Control of a transporter based on attitude
First Claim
1. A transporter for transporting a load over a surface, the transporter comprising:
- a support platform for supporting the load, the support platform characterized by a fore-aft axis and a lateral axis;
at least one ground-contacting element coupled to the support platform in such a manner that the orientation of the support platform with respect to the surface beneath and in contact with the at least one ground-contacting elements is capable of variation, the orientation referred to as an attitude;
a motorized drive arrangement for driving the at least one ground-contacting elements;
a sensor module for generating a signal characterizing the attitude of the support platform wherein the sensor module includes at least one distance sensor for measuring a distance characteristic of the attitude of the platform; and
a controller for commanding the motorized drive arrangement to apply a torque to one or more of the ground-contacting elements as a function of the attitude of the support platform based upon the signal generated by the sensor module.
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Accused Products
Abstract
A transporter for transporting a load over a surface. The transporter includes a support platform for supporting the load. The support platform is characterized by a fore-aft axis, a lateral axis, and an orientation with respect to the surface, the orientation referred to as an attitude. At least one ground-contacting element is flexibly coupled to the support platform in such a manner that the attitude of the support platform is capable of variation. One or more ground-contacting elements are driven by a motorized drive arrangement. A sensor module generates a signal characterizing the attitude of the support platform. Based on the attitude, a controller commands the motorized drive arrangement.
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Citations
18 Claims
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1. A transporter for transporting a load over a surface, the transporter comprising:
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a support platform for supporting the load, the support platform characterized by a fore-aft axis and a lateral axis; at least one ground-contacting element coupled to the support platform in such a manner that the orientation of the support platform with respect to the surface beneath and in contact with the at least one ground-contacting elements is capable of variation, the orientation referred to as an attitude; a motorized drive arrangement for driving the at least one ground-contacting elements; a sensor module for generating a signal characterizing the attitude of the support platform wherein the sensor module includes at least one distance sensor for measuring a distance characteristic of the attitude of the platform; and a controller for commanding the motorized drive arrangement to apply a torque to one or more of the ground-contacting elements as a function of the attitude of the support platform based upon the signal generated by the sensor module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling a transporter having a support platform for supporting a load, the support platform characterized by an attitude with respect to the surface beneath the transporter, the transporter including at least one ground contacting elements flexibly coupled to the support platform in such a manner that the attitude of the platform is capable of variation, the transporter further including a motorized drive arrangement for driving the at least one ground contacting element, the method comprising:
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generating a signal characterizing an attitude of the support platform wherein generating the signal includes measuring a distance characteristic of the attitude of the platform; and commanding the motorized drive arrangement to apply a torrque to one or more of the ground-contacting elements as a function of the attitude based upon the signal. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification