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US 12,650,691 B2Granted
Moving body and method for controlling moving body
AssigneesHyundai Motor Company, Kia Corporation, MOBINN Inc.
InventorsHoon Chung, Jin Choi, Sun Myoung Jo
Life of this patent
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Abstract
An apparatus may comprise a plurality of wheels, a body coupled to the plurality of wheels, and a controller configured to determine an angular velocity of the body with respect to a ground surface, and control, based on the angular velocity, a rotational speed of the plurality of wheels.
Claims20
An apparatus comprising:
- a plurality of wheels;
- a body coupled to the plurality of wheels;
- and
- a controller configured to:
- determine an angular velocity of the body with respect to a ground surface;
- and
- control, based on the angular velocity, a rotational speed of the plurality of wheels,
- wherein the plurality of wheels are rotated such that the body is moved forwards, and wherein the controller is configured to decrease the rotational speed of the plurality of wheels based on an absolute value of the angular velocity of the body being more than a first reference angular velocity of the body,
- wherein a wheel of the plurality of wheels is configured to be dynamically shaped as moving such that a first length of the wheel becomes smaller than a second length of the wheel,
- wherein the first length is a first distance between:
- a first point, of the wheel, that contacts the ground surface;
- and
- a central axis of the wheel;
- wherein the second length is a second distance between:
- a second point, of the wheel, that does not contact the ground surface;
- and
- the central axis of the wheel;
- and
- wherein the controller is configured to determine the first reference angular velocity of the body based on the first length and the second length.
16 more elements
A method comprising:
- determining, by a controller, an angular velocity of a body coupled to a plurality of wheels, wherein the plurality of wheels are rotated such that the body is moved forwards;
- determining whether a magnitude of the angular velocity is not less than a magnitude of a reference angular velocity;
- and
- adjusting, based on the determining, a rotational speed of the plurality of wheels by decreasing, by the controller, the rotational speed of the plurality of wheels based on an absolute value of the angular velocity of the body being more than a first reference angular velocity of the body,
- wherein a wheel of the plurality of wheels is configured to be dynamically shaped as moving such that a first length of the wheel becomes smaller than a second length of the wheel,
- wherein the first length is a first distance between:
- a first point, of the wheel, that contacts a ground surface;
- and
- a central axis of the wheel;
- wherein the second length is a second distance between:
- a second point, of the wheel, that does not contact the ground surface;
- and
- the central axis of the wheel;
- and
- wherein the method further comprises determining, by the controller, the first reference angular velocity of the body based on the first length and the second length.
12 more elements
Dependencies are inferred from the claim text.