing details of the drive interface assembly 273 of FIG. The peripheral microcomputer panel 291 receives input from the control stick 292 in the same manner as from the inclinometer 293. This inclinometer provides an information signal regarding gradient and gradient rate (the term “inclinometer” used in the text and claims refers to gradient or gradient rate, regardless of the configuration used to achieve the output. Any device that provides an output means that if only one of the gradients or gradient ratio variables is provided as an output, the other variables can be obtained by appropriate differentiation or integration with respect to time). In order to allow controlled tilt to rotation by the vehicle (thus increasing stability during rotation), a second inclinometer is used to adjust the rotation to rotation ratio, alternatively system weight and centrifugal force. It is also possible to provide information on resultant power. Other inputs 294 are also preferably provided as inputs to the peripheral microcomputer board 291. Such other inputs can include signals gated by switches (knobs and buttons) for chair adjustment and to determine the mode of operation. Peripheral microcomputer board 291 also has inputs for receiving signals from stacked battery 271 regarding battery voltage, battery current, and battery temperature. Peripheral microcomputer board 291 is in communication with central microcomputer board 272 via bus 279.

  FIG. 30 is a logic flow diagram in the course of one control cycle followed by the central microcontroller board 272 of FIG. For diagnostic purposes, the cycle starts at step 301 and checks for the presence of input from a technician. The next step, 302, reads the operator's input from the control stick, switches, knobs and buttons. Next, in step 303, a vehicle state variable is read as an input. Next, in step 3011, the specialist display is updated (for diagnostic purposes), and then in step 304 the program state is modified based on the input variables obtained through steps 301-303. A test is made as to whether to exit the program (step 3041) and if the answer is yes, all motor amplifiers are disabled (step 3042) and the program ends. Otherwise, a safety check is performed for appropriate variables (temperature, battery voltage, etc.) (in step 3043), and if the result is negative, the wheel and aggregate motor amplifiers are disabled (step 3044), The program state is then altered (step 3055). However, several levels of checking are used appropriately and the motor amplifier is disabled only after the critical alarm conditioner is established. If the safety check in step 3043 is affirmative or after the program state has been altered in step 3055, the aggregate torque signal (step 305), the wheel torque signal (step 306), the ramp speed signal (step 307), the roll speed signal (step 308) and the height speed signal (309) are calculated sequentially. The result of this calculation is then provided as an output to each vehicle at step 3010. In step 3091, the program waits for the next timing signal to start the control cycle again. The frequency of the control cycle in this example is in the range of 200 to 400 Hz, which provides sufficient control responsiveness and stability.

  FIG. 31 illustrates the assembly design of FIGS. 11 to 26 and the variables that determine the dimensions of the assumed stairs. For this staircase, an assembly design for raising and lowering can be used. The variables listed in the table below are those dimensions shown in FIG. “Nominal size” is a typical dimension of these contents, whereby the embodiments of FIGS. 18-20 are implemented and function.

以下の規定はこれら変数及び以下の説明に関連する以下の表２の変数を使用するのに用いられる。
１．世界座標で規定した変数は大文字の下付き文字を使用して命名した。世界座標は地球（慣性）に固定された座標である。
２．相対的座標で規定した変数は二重下付き文字を使用して命名した。下付き文字は変数の終点である。下付き文字の順序は変数のしるしを示す。例えばθ_ＰＣはポスト（ｐｏｓｔ）と集合体脚との間の角度であり、ここでは集合体ポストからの時計方向回転が正（項目４参照）である。集合体の「脚」は集合体の中心から現在平衡がとれている車輪の中心までのラインセグメントである。集合体の「ポスト」はシステムの質量の中心から集合体の中心までのラインセグメントである。
３．下方ケースの下付き文字は他の属性、すなわち右／左、等を示すのに使用される。すなわち、ｒ＝右、ｌ＝左、ｒｅｆ＝基準、ｆ＝終了、ｓ＝開始である。４．全角度は時計方向において正であり、ここでは正の移動は正のｘ方向である。
５．変数上の点は時間における積分、例えば

The following conventions are used to use these variables and the variables in Table 2 below that are relevant to the description below.
1. Variables defined in world coordinates were named using uppercase subscripts. World coordinates are coordinates fixed to the earth (inertia).
2. Variables defined in relative coordinates were named using double subscripts. The subscript is the end point of the variable. The order of the subscripts indicates the sign of the variable. For example, θ _PC is the angle between the post and the assembly leg, where the clockwise rotation from the assembly post is positive (see item 4). The “leg” of the assembly is the line segment from the center of the assembly to the center of the wheel that is currently balanced. The “post” of the assembly is a line segment from the center of mass of the system to the center of the assembly.
3. The lower case subscript is used to indicate other attributes, right / left, etc. That is, r = right, l = left, ref = reference, f = end, s = start. 4). All angles are positive in the clockwise direction, where positive movement is in the positive x direction.
5. The point on the variable is the integral over time, eg

を示す。

Indicates.

  FIG. 32 illustrates angles and motion variables suitable for determining the direction of the assembly with respect to the vehicle and the world. These variables are defined as described in the table below.

第３３図乃至第３５図は、移動中及び固定位置の両方において一対の車輪上で平衡に達したとき、第１１図乃至２１図の実施例による車両の安定性を得るために、第２７図の制御組立体に関連して使用するのに適当な、制御の段階的手法を示すブロックダイヤグラムである。

FIGS. 33-35 are shown in FIG. 27 to obtain vehicle stability according to the embodiment of FIGS. 11-21 when equilibrium is reached on a pair of wheels both during movement and in a fixed position. 2 is a block diagram illustrating a step-by-step approach for control suitable for use in connection with the control assembly of FIG.

  FIG. 33 shows the mode of control for the motors of the right and left wheels (corresponding to reference numerals (hereinafter the same) 252a and 252b in FIG. 25). In addition to the directional input 3300 determined by the control stick position along the X and Y axes of the reference coordinate system,

、及び

,as well as

（世界座標に関する左車輪の線速度）及び

(Linear velocity of the left wheel with respect to world coordinates) and

（右車輪の線速度）の入力を有している。利得Ｋ１、Ｋ２、Ｋ３、及びＫ４をそれぞれ受ける入力θ、

(Right wheel linear velocity) input. An input θ that receives the gains K1, K2, K3, and K4, respectively.

、及びエラー信号ｘ及び

And error signal x and

（以下に説明する）は加算器３３１９への入力となり、この加算器は第６図に関連して上述した一般的方法で、車輪に対する基本的な平衡トルクコマンドを発生する。加算器３３１９の出力は加算器３３２０の中の偏揺れＰＩＤループ３３１６（以下に説明する）の出力と組合わせられ、ついで分割器３３２２で分割され飽和リミッタ３３２４で制限され、左車輪トルクコマンドを発生する。同様に加算器３３１９の出力は加算器３３２１の中のＰＩＤループ３３１６の出力と組合わせられ、ついで分割器３３２３で分割され飽和リミッタ３３２５で制限され、右車輪トルクコマンドを発生する。

(Described below) is an input to adder 3319, which generates a basic balanced torque command for the wheels in the general manner described above in connection with FIG. The output of adder 3319 is combined with the output of yaw PID loop 3316 (described below) in adder 3320, then divided by divider 3322 and limited by saturation limiter 3324 to generate a left wheel torque command. To do. Similarly, the output of adder 3319 is combined with the output of PID loop 3316 in adder 3321, then divided by divider 3323 and limited by saturation limiter 3325 to generate a right wheel torque command.

  In FIG. 33, the directional input along the X-axis moves the reference coordinate system along the X-axis with respect to the world coordinate system (representing the moved surface) at a speed proportional to the movement of the control stick. Directional input along the Y axis rotates the reference coordinate system around its Z axis at an angular velocity proportional to the movement of the control stick. Here, it is understood that the movement of the control stick in the positive X direction means a forward movement and the movement of the negative X stick means a backward movement. Similarly, the movement of the control stick in the positive Y direction, i.e. counterclockwise, is understood to mean a counterclockwise rotation and the movement of the negative Y control stick means a rightward rotation. Therefore, the directional inputs X and Y are given a dead band through dead band blocks 3301 and 3302, respectively, to widen the neutral position of the control stick, and then receive gains K11 and K10, and then the reference coordinate system angle and linear acceleration. The ratios are limited by limiters 3303 and 3304, respectively. The sum of these outputs achieved by adder 3305 is the reference speed.

になり、加算器３３０６により達成したこれらの出力の差は基準速度

And the difference between these outputs achieved by the adder 3306 is the reference speed.

になる。これらの基準速度を、加算器３３０８及び３３０７において、左及び右車輪（これら量のための第３５図にに関連する以下の説明を参照すること）のために補償した線速度信号

become. These reference velocities were compensated in adders 3308 and 3307 for the left and right wheels (see the description below in connection with FIG. 35 for these quantities).

及び

as well as

から引いて基準座標系の中の左及び右車輪のための速度エラー信号

Speed error signal for left and right wheels in the reference coordinate system minus

及び

as well as

を得る。ついで加算器３３１７及び分割器３３１８により決定したこれら信号の平均値は、線速度エラー信号

Get. Next, the average value of these signals determined by the adder 3317 and the divider 3318 is the linear velocity error signal.

を発生する。変位エラー信号ｘは積分器３３１０及び３３０９により

Is generated. The displacement error signal x is fed by integrators 3310 and 3309.

と

When

を積分することにより誘導され、飽和リミッタ３３１２及び３３１１における結果を制限し、ついでそれらの出力を加算器３３１３及び分割器３３１５によって平均化する。加算器３３１４により決定したこれらら変位間の差は偏向エラー信号Ψを発生する。

And limits the results in saturation limiters 3312 and 3311 and then averages their outputs by adder 3313 and divider 3315. The difference between these displacements determined by the adder 3314 generates a deflection error signal Ψ.

  The deflection error signal Ψ is implemented via a standard proportional-plus-integral-plus-integral coefficient (PID) control loop 3316. Combined with the output of the basic balance torque command of the output adder 3319 of the control loop, it generates individual wheel torque commands. This command imparts front-rear stability to the wheel, and aligns the vehicle itself with the axis of the reference coordinate system that is instructed by the directional input 3300, and further follows the origin of the reference coordinate system.

  FIG. 34 is a schematic diagram of the control mode of the aggregate. The direction of the assembly can be controlled by a directional input 3400. If desired, the control stick used to provide directional input 3300 for the wheel may be replaced with a functional separation switch in separation mode and a directional input 3400 may be provided to specify the direction of the assembly. In a manner generally similar to the signal path through adders 3306 and 3305 in FIG. 33, the control stick signal obtained from the positive displacement in the X direction is added here, and the signal obtained from the positive displacement in the Y direction is Adders 3402 and 3401 are subtracted from each other to provide left and right aggregate rotational speed signals. This provides the desired aggregate angular direction information to the left and right aggregate adders 3406 and 3405, respectively, after integration in integrators 3404 and 3403, respectively.

Desired aggregate direction without directional input 3400, typically θ _{PC ref} = π is radians, is the actual aggregate direction θ _PCl and θ _PCr (from the left and right aggregate encoders through integrators 3412 and 3411 respectively. Are provided to each of adders 3406 and 3405 via line 3413 in FIG. 34, along with a signal indicating that it is derived by passing the aggregate angular velocity signal sent through. Thus, the outputs of adders 3406 and 3405 are aggregate position error signals for the left and right aggregates, respectively. These signals are sent to PID control loops 3408 and 3407 and saturation limiters 3410 and 3409 to drive the left and right aggregate motors.

FIG. 35 is a schematic diagram related to FIG. 33 and shows a state in which state variables indicating wheel position, gradient, and gradient rate are determined, and the effect of rotation of the assembly is corrected. As described in Table 2, the slope angle θ is the actual angle between the center of mass of the vehicle and the center of the vehicle that is currently balanced. The angle theta _I measured by the inclinometer is the angle of the post with respect to the vertical line. Therefore, the actual gradient angle θ is based on θ _{I from} which the correction signal θ _Icorr is subtracted by the adder 3518. This correction signal θ _Icorr is calculated as θ _PC + π−θ _{c in the} adder 3516. The signal θ _PC is determined as the average of the left and right post-to-collection angles θ _PCl and θ _PCr obtained from the integration in integrators 3509 and 3510 of the left and right collective encoder outputs. This average is obtained using adder 3511 and divider 3512. Assuming that the vehicle has reached equilibrium, θ _C is given by

を使用してθ_Ｐｃから誘導することができる。この計算はセクション３５１５に達成することができる。このθ_{Ｉｃｏｒｒ}は微分器３５１７により微分されて、加算器３５１９により供給される勾配率信号

Can be derived from θ _Pc using This calculation can be accomplished in section 3515. This θ _Icorr is differentiated by a differentiator 3517 and supplied by an adder 3519.

への訂正を与え訂正した出力

Corrected output to

を得る。

Get.

  Similarly, the left and right linear velocities of the left and right wheels

及び

as well as

は微分器３５０７及び３５０８による、左及び右の誘導された位置信号

Is the left and right derived position signals from differentiators 3507 and 3508

及び

as well as

の微分から誘導される。ついで位置信号は左及び右車輪の決定された絶対角度位置θ_Ｗｌ及びθ_Ｗｒに掛け算器３５９５及び３５０４におけるｒの利得を掛けることにより誘導される。角度位置θ_Ｗｌ及びθ_Ｗｒは最初に積分器３５０１及び３５０２で左及び右車輪エ
ンコーダ信号

Derived from the derivative of The position signal is then derived by multiplying the determined absolute angular positions θ _Wl and θ _Wr of the left and right wheels by the gain of r in multipliers 3595 and 3504. Angular positions θ _Wl and θ _Wr are first fed into integrators 3501 and 3502 by left and right wheel encoder signals.

及び

as well as

を統合してθ_ＰＷｌ及びθ_ＰＷｒを得ることにより決定される。これらの信号はついで加算器３５０３及び３５０４に送られ、ここでは加算器３５１３及び分割器３５１４から誘導されたθ_Ｃ及び量１／２（θ_ＰＣ−π）を加えることにより集合体の回転の効果のために補正される。

_Are integrated to obtain θ _PWl and θ _PWr . These signals are then sent to adders 3503 and 3504, where the effect of the rotation of the aggregate is obtained by adding θ _C and the quantity ½ (θ _PC −π) derived from adder 3513 and divider 3514. Corrected for.

  FIGS. 36 and 37 are block diagrams showing a step-by-step approach for control suitable for use in conjunction with the control assembly of FIG. This makes it possible to climb the stairs and cross the obstacle according to the first embodiment, which allows the vehicle according to the embodiment of FIGS. In this embodiment, the assembly is placed in tilt mode, where the assembly maintains equilibrium in the same general manner used to maintain normal equilibrium by wheel rotation as shown in FIG. Rotate like so. The same basic equation is used. In FIG. 36, adder 3601 generates a correction signal that drives the left and right aggregates. These are through the gains K1 and K2, respectively, the gradient signal and the gradient rate signal θ and

を出す傾斜計３６０２から誘導され、他のものの間にある。左及び右集合体からのエンコーダ出力は入力

Derived from an inclinometer 3602 and is among others. Encoder output from left and right aggregates is input

及び

as well as

を提供し、これらはそれぞれ積分器３６０３及び３６０４により積分され、それぞれリミッター３６０５及び３６０６により飽和制限されてθ_ＰＣｌ及びθ_ＰＣｒを発生する。これらの値は、加算器３６０８及び３６１０をとおして平均化されるとき、角変位θ_ＰＣになる。この角変位は利得Ｋ３を介して加算器３６０１への追加入力として与えられる。加算器３６１７及び分割器３６１８を介して、

Are integrated by integrators 3603 and 3604, respectively, and saturation limited by limiters 3605 and 3606, respectively, to generate θ _PCl and θ _PCr . These values become the angular displacement θ _PC when averaged through adders 3608 and 3610. This angular displacement is provided as an additional input to adder 3601 via gain K3. Via an adder 3617 and a divider 3618,

と

When

の平均として決定される速度

Speed determined as the average of

は、利得Ｋ４を介するこの時間の、加算器３６０１への追加入力である。加算器３６０１の出力は加算器３６１１及び３６１２、分割器３６１３及び３６１４、及び飽和リミッタ３６１５及び３６１６をそれぞれ介する左及び右修合体モーターの一様な駆動を与える。しかしＰＩＤ制御ループ３６０９を通るツイスト信号は加算器３６１１及び３６１２を介して左及び右集合体モーターに作動駆動を与える。このツイスト信号は加算器３６０７を使用して信号θ_ＰＣｌとθ_ＰＣｒを相互から差し引くことにより誘導される。

Is an additional input to adder 3601 at this time through gain K4. The output of adder 3601 provides uniform drive of left and right combined motors through adders 3611 and 3612, dividers 3613 and 3614, and saturation limiters 3615 and 3616, respectively. However, the twist signal through the PID control loop 3609 provides operational drive to the left and right aggregate motors via adders 3611 and 3612. This twist signal is derived by using an adder 3607 to subtract the signals θ _PCl and θ _PCr from each other.

When the assembly is in tilt mode, the wheels are in slave mode, where the wheels are driven as a function of the rotation of the assembly. This is shown in FIG. 37, where θ _PC derived from FIG. 36 as the output from divider 3610 is multiplied by a constant climb ratio of gain 3701 to generate a θ _PWref signal, which is an adder 3703. And 3702 to control the left and right wheel motors via PID control loops 3705 and 3704 and saturation limiters 3707 and 3706, respectively. Comparison of FIG. 37 and FIG. 34 shows that the wheels react directly to the aggregate of FIG. 37 in the same way that the aggregate reacts directly to the vertical (π radians) input 3413 of FIG. Indicates. In FIG. 37, adders 3703 and 3702 have two other inputs. One input is to follow the result of the directional input 3714 from the control stick. This is similar to the processing method in FIG. 34 and generates left and right control signals provided as input adders 3703 and 3702, respectively, via adders 3709 and 3708 and integrators 3711 and 3710. Other input is to track the effects of wheel rotation, an integrator 3713, and theta _PWL and theta _PWr obtained by performing a left and right wheel encoder outputs through 3712 also adders 37039 and 3702 Deducted.

  Using the tilt mode provides a powerful and stable way to overcome obstacles. The climb ratio is determined by the multiplier selected for gain 3701 in FIG. Once this is determined (items determined manually or automatically after obstacle measurement using an appropriate spatial sensor, or wholly or partially empirically determined based on state variables) By tilting the person or the vehicle, the vehicle can lean over the obstacle in a desired direction. The assembly rotates and at the same time maintains an equilibrium of rotating with the wheel over the obstacle. If the vehicle does not encounter an obstacle, the vehicle is preferably operated in the equilibrium mode of FIGS. 33 and 34, the assembly reacts directly to π radians, and the wheels maintain equilibrium to achieve the desired movement. Do.

The transition between wheel balance mode and aggregate tilt mode is a matter of caution. FIG. 38 is a block diagram of the state of the vehicle during play, tilt and balance modes using the embodiment of FIGS. 33-37. At key time, there will be no state change until it is determined that the (θ _PC −π) mode is (2π / 3) = 0. This is a point, where the center of mass is generally above the ground contact pair, and such condition is referred to as “zero crossing” in the following description and claims. At the zero crossing, the aggregate is at a position where it can react directly to the θ _PC = π position, for example, in the manner of FIG. After the start in block 3801, the initial state of the vehicle is “To Play” 3802, from which the vehicle enters “Play” 3803 and remains there until the Run / Play switch moves to the Run position. Once in that position, the vehicle enters “out of play” 3804. Since there is no absolute reference in either aggregate, it is assumed that the vehicle is on a flat, even ground in “out of play” 3804 with the absolute reference established. All movements of the assembly determined by the incremental encoder are related to this criterion. At this point, or at any later point, if the run / play switch returns to the play position, the state returns to “go to play” 3802 via path 3812. Otherwise, the state becomes “wait” 3805 and stays there until it is determined that θ = 0, but the state becomes “to slope” 3806. “To Tilt” then moves to “Tilt” 3807 and stays there if the switch does not move. If the tilt / balance switch is placed in the equilibrium position and the assembly experiences a zero crossing, the state goes from “tilt” to 3808, “to balance” 3809, and finally to “balance” 3810. It moves continuously.
If the tilt / balance switch moves to the “tilt” position, the state moves to “from balance” 3811 and back to “tilt”.

  The "wait" state allows the wheel and assembly motors to start smoothly. Without this, the control loop will immediately attempt to correct the potential strong error signal from the inclinometer. This can be avoided by starting at the zero crossing. Allows for a smooth and quiet start by an additional technique that monitors and requires that this be below a certain critical value at the zero crossing.

39A-B, 40A-B, 41A-B, and 42A-C are the controls for the vehicle according to the embodiment of FIGS. 11 to 21 to achieve the stair climb according to the second embodiment. The course of the embodiment is explained. This embodiment includes four basic operational processes. That is, departure, resetting of the angle origin, weight transfer, and climbing. Among other embodiments, this embodiment is conveniently performed in the control mode of FIG. A block diagram showing a stepwise approach to control to achieve these four processes is shown in FIGS. 43 (departure), 44 (weight transfer), and 45 (upward). (There is no motion in the process of resetting the angle origin, and no step-by-step method for controlling this process is shown) FIGS. 39A and 39B illustrate the direction of the assembly in the starting process. In this process, the assembly is from a normal equilibrium position on two wheels (Fig. 39A) and a first pair of wheels (one from each assembly) is on the first level and a second pair from each assembly. Wheel to the position on the next staircase (shown in FIG. 39B). The angle values used in the description relating to the drawings of FIGS. 39A to 42C are the nominal staircase and aggregate wheel sizes given in Table 1 above. In the stepwise approach of the starting process shown in FIG. 43, the input θ _{C ref} is given to the aggregate block 4301 as a time bifunction. This function changes smoothly from the starting value to the final value. Alternatively, the input θ _{PC ref} can be provided in a similar manner. Here the input θ _{C ref} is executed through the processor 4302 and the quantity

を計算する。この量は、θ_Ｃｒｅｆ自体とπと共に

Calculate This amount, along with θ _Cref itself and π

を計算し、集合体ブロック４３０１へのθ_{ＰＣ ｒｅｆ}入力としてこの量を与える加算器４３０３への入力として与えられる。集合体ブロック４３０１は、θ_{ＰＣ ｒｅｆ}がπにおいてもはや固定されないが、しかし上述したように変化することを除いては第３４図におけると同様な構成である。平衡ブロック４３０４第３３図におけると同様な構成であるが、操縦桿利得Ｋ１０及びＫ１１は０に設定される。加算器４３０５は第３５図に関連して説明した方法で傾斜計の勾配の読みの補正をし、加算器４３０５の出力は微分器４３０６で微分されて第３５図に関連して説明した方法で、

Is given as an input to adder 4303 which gives this amount as the θ _{PC ref} input to aggregate block 4301. Aggregate block 4301 has the same configuration as in FIG. 34 except that θ _{PC ref} is no longer fixed at π but changes as described above. The balance block 4304 has the same configuration as in FIG. 33, but the control stick gains K10 and K11 are set to zero. The adder 4305 corrects the inclinometer gradient reading in the manner described in connection with FIG. 35, and the output of the adder 4305 is differentiated by the differentiator 4306 and in the manner described in connection with FIG. ,

の訂正を与え、そのように補正された勾配入力θ及び

Of the gradient input θ and

は車輪平衡の段階的手法４３０４に与えられる。平衡ブロックへの入力

Is provided to the wheel balancing stepwise method 4304. Input to balanced block

及び

as well as

も又第３５図に関連して説明した方法と同じように誘導される。

Is also derived in the same manner as described in connection with FIG.

FIGS. 40A and 40B illustrate the orientation of the assembly in the process of resetting the angle starting point. In this step, the system determines the identity of the “leg” (quoted in the provisions of paragraph 2 described below in Table 1) from the state variable associated with the lower wheel to the next step to measure the state variable. Change to the state variable associated with the upper wheel. As a result, the aggregate has three wheels and the total angular distance around the center of the aggregate is 2π radians, so this step adds 2π / 3 radians to θ _PC and 2π / 3 radians to θ _C Subtract from. There is no movement related to this step.

41A and 41B illustrate the orientation of the assembly in the process of weight transfer. In this process, the vehicle and human weight are transferred from the wheel on the lower stairs to the wheel on the upper stairs. Here, it is executed as a pre-programmed operation based on the known structure of the stairs and the assembly. In this process, the value θ _C does not change. The value θ _PC must change to reflect the new position of the vehicle's center of mass. To achieve this result, the input θ _{PC ref} as a function of time is applied to the aggregate block on line 3413 shown in FIG. 34 and to the wheel block of FIG. Since this process is programmed, the climbing block of FIG. 45 and the wheel balancing block of FIG. 33 are not active. In FIG. 44, the input θ _{PC ref} is implemented via a divider 441 and then provides a control signal to the left and right motor wheels via PID control loops 445 and 444 and saturation limits 447 and 446, respectively. 442. Adders 443 and 442 also _subtract θ _PWl and θ _PWr derived from the execution of angular velocity information from the left and right wheel encoders via integrators 448 and 449.

42A, 42B, and 42C illustrate the orientation of the assembly during the climbing process. In this process, the wheels of the vehicle rotate in the direction of advancement toward the next staircase, and the assembly is rotated to position the wheels on the next staircase tread. The rotation θ _{C of the} assembly is proportional to the distance traveled by the wheels on the stair tread. There is no reference position input in this process. Humans try to move the vehicle forward by leaning on or pulling on the handrail. The assembly automatically rotates as a result of feedback from θ _W to θ _C through path 45 in FIG. At the beginning of the climbing process, x is set to zero. The step-by-step approach of control in this process requires monitoring both θ _C and θ _PC when this angle reaches its final value and moving to the weight transfer process. In the last step, the process must stop at θ _C = 0 or θ _PC = π instead of stopping at the final angle shown in FIG. 42C. The vehicle must then return to normal equilibrium mode. The balancing block 453 and the aggregate block 452 are as described above with reference to FIGS. 33 and 34, respectively. Input θ to the balancing block 453,

、

,

、及び

,as well as

の誘導は第４３図及び第３５図に関連して上述したとおりである。実際のところ、第４５図の構成は第４３図の構成に実質的に類似しており、θ_{Ｃ ｒｅｆ}がもはや独立して変化しないという相違点はあるが、代わりに関数θ_ｗがつくられる。これは加算器４５４及び分割器４５５を介して、θ_Ｗｌ及びθ_Ｗｒの平均をとることで誘導される。したがってライン４５１上のこのθ_Ｗ値はプロセッサー４５６を介して実行され量

Is as described above with reference to FIGS. 43 and 35. In fact, the configuration of FIG. 45 is substantially similar to the configuration of FIG. 43, with the difference that θ _{C ref} no longer changes independently, but instead a function θ _w is created. This is induced by taking the average of θ _Wl and θ _Wr via an adder 454 and a divider 455. Therefore, this θ _W value on line 451 is executed via processor 456 and is a quantity

を決定する。これは階段の構造に対する車輪の回転に関する正しい量の集合体の回転となり、最初の値θ_Ｃ、すなわちθ_{Ｃ ｓｔ}と共に加算器４５７への入力として与えられる。加算器４５７の出力はθ_{Ｃ ｒｅｆ}である。

To decide. This is the correct amount of aggregate rotation with respect to the rotation of the wheels relative to the staircase structure and is given as an input to the adder 457 along with the initial value θ _C , ie, θ _{C st} . The output of the adder 457 is θ _{C ref} .

FIGS. 33-45 show a step-by-step approach to analog control, which has been implemented in many embodiments using microprocessor programmed digital control. However, it is entirely within the scope of the present invention to use direct analog control and hybrid analog and digital control. The analog control was successfully executed by using, for example, a pair of laterally arranged wheels instead of the assembly in the vehicle of FIG.
Speed Limit Any of the following embodiments of the vehicle according to the present invention, as described above, may be provided with a speed limit in order to maintain balance and control. Otherwise this balancing and control would be lost if the wheel (or arcuate element) that is currently capable of being driven to it is allowed to reach maximum speed.

Speed limiting is achieved by tilting the vehicle in a direction opposite to the current direction of travel. This reduces the speed of the vehicle. In this embodiment, the vehicle is tilted backward by adding a gradient correction to the gradient value of the inclinometer. The speed limit occurs whenever the vehicle speed of the vehicle exceeds a limit value that is a vehicle speed limit. The slope correction is determined by observing the difference between the vehicle speed, the determined speed limit, and the integrated overtime. The slope correction process is maintained until the vehicle drops to the desired exit speed (speed just below the speed limit), and then the slope angle returns smoothly to its initial value. One way to determine the vehicle speed limit is to monitor the battery voltage. The battery voltage is then used to estimate the maximum speed that can currently be maintained.
Another method is to measure the voltage of the battery and the motor, and monitor the difference between the two. This difference provides an estimate of the amount of speed limit currently available for the vehicle.
Use of sensors in stair climbing As described above in connection with FIG. 37, stair climbing and obstacle climbing can be accomplished using the tilt mode, and the climb ratio can be selected manually or automatically. it can. Here we explain how to use the sensor to automatically select the climb ratio. In the tilt mode, the aggregate is the “master” and the wheels are “slave”. The ascent ratio represents the ratio between aggregate rotation and wheel rotation. For example: i) A climb ratio of zero means that the wheel does not move at all when the assembly moves.
ii) A climb ratio of 0.25 means that the wheels rotate by ¼ in the same direction as the assembly for each assembly rotation.
iii) An ascent ratio of -0.5 means that the wheel rotates 1/2 in the opposite direction to the assembly for rotation of each assembly.

  46 and 47 show a vehicle having a configuration like a chair 461 for supporting a person. This chair 461 is combined with a ground contact module in the form of a pair of assemblies 462. Each assembly is driven by a motor and has a plurality of (here, three) wheels 463. Each aggregate wheel set is also driven by a motor. Aggregation 462 is in this case joined by a tube and may contain the assembly motor. The assembly 462 is part of an assembly that includes a chair 461 that is attached to the tube of the assembly via thigh and calf joints 466 and 464 and motor driven hip and knee joints 467 and 465, respectively. The buttocks, knees, and assembly drive function together to affect the change in the height of the seat 461. It should be noted that in this case the assembly drive operates as an ankle as it rotates the calf around the assembly. The posture of the aggregate is maintained by a balanced stepwise approach. The vehicle of this embodiment includes a sensor A that monitors the front along the path 468. And just above the tube of the assembly, it is mounted above the level ground enough to sense the second step kick of the stairs 460 to climb. (Note that kicks are not perceived when climbing a curve). Sensor A is only used when climbing stairs. The vehicle of this embodiment also includes a sensor B attached to the tube of the assembly that monitors the downward direction along the path 469. This senses the distance from the surface to the ground below. It is placed in front of the tube and is mounted above the level ground enough to sense the tread of the step to climb. Both sensors A and B may be any known type of sensor including ultrasound that senses distance.

  As shown in FIG. 47, when the vehicle descends, sensor B senses the end of the step the device is currently on by detecting a change in height. The sensor C is attached to the footrest of the chair 461. Then, the downward direction along the path 471 is monitored. This senses the distance from the surface to the ground below. This sensor is only used when descending. It is placed well above the ground and well in front of the tube of the assembly, looking at the edge of the upper landing when preparing to descend.

  In this embodiment, to climb the stairs, the driver of the vehicle issues a “rise” command via the driver's interface while in the equilibrium mode. The seat automatically rises to full height, allowing the driver's feet to clear the steps in front of the driver. The vehicle is then driven towards the stairs. When sensor B senses a step (as a change in the distance from the sensor to the ground), the vehicle enters tilt mode and makes the vehicle “fall” to the first step (two wheels for landing down, two wheels for the first step) " Once the vehicle is in tilt mode, the center of gravity (CG) automatically moves forward. This movement makes it easier for the driver to tilt forward. The driver tilts forward and creates a gradient error. As a result, the step-by-step approach to assembly equilibrium provides torque to the assembly motor. This torque rotates the assembly and causes the device to climb the stairs.

  As soon as the step-up approach is used and the climb ratio is adjusted dynamically, the transition from 4 wheels above 2 steps to 2 wheels above 1 step.

This time is not determined by the sensor, but by looking at whether the following information is true:
i) The vehicle is told to rise,
ii) The conversion is complete,
iii) After adjusting the last ascent ratio, the assembly rotates 2π / 3,
iv) the position of the aggregate is within a certain window,
V) The aggregate torque command is below a certain limit value, the induced value of the command is negative (corresponding to setting the wheel on the step down), and vi) the aggregate torque command is at a certain limit Greater than the value and the command's induced value is positive (corresponding to lifting the wheel on the step).

  At the above time, the stepwise approach uses sensor A to calculate the distance to the next step, the fact that it will take 2π / 3 rotations of the aggregate to get the next step, and the ascent ratio Determine the wheel radius. If sensor A reads out of range (no easy kick to land) or exceeds a certain limit, this is the last step and the last step process. This procedure is repeated in each successive step until the last step.

  In the last step, the CG is returned to the center and lowered in height. This makes it more difficult to follow the last step, but this stabilizes the landing of the vehicle. Select a high climb ratio and push to land the vehicle to shift to equilibrium mode. The driver again turns forward. When it is determined that a zero crossing (defined above in connection with FIG. 38) has occurred, the vehicle transitions to equilibrium mode. The vehicle is balanced on the upper landing using its wheels.

The descent is done in a manner similar to ascent. The driver issues a “down” command via the driver's interface while in equilibrium mode. The seat automatically lowers to the lowest height (if not already lowered). This is mainly to increase the driver's safety. Since sensor C is far from the front of the wheel, the vehicle need not be very close to the edge of the step when in balanced mode. Since the vehicle is far from the edge when entering tilt mode, the climb ratio is adjusted to a fairly high value. This allows the vehicle to reach the edge of the step once it enters tilt mode. When sensor C senses a step (as a change in distance to the ground), the vehicle enters tilt mode. Once in tilt mode, the center of gravity (CG) moves backwards. This movement makes it easy for the driver to tilt backward until the control is lowered. To descend, the driver first leans forward to create a gradient error so that the vehicle goes down the stairs. At approximately half the speed, the driver must make a slight gradient error backwards to slow down the next staircase. The climb ratio is adjusted using a downward monitoring sensor B that senses the end of the step the wheel is currently riding on. The rise rate is adjusted to a high positive value when no end is detected (aggregate command signal is positive, rise rate is either negative or nominal, sensor B is below a certain limit). A high positive climb ratio causes a relatively fast wheel swing and the vehicle immediately reaches the end of the current step. The action of establishing this high positive climb ratio is ignored, but if the vehicle is brought very close to the end it will be as follows.
i) When sensor B senses an end (a distance greater than a certain threshold and the climb ratio is positive), the climb ratio is set to a nominal positive value.
ii) If it is determined that the vehicle is too close to the end (the aggregate signal is positive, the climb ratio is either negative or nominal, sensor B is above a certain limit), the climb ratio is low negative Adjusted to the value of. A negative climb ratio keeps the vehicle safe on the current step by rotating the wheels backwards as the assembly rotates.

The descending pattern is repeated for each step. When the vehicle lands at the bottom of the stairs, sensors B and C no longer sense the step (sensor reading below a certain limit). When this happens, the vehicle transitions to equilibrium mode.
Mode Transition The transition between the vehicle tilt mode and the equilibrium mode of FIGS. 46 and 47 is managed as described in connection with FIG. 38, but in the following embodiment according to the present invention, the transition between modes is It may be managed on a more active and continuous basis. This embodiment uses joints 465 and 467 to control the height of seat 461 and joint 467, and in particular to control the inclination of seat 461. In the tilt mode, the vehicle has four wheels on the ground (two on the ground from each assembly), so it climbs the stairs and moves on the obstacle. The output of the assembly motor is adjusted by the encoder speed of the inclinometer. When the tilt / balance switch is depressed, a transition to balance mode occurs.

In the transition to equilibrium mode, the center of gravity moves over the front ground-contact wheels of each assembly. To achieve this, the offset added to the inclinometer reading is gradually increased to create an artificial gradient error. This artificial gradient error causes torque to be applied to the motor of the assembly by a stepwise approach to the equilibrium of the assembly, which in turn causes the assembly to rotate. This torque throws the seat forward and moves the seat on the front wheels in proportion to the artificial gradient error. (At the same time, the same offset may be used to command the new desired position of the seat tilt, determined by the joint 467 of FIG. 46, to keep the seat horizontal)
When the aggregate position is greater than the indicated aggregate transition angle (which is based on the amount of CG conversion), the aggregate transition speed is set to the speed at which the aggregate is currently moving and enters equilibrium mode.

  When the balance mode is entered, the assembly only partially rotates and the rear pair of wheels is typically about 2-5 cm above the ground. When entering equilibrium mode, each of the assemblies from its current position will have its “leg” (as defined in item 2 below Table 1) and “post” (also as specified in item 2). ) Should be rotated until it is vertical as in FIG. This is accomplished by rotating the assembly at an indicated speed that is gradually adjusted from the default transition speed of the assembly. In this way, the rotation of the assembly continues smoothly until the assembly reaches its target position and enters the equilibrium mode. During this assembly rotation, the artificial gradient error is reduced and maintains the CG on the ground contact element until it is completely removed from the inclinometer reading. If this was not done, the device would transition (to equilibrium mode) due to artificial gradient errors.

  The position of the assembly can be used to command the seat tilt, thereby keeping the seat level as the seat post moves backwards. Once the assembly legs and posts are vertical (the assembly stops rotating) and the seat is level, the transition from tilt mode to equilibrium mode is complete.

  When the vehicle is in equilibrium mode, pressing the tilt / balance switch enters the transition to tilt mode. The desired assembly position gradually changes from the initial position (the assembly legs and posts are vertical) to the final position (the front wheel pair is at the indicated distance on the ground). At the same time, artificial gradient errors are introduced to maintain the CG on the balanced wheel. Also, the position of the assembly can be used to command the seat tilt, which keeps the seat horizontal as the seat post moves backwards.

  Once the assembly has rotated to a position where the second wheel pair is within the indicated distance on the ground, it enters tilt mode, which causes the device to fall on four wheels. Once the vehicle is in tilt mode, the artificial gradient error that throws the collective post back and keeps the seat tilted forward is quickly but smoothly removed. As a result, the applied assembly torque causes the assembly post to rotate forward to its vertical position. At the same time, torque is applied to the seat tilt to keep the seat level.

Once the aggregate post is vertical and the seat is horizontal, the transition from balanced mode to tilt mode is complete.
Configurations Using Harmonic Devices In the following embodiment of the present invention, the embodiment of FIGS. 46 and 47 is a mechanical configuration similar to the embodiment of FIGS. 9-12 using a harmonic device. It is embodied. This configuration is shown in FIGS. 48-52.

  FIG. 48 is a partially cutaway vertical sectional view seen from the front showing the overall mechanical layout of the vehicle of this embodiment. In this figure, the seat frame 481, waist assembly 482, thigh joint 483, knee assembly 484, calf joint 486, and wheel 485 can be seen among others.

FIG. 49 is an enlarged view of a part of FIG. 48, showing the mechanical details of the position of the vehicle assembly. Left and right wheel motors 4913 drive left and right wheels 485, respectively. The wheels on either side are powered synchronously. The wheels are driven via a two-stage deceleration. In the first stage, the motor 4913 rotates the wheel drive pulley 496 to move the timing belt 495. In the second stage, three sets of herringbone gears 4911 are used. This is assigned one set for each wheel to drive the wheel drive shaft 4912. Each side of the motor 4913 not coupled to the wheel drive pulley is coupled to the shaft encoder 4914. The two assemblies in this embodiment are driven by the same motor 4924 via a three stage reduction. In the first stage, the motor 4924 rotates the assembly drive pulley 4921. Pulley 4921 moves the timing belt. The timing belt is best represented by reference numeral 501 in FIG. 50 showing details of the assembly drive mode.
The timing belt 501 drives a second stage helical gear including a first gear 502 and a second gear 4922. The second gear 4922 drives a pair of intermediate shafts 493 that drive the final set of helical gears 494 in each assembly. The side of the assembly motor 4924 that is not coupled to the assembly drive pulley 4921 is coupled to the shaft encoder 4925. The far side of the shaft turning the assembly drive pulley 4921 is coupled to an assembly brake assembly 4926 which is used to lock the assembly when the vehicle is parked or in balance mode. The housing of the two wheel motors 4913 and the assembly motor 4924 are bolted together to form a tube and provide a structure for joining the assembly assembly. Calf 486 is rigidly secured to this structure.

  FIG. 51 shows the end of the assembly. The single timing belt 495 in FIG. 49 is driven by a wheel drive pulley 496 at the center of the assembly. Timing belt 495 drives a large pulley 511 on each of the three legs. The large pulley 511 drives a gear set including a pinion gear 512 that drives a wheel 485 and an output gear 513. The four idler pulleys 514 protect the belt 495 from interference with the assembly housing 515 and provide the maximum wrap angle around the drive pulley.

FIG. 52 shows the mechanical details of the waist joint and knee joint. Both joints are mechanically equivalent. A motor magnet rotor 5211 operated by a stator 5252 rotates a shaft 5213 attached to bearings 522 and 5272. The shaft 5213 rotates in a bearing 5272 and rotates an oscillating generator 5271 having a generally elliptical shape. The swing generator 5271 causes the teeth of the harmonic drive cup 5262 to engage and disengage with the harmonic drive spline 5261. This process causes the thigh 483 to move relative to the calf 486 or seat frame 481 at a very high reduction rate. An electromagnetic power cut brake having an electromagnet 5281 and a brake pad 5282 can be added to the swing generator 5271 to prevent the joint from rotating. This stops the motor from rotating when the joint is not operating. A potentiometer 524 is geared to the harmonic drive cup 5262 via a gear train 5241 to provide absolute position feedback, and an encoder (not shown) is fixed to the motor shaft at position 523 to provide incremental position information.
While the embodiment of the composite processor FIG. 27 illustrates the use of a single microprocessor board 272, it has been found that in some of the embodiments it is advantageous to use multiple microprocessors in parallel. The following embodiments can be applied to the mechanical design discussed with reference to FIGS. 48 to 52, for example. Four different microprocessors are operated in parallel, each supplying a message to the communication bus, allowing the microprocessors to monitor each other. An expert interface (TI) is also provided, which allows the expert to change the gain and reprogram the processor. The four different microprocessors control the different components of the system as follows. Microprocessor 1 controls buttons, knees and lower back, and control stick (x and y axes), and microprocessor 2 measures distance, presence (human), battery monitoring, and user interface (which enables vehicle mode) The microprocessor 3 controls the stepped approach of the balance of the assembly, and the microprocessor 4 controls the stepped approach of the balance of the vehicle. Depending on the complexity of distance measurement and other matters, a microprocessor may be added as needed. This does not necessarily limit the number of processors.

The advantages of this embodiment of parallel processing are safety (each microprocessor operates independently, and if one microprocessor fails, all functions are not lost), more easily The ability to develop a system, reduced power requirements (higher performance than a PC with a combination of low-capacity microprocessors), and faster operation (same processing speed as a PC with a combination of low-speed microprocessors)
Alternative Embodiments The present invention can be implemented with many more alternative embodiments. The vehicle according to the invention has been found to work properly as a prosthetic device for humans with illness (such as Parkinson's disease or hearing impairment) or damage due to deficiencies in maintaining balance or achieving movement . The prosthetic device achieved by the vehicle functions as an extension of the person's own balancing system and movement system, since the vehicle has feedback that takes into account changes in the center of gravity of the vehicle that can be attributed to human movement relative to the vehicle. Providing the vehicle to a person with such a handicap is thus a way to adapt the prosthesis, which allows control of movement and balance when the prosthesis is not available. We have observed that people with Parkinson's disease have gained dramatic recovery in balance and movement control using vehicles according to embodiments of the present invention.

  In implementing various embodiments of the vehicle of the present invention, visual orientation and movement information is generally provided, as many contributions from the driver are given to achieve various conditions of movement. However, it is not surprising that these embodiments are extremely important. Nevertheless, there may be situations where visual information is impaired (due to ignorance or incompetence) or insufficient. In the following embodiments of the invention, the vehicle exhibits direction or direction and speed with one or more non-visual outputs. Such output may be tactile, eg, sound waves, and the output is modulated by the modulator to reflect the speed and direction of the vehicle. For example, FIG. 53 shows the case of a sound wave output generated by a generator 531, which is modulated by a modulator 532 having direction and velocity inputs 533 and 534. In this case, a repeated sound may be used. The rate of sound repetition is used to indicate speed, the tone of the sound is oriented and direction of movement (eg, high tone is forward, low tone is backward, intermediate tone is up), and slope indicating the degree of tilt May be used to indicate the degree of change, i.e., the gradient angle of the vehicle (where the tone of the sound is an effect that is considered to be the gradient of the vehicle).

The present invention will be readily understood by the following description with reference to the drawings.
FIG. 1 is a perspective view of a simplified embodiment of the present invention showing a sitting person. FIG. 2 is another perspective view showing details of the embodiment of FIG. FIG. 3 is a schematic diagram of the embodiment of FIG. 1, showing the situation during rotation of this embodiment. FIG. 4 is a side view of the embodiment of FIG. 1 used to climb the stairs. FIG. 5 is a block diagram generally showing the power and control of the embodiment of FIG. FIG. 6 illustrates a control method for the simplified example of FIG. 1 that uses wheel torque to achieve equilibrium. FIG. 7 schematically illustrates the operation of the control control of the wheel in the embodiment of FIG. FIG. 8 illustrates the procedure embodied by the embodiment of FIG. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. FIGS. 9-10 illustrate the use of a two-wheel assembly design at various locations. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. FIGS. 9-10 illustrate the use of a two-wheel assembly design at various locations. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. 9 to 21 illustrate an embodiment of the present invention in which an assembly of a pair of wheels is used as a ground contact member. Figures 11 through 21 illustrate the use of a three wheel assembly design in various positions and shapes. FIGS. 22 to 24 illustrate an embodiment in which each ground contact member is realized as a group of arcuate elements attached so as to approach and rotate in a plurality of axial directions. FIGS. 22 to 24 illustrate an embodiment in which each ground contact member is realized as a group of arcuate elements attached so as to approach and rotate in a plurality of axial directions. FIGS. 22 to 24 illustrate an embodiment in which each ground contact member is realized as a group of arcuate elements attached so as to approach and rotate in a plurality of axial directions. FIGS. 25 to 26 show details of the mechanism for designing the three-wheel assembly used in the embodiment of FIGS. FIGS. 25 to 26 show details of the mechanism for designing the three-wheel assembly used in the embodiment of FIGS. FIG. 27 is a block diagram showing communication between the control assemblies used in the embodiment of FIGS. FIG. 28 is a block diagram showing the structure of a general control assembly of the type used in the embodiment of FIG. FIG. 29 is a block diagram showing details of the assembly of the driver interface of the assembly 273 of FIG. FIG. 30 is a logical flow diagram accompanied by the central microcontroller panel of FIG. 27 in the course of one control cycle. FIG. 31 illustrates the design of the assembly of FIGS. 11 to 26 and the variables that determine the dimensions of the hypothetical staircase. For this hypothetical staircase, the aggregate design used for ascending or descending is used. FIG. 32 illustrates an angular variable suitable for determining the direction of the assembly in relation to the vehicle and the earth. FIG. 33 is a schematic diagram of wheel motor control during balance and normal movement. FIG. 34 is a schematic diagram of the mode of control of the aggregate during equilibrium and normal movement. FIG. 35 shows a schematic diagram relating to FIG. 33, showing how the state variable indicating the wheel position is determined to compensate for the effect of rotation of the assembly. FIGS. 36-38 illustrate the control aspects for stair-climbing and obstacle crossing achieved by the design of the assembly of FIGS. 11-26 according to the first embodiment enabling climbing. FIG. 36 is a schematic view of the control mode for the motor of the assembly in the first embodiment enabling climbing, here using the tilt mode. FIGS. 36-38 illustrate the control aspects for stair-climbing and obstacle crossing achieved by the design of the assembly of FIGS. 11-26 according to the first embodiment enabling climbing. FIG. 37 is a schematic view of the control mode for the wheel motor in the first embodiment enabling climbing. FIGS. 36-38 illustrate the control aspects for stair-climbing and obstacle crossing achieved by the design of the assembly of FIGS. 11-26 according to the first embodiment enabling climbing. FIG. 38 is a block diagram of the state of the vehicle using the first embodiment that allows climbing to move between play, tilt and balance. FIGS. 39A-B, 40A-B, 41A-B, and 42C illustrate the stair-climbing achieved by the assembly design of FIGS. 11-26 according to the second embodiment allowing climbing. . FIGS. 39A and 39B illustrate the direction of the assembly in the course of the stairs climb start according to the second climb embodiment. FIGS. 39A-B, 40A-B, 41A-B, and 42C illustrate the stair-climbing achieved by the assembly design of FIGS. 11-26 according to the second embodiment allowing climbing. . 40A and 40B illustrate the direction of the assembly in the process of resetting the starting point of the angle in this embodiment. FIGS. 39A-B, 40A-B, 41A-B, and 42C illustrate the stair-climbing achieved by the assembly design of FIGS. 11-26 according to the second embodiment allowing climbing. . 41A and 41B illustrate the direction of the assembly in the process of weight transfer in this example. FIGS. 39A-B, 40A-B, 41A-B, and 42C illustrate the stair-climbing achieved by the assembly design of FIGS. 11-26 according to the second embodiment allowing climbing. . FIGS. 42A, 42B, and 42C illustrate the direction of the assembly during the climbing process in this embodiment. FIG. 43 is a schematic diagram of the control aspects for the wheel and assembly motor in the course of the start of FIGS. 39A and 39B. FIG. 44 is a schematic diagram of the control mode for the wheel motor in the weight transition process of FIGS. 41A and 41B. FIG. 45 is a schematic view of the control mode of the climbing process of FIGS. 42A, 42B and 42C. FIGS. 46 and 47 schematically show a vehicle according to an embodiment of the invention with sensors for raising and lowering stairs and other similar obstacles. FIGS. 46 and 47 schematically show a vehicle according to an embodiment of the invention with sensors for raising and lowering stairs and other similar obstacles. FIG. 48 shows a vertical cross-section of an embodiment of the present invention that uses a harmonized drive and is shaped similar to the vertical cross-section of FIGS. 9-12. FIG. 49 shows details of the assembly portion of the vehicle shown in FIG. FIG. 50 shows details of the driving mode of the vehicle assembly of FIG. FIG. 51 shows the end of the vehicle assembly of FIG. FIG. 52 shows the mechanical details of the waist joint and knee joint of the vehicle of FIG. FIG. 53 illustrates an embodiment of the present invention that provides a non-visual output useful for a person controlling a vehicle.

Claims (1)

  A support for supporting an object, and a ground contact module attached to the support, the ground contact module including at least one ground contact element, the direction of the ground contact module being a front-rear and a lateral plane And a ground contact module, the support and the ground contact module being a component of the assembly, wherein the vehicle is inherently stable in the front-rear plane in at least one mode of operation. A motorized drive that provides torque to the at least one ground contact element of the ground contact module, and a torque coupled to the motorized drive and applied to the at least one ground contact element. And a control loop for determining the vehicle.

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