APPARATUS AND METHODS FOR CONTROL OF A VEHICLE
First Claim
1. A vehicle comprising:
- a support;
at least one wheel;
a platform coupled to the at least one wheel;
a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion;
an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion,a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform at a desired orientation; and
a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, wherein torque applied by the at least one wheel to an underlying surface vehicle is controlled by commanding the coupling structure to vary position of the support portion relative to the platform portion while maintaining the platform at the desired orientation.
3 Assignments
0 Petitions
Accused Products
Abstract
Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.
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Citations
23 Claims
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1. A vehicle comprising:
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a support; at least one wheel; a platform coupled to the at least one wheel; a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion; an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform at a desired orientation; and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, wherein torque applied by the at least one wheel to an underlying surface vehicle is controlled by commanding the coupling structure to vary position of the support portion relative to the platform portion while maintaining the platform at the desired orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A dynamically-balancing vehicle, the vehicle comprising:
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a support; at least one wheel; a platform coupled to the at least one wheel; a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion; an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to dynamically balance the vehicle and provide power to the at least one wheel to propel the vehicle; and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, wherein speed of the vehicle is controlled by commanding the coupling structure to control the position of the support portion relative to the platform portion based on present operating wheel torque for the vehicle and present wheel torque capability to maintain propulsion capability margins required for balancing the vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A dynamically-balancing vehicle, the vehicle comprising:
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a support; at least one ground-contacting element; a platform coupled to the at least one ground-contacting element; a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion; an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion; a drive coupled to the at least one ground-contacting element to dynamically balance the vehicle and provide power to the at least one ground-contacting element to propel the vehicle; and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator, and wherein the controller balances the vehicle by determining position of the coupling structure support portion relative to the coupling structure platform portion and controlling position of the coupling structure support portion relative to the coupling structure platform portion to move position of the vehicle center of gravity while dynamically balancing the vehicle. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23)
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Specification