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US 10,239,570 B2Granted
Device and method for performing tilt compensation by rotating arms
OwnerStephen J. Leskoinventor
Life of this patent
Estimating the term…
Abstract
A tilt management device configured to perform tilt correction. The device measures a direction of tilt using a tilt sensor. Circuitry rotates connected arms to compensate for the measured tilt by modulating a center of mass of the device.
Claims20
A tilt management device having a center of mass comprising:
- at least two arms configured to rotate about an axis of rotation in a plane of rotation, wherein the plane of rotation is horizontal when the axis of rotation is parallel to a direction of gravity;
- at least one actuator configured to rotate each of the at least two arms about the axis of rotation in the plane of rotation, wherein rotating the at least two arms affects the center of mass of the tilt management device;
- a tilt sensor configured to output a measured direction of tilt;
- and
- circuitry configured to control rotation of each of the at least two arms by the at least one actuator, wherein the circuitry is configured to:
- receive a desired direction of tilt;
- perform tilt correction by affecting the center of mass of the tilt management device, the tilt correction comprising:
- determine a position of each of the at least two arms about the axis of rotation in the plane of rotation;
- receiving the measured direction of tilt output from the tilt sensor;
- determining a compensatory direction of tilt based on the desired direction of tilt and the measured direction of tilt;
- and
- based on the determined compensatory direction and the determined position of each of the at least two arms, causing the at least one actuator to rotate at least one actuated arm towards the compensatory direction, wherein each of the at least one actuated arm comprise one of the at least two arms.
9 more elements
A tilt management device having a center of mass comprising:
- at least two arms configured to rotate about an axis of rotation in a plane of rotation;
- at least one actuator configured to rotate each of the at least two arms about the axis of rotation in the plane of rotation, wherein rotating the at least two arms affects the center of mass of the tilt management device;
- a tilt sensor configured to output a measured direction of tilt;
- and
- circuitry configured to control rotation of each of the at least to arms by the at least one actuator, wherein the circuitry is configured to:
- receive a desired direction of tilt;
- perform tilt correction by affecting the center of mass of the tilt management device, the tilt correction comprising:
- determine a position of each of the at least two arms about the axis of rotation in the plane of rotation;
- receiving the measured direction of tilt output from the tilt sensor;
- determining a compensatory direction of tilt based on the desired direction of tilt and the measured direction of tilt;
- and
- based on the determined compensatory direction and the determined position of each of the at least two arms, causing the at least one actuator to rotate at least one actuated arm towards the compensatory direction, wherein each of the at least one actuated arm comprise one of the at least two arms;
- wherein the at least one actuated arm comprises at least two actuated arms and the circuitry causes the at least one actuator to rotate the at least two actuated arms towards the compensatory direction.
10 more elements
A method for controlling a tilt of a device including at least two arms, at least one actuator, and a tilt sensor, method comprising:
- receive a desired tilt;
- determine a position of each of the at least two arms, wherein:
- each of the at least two arms is configured to rotate about an axis of rotation in a plane of rotation;
- and
- the plane of rotation is horizontal when the axis of rotation is parallel to a direction of gravity:
- receive a measured direction of tilt output from the tilt sensor;
- determine a compensatory direction of tilt based on the desired direction of tilt and the measured direction of tilt;
- and
- based on the determined compensatory direction and the determined position of each of the at least two arms, cause the at Least one actuator to rotate at least one actuated arm towards the compensatory direction, wherein:
- each of the at least one actuated arm comprise one of the at least two arms;
- the at least one actuator is configured to rotate each of the at least two arms about the axis of rotation in a plane of rotation perpendicular to the axis of rotation;
- and
- rotating the at least two arms affects a center of mass of the tilt management device.
10 more elements
A method for controlling a tilt of a device including at least two arms, at least one actuator, and a tilt sensor, method comprising:
- receive a desired tilt;
- determine a position of each of the at least two arms wherein each of the at least two arms is configured to rotate about an axis of rotation in a plane of rotation;
- receive a measured direction of tilt output from the tilt sensor;
- determine a compensatory direction of tilt based on the desired direction of tilt and the measured direction of tilt;
- and
- based on the determined compensatory direction and the determined position of each of the at least two arms, cause the at least one actuator to rotate at least one actuated arm towards the compensator direction, wherein:
- each of the at least one actuated arm corn rise one of the at least two arms;
- the at least one actuator is configured to rotate each of the at least two arms about the axis of rotation in a plane of rotation perpendicular to the axis of rotation;
- and
- rotating the at least two arms affects a center of mass of the tilt management device, wherein:
- the at least one actuated arm comprises at least two actuated arms;
- the at least two actuated arms are rotated towards the compensatory direction;
- movement of the at least two actuated arms is modulated, such that angular momentum caused by movement of the at least two actuated arms is less than a defined threshold;
- and
- the modulation of the angular momentum is performed by controlling at least one angular velocity of the at least two actuated arms, angular acceleration of the at least two actuated arms, the number of actuated arms, or a direction of rotation of the at least two actuated arms.
12 more elements
Dependencies are inferred from the claim text.