baantjer
11-07-2003, 11:22 AM
To what extend is the following patent application different from the existing riderless stabilization of the e-series?
United States Patent Application 20030205419 Riderless stabilization of a balancing transporter (http://appft1.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220030205419%22.PGNR.&OS=DN/20030205419&RS=DN/20030205419)quote:A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.So, it detects the rider is missing and then tries to stabilize the HT by turning the wheels. How much torque is applied depends on the angle of leaning and how fast this angle is changing and how fast the HT is going.
Sounds all very much like the e-series.
United States Patent Application 20030205419 Riderless stabilization of a balancing transporter (http://appft1.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220030205419%22.PGNR.&OS=DN/20030205419&RS=DN/20030205419)quote:A method for stabilizing a balancing transporter under riderless conditions. The balancing transporter is characterized by a center of mass, and has two laterally disposed wheels and a region of contact with an underlying surface. In accordance with the method, the absence of a user aboard the transporter is first detected. Then a desired transporter pitch is determined such as to establish a condition of stasis wherein the center of mass is disposed directly above the region of contact between the balancing transporter and the underlying surface. Finally, a torque is applied to the laterally disposed wheels so as to maintain the transporter at the desired transporter pitch. The torque may include coadded terms where the terms are, respectively, proportional to a pitch error, a pitch rate, a wheel rate, and an integral representing the wheel rotation that was required to bring the transporter to the condition of stasis.So, it detects the rider is missing and then tries to stabilize the HT by turning the wheels. How much torque is applied depends on the angle of leaning and how fast this angle is changing and how fast the HT is going.
Sounds all very much like the e-series.