System and method for calculating the orientation of a device
First Claim
1. A method for determining orientation of a vehicle relative to a surface, the steps comprising:
- providing a vehicle having;
a first chassis section;
a second chassis section;
a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction;
a first wheel mounted to one of the first and second chassis sections;
a second wheel mounted to the other of the first and second chassis sections;
providing vehicle geometric data defining at least a distance between the hinge joint and a center of the first and second wheels, respectively, and a diameter of each of the wheels;
providing surface geometric data defining a curvature of the surface;
measuring an angle of rotation about the hinge joint;
determining an orientation of the vehicle relative to the surface based on the vehicle geometric data, the surface geometric data, and the measured angle of rotation; and
controlling operation of the vehicle in view of the determined orientation.
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Accused Products
Abstract
A system and method for determining orientation of a vehicle is provided. The method includes the steps of providing a vehicle having a hinge joint such that sections of the chassis are capable of rotation with respect to each other. A first and second wheel is mounted to one and the other of the chassis sections, respectively. Vehicle geometric data defining a distance between the hinge joint and the centers of the first and second wheels, respectively, and the diameter of the wheels is provided. Surface geometric data defining the curvature of the surface can be provided. The angle of rotation about the hinge joint is measured. An orientation of the vehicle relative to the surface based on the vehicle geometric date, the surface geometric data, and the measured angle of rotation can be determined. A system and method for determining the orientation of an object is also provided.
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Citations
35 Claims
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1. A method for determining orientation of a vehicle relative to a surface, the steps comprising:
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providing a vehicle having; a first chassis section; a second chassis section; a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction; a first wheel mounted to one of the first and second chassis sections; a second wheel mounted to the other of the first and second chassis sections; providing vehicle geometric data defining at least a distance between the hinge joint and a center of the first and second wheels, respectively, and a diameter of each of the wheels; providing surface geometric data defining a curvature of the surface; measuring an angle of rotation about the hinge joint; determining an orientation of the vehicle relative to the surface based on the vehicle geometric data, the surface geometric data, and the measured angle of rotation; and controlling operation of the vehicle in view of the determined orientation. - View Dependent Claims (2, 3, 4)
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5. A system for determining orientation of a vehicle relative to a surface having defined geometric data that represents a curvature of the surface, comprising:
a vehicle having; a first chassis section; a second chassis section; a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction; a first wheel mounted to one of the first and second chassis sections; a second wheel mounted to the other of the first and second chassis sections; a sensor configured to measure an angle of rotation about the hinge joint; and a processor configured to determine an orientation of the vehicle relative to the surface based on defined vehicle geometric data, the surface geometric data, and a measured angle of rotation about the hinge joint, and wherein the processor is configured to control operation of the vehicle in view of a determined orientation. - View Dependent Claims (6, 7, 8, 9)
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10. A method for determining orientation of a device relative to an object having a surface, the steps comprising:
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providing a device having; at least first and second elements capable of contacting the surface of the object; a third element capable of measuring at least one variable that is dependent on the orientation of the device with respect to the surface of the object; providing geometric data defining the geometry of the device; providing surface geometric data defining a curvature of the surface; measuring the variable; determining an orientation of the device relative to the surface of the object based on the device geometric data, the surface geometric data, and the measured variable; and controlling operation of the vehicle in view of the determined orientation. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A system for determining orientation of a device relative to an object having surface having defined geometric data that represents a curvature of the surface, comprising:
the device having; at least first and second elements capable of contacting the surface of the object; a third element capable of measuring at least one variable that is dependent on the orientation of the device with respect to the surface of the object; a processor configured to determinoke an orientation of the device relative to surface, based on defined device geometric data, the surface geometric data, and the measured variable, and wherein the processor is configured to control operation of the device in view of a determined orientation. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
Specification