Riderless stabilization of a balancing transporter
US6779621B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 13, 2003 |
| Grant date | Aug 24, 2004 |
| Priority date | — |
| Expiry date | Jun 13, 2023 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/72
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.