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1. US20190161132 - Self-balancing robotic motorcycle

Office
United States of America
Application Number 15828387
Application Date 30.11.2017
Publication Number 20190161132
Publication Date 30.05.2019
Grant Number 10486755
Grant Date 26.11.2019
Publication Kind B2
IPC
B62D 37/06
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
37Stabilising vehicle bodies without controlling suspension arrangements
04by means of movable masses
06using gyroscopes
G05B 19/05
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
B60W 10/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
20including control of steering systems
B60W 10/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
12including control of differentials
B60W 30/02
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
02Control of vehicle driving stability
B62D 61/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
61Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
02with two road wheels in tandem on the longitudinal centre line of the vehicle
CPC
B60W 10/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
12including control of differentials
B62D 37/06
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
37Stabilising vehicle bodies without controlling suspension arrangements
04by means of movable masses
06using gyroscopes
B60W 10/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
10Conjoint control of vehicle sub-units of different type or different function
20including control of steering systems
B60W 30/02
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
02Control of vehicle driving stability
B62D 61/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
61Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
02with two road wheels in tandem on the longitudinal centre line of the vehicle
G05B 19/058
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
058Safety, monitoring
Applicants Facebook, Inc.
Inventors Scott C. Wiley
Agents FisherBroyles, LLP
Title
(EN) Self-balancing robotic motorcycle
Abstract
(EN)

A robotic motorcycle may include a chassis, driven wheel assemblies, and a control loop stabilizer. The driven wheel assemblies may each include a wheel and a bevel gear. The wheel may be mounted to an axle for rotation about a drive axis and steering about a substantially vertical steering axis. A steer shaft may connect the axle to a steer assembly that controls rotation of the steer shaft about the steering axis to steer the wheel. A drive shaft may be coupled to a drive assembly that controls rotation of the drive shaft about the steering axis. The bevel gear may couple the other end of the drive shaft to the axle so that rotation of the drive shaft about the steering axis controls rotation of the wheel about the drive axis. The control loop stabilizer may determine parameters for the drive and steer assemblies to balance the motorcycle.