HEINZMANN, JOHN DAVID,STEVENS, JON M.,DEBRUIN, RAYMOND,FOALE, ANTHONY,HOELL, JOSEPH,HUSSEY, PATRICK A.,MULLER, ALEXANDER
申请号：
ES11714144
公开号：
ES2547959T3
申请日:
2011.02.28
申请国别(地区):
ES
年份:
2015
代理人:
摘要：
A method for making the transition from a vehicle speed from a statically stable to a dynamically balanced state, the vehicle (100, 200, 268, 500) comprising a support (104, 204, 272) at least one wheel (110, 210 State , 260, 264), a structure (172) coupling having a portion (172a) coupled support bracket (104, 204, 272) and a portion (172b) of platform coupled to at least one wheel (110, 210 , 260, 264) which allows the portion (172a) support move or slide forward and backward relative to the portion (172b) platform, a transmission coupled to at least one wheel (110, 210, 260, 264) to dynamically balance the vehicle (100, 200, 268, 500) and supplying power to at least one wheel (110, 210, 260, 264) to propel the vehicle (100, 200, 268, 500), an actuator ( 190, 640) coupled to a structure (172) coupling to control the position of the portion (172a) support relative to the porci ng (172b) platform, a controller (194, 292, 302, 400) coupled to the transmission for controlling the transmission and coupled to the actuator (190, 640) for controlling the actuator (190, 640), the undercarriage ( 504) coupled to the vehicle (100, 200, 268, 500), wherein the combination of the undercarriage (504) and at least one wheel (110, 210, 260, 264) maintain the vehicle (100, 200, 15 268, 500) in a statically stable state when the vehicle (100, 200, 268, 500) is operating in the statically stable state, the method characterized by: controlling the transmission to command at least the at least one wheel (110, 210 , 260, 264) to maintain a zero speed condition and keep the vehicle (100, 200, 268, 500) in a stationary position relative to an underlying surface controlling the actuator (190, 640) to move or slide the position of the portion (172a) support relative to the portion (172b) platform to alter the position of the center of gravity of the vehicle to a place where the vehicle (100 , 200, 268, 500) is able to swing with at least one wheel (110, 210, 260, 264) and starting the dynam
