Two-Wheeled Gyroscope-Stabilized Vehicle and Methods for Controlling Thereof
First Claim
1. A two-wheel gyroscope-stabilized vehicle, comprising:
- a body;
a left wheel and a right wheel;
a supporting structure that connects the body and the wheels so that the body is supported by the wheels;
two wheel drives each connected with the corresponding wheel to drive it;
a gyroscope, comprising a gyroscope rotor and a gyroscope frame, wherein the gyroscope frame is rotatably mounted on the body;
at least one angle sensor mounted on the body so as to detect the gyroscope frame rotation relative to the body;
a control system adapted to receive a signal transmitted by the at least one angle sensor and control rotational velocities of the wheels according to the signal;
wherein the supporting structure is adapted to move the wheels in relation to each other and to move the wheels in relation to the body independently thereof; and
the control system is further adapted to apply a torque to the gyroscope frame.
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Abstract
A two-wheel gyroscope-stabilized vehicle includes a stabilizing gyroscope, having a gyroscope frame and a gyroscope rotor rotatably mounted in the frame. The gyroscope frame is free to rotate relative to the vehicle body. The vehicle further comprises a support structure that connects the vehicle body and the vehicle wheels, wherein the supporting structure is adapted to move the wheels independently in relation to each other and to move the wheels in relation to the body independently thereof. The support structure helps to keep the vehicle stable when riding on rough terrain. Balancing of the vehicle is provided by maintaining a right angle between the axis of rotation of the gyroscope rotor and direction of the vehicle movement by means of the control system through changing the difference of rotation velocities of the wheels. Steering of the vehicle is provided by means of applying the roll control force to the body.
27 Citations
50 Claims
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1. A two-wheel gyroscope-stabilized vehicle, comprising:
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a body; a left wheel and a right wheel; a supporting structure that connects the body and the wheels so that the body is supported by the wheels; two wheel drives each connected with the corresponding wheel to drive it; a gyroscope, comprising a gyroscope rotor and a gyroscope frame, wherein the gyroscope frame is rotatably mounted on the body; at least one angle sensor mounted on the body so as to detect the gyroscope frame rotation relative to the body; a control system adapted to receive a signal transmitted by the at least one angle sensor and control rotational velocities of the wheels according to the signal; wherein the supporting structure is adapted to move the wheels in relation to each other and to move the wheels in relation to the body independently thereof; and the control system is further adapted to apply a torque to the gyroscope frame. - View Dependent Claims (4, 5, 8, 10, 12, 13, 18, 19, 25, 26, 27, 28, 29)
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2. A two-wheel gyroscope-stabilized vehicle for carrying a rider, comprising:
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a body; a left wheel and a right wheel; a supporting structure that connects the body and the wheels so that the body is supported by the wheels; two wheel drives each connected with the corresponding wheel to drive it; a gyroscope, comprising a gyroscope rotor and a gyroscope frame, wherein the gyroscope frame is rotatably mounted on the body; at least one angle sensor mounted on the body so as to detect the gyroscope frame rotation relative to the body; a control system is adapted to receive a signal transmitted by at least one angle sensor to control rotational velocities of the wheels according to the signal; wherein the vehicle further comprises a pair of step plates to support legs of the rider, the supporting structure is adapted to move the wheels in relation to each other and to move the wheels in relation to the body independently thereof; and the control system is further adapted to apply a torque to the gyroscope frame. - View Dependent Claims (6, 14, 15, 16, 17, 20, 21, 22, 23, 24, 30, 31, 32, 33, 34, 35, 36, 37)
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3. A two-wheel gyroscope-stabilized vehicle for carrying a load, comprising:
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a body with a platform for carrying a load; a left wheel and a right wheel; a supporting structure that connects the body and the wheels so that the body is supported by the wheels; two wheel drives each connected with the corresponding wheel to drive it; a gyroscope, comprising a gyroscope rotor and a gyroscope frame, wherein the gyroscope frame is rotatably mounted on the body; at least one angle sensor mounted on the body so as to detect the gyroscope frame rotation relative to the body; a control system adapted to receive a signal transmitted by at least one angle sensor to control rotational velocities of the wheels according to the signal; wherein the vehicle further comprises a pair of step supports to support legs of a rider, the supporting structure is adapted to move the wheels in relation to each other and to move the wheels in relation to the body independently thereof; and the control system is further adapted to apply a torque to the gyroscope frame and a roll torque to the body. - View Dependent Claims (7, 9, 11, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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Specification