Hand-pushed motorized movement device
US11498432B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 3, 2018 |
| Grant date | Nov 15, 2022 |
| Priority date | — |
| Expiry date | Dec 2, 2039 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T90/16
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A motorized movement device includes a frame, first and second wheels connected to the frame, and first and second motors connected respectively to the first and second wheels that are commandable by respective command signals. The motorized device also includes an inertial measuring unit configured to detect the longitudinal acceleration, pitch angular speed, and yaw angular speed of the movement device and for providing signals representative of the same. The motorized device also includes sensors for detecting speeds of the wheels and configured to provide signals representative thereof. The motorized device further includes a control unit comprising a module for estimating the slope, and longitudinal thrust exerted by a user to the device, yaw torque applied by the user. The control unit also includes a module for compensating the slope, a thrust amplifying module, a yaw torque amplifying module, and a torque allocating module.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.