Track stand capable autonomous electronic bicycle
AssigneeWeel Autonomy Inc.
InventorsJustin Allan Corbett, David Carlyle Hansen, Dylan Meehan
Life of this patent
Estimating the term…
Abstract
An autonomous electronic bicycle comprises a frame, a front wheel that can be powered by a first electronic motor, a rear wheel that can be powered by a second electronic motor, and handlebars that can steer the front wheel which can be controlled by a third electronic motor. The autonomous electronic bicycle can operate autonomously, traveling to a chosen destination. When operating autonomously the autonomous electronic bicycle can shift between a set of balance modes, including a mode used when moving and a mode used when stationary but balanced. To transition between modes, a transition sequence of control commands can be selected and used.
Claims20
A method, comprising:
- configuring an autonomous electronic bicycle to operate in an autonomous motion mode, the autonomous electronic bicycle comprising:
- a frame coupled to a front wheel and a rear wheel;
- an electronic drive motor configured to drive one of the front wheel and the rear wheel;
- an electronic steering motor configured to change an orientation of the front wheel relative to the frame responsive to an electronic input;
- and
- a controller configured to, when the autonomous electronic bicycle is operating in the autonomous motion mode, set the electronic drive motor to achieve a desired speed of travel and use the electronic steering motor to maintain the autonomous electronic bicycle's balance;
- in response to a determination to operate the autonomous electronic bicycle in an autonomous pause mode, selecting, based on a current pose of the autonomous electronic bicycle, a balance mode transition sequence comprising a timed series of commands for the electronic drive motor and the electronic steering motor;
- executing, by the electronic drive motor and the electronic steering motor, the balance mode transition sequence;
- and
- configuring the autonomous electronic bicycle to operate in the autonomous pause mode such that the autonomous electronic bicycle remains stationary and upright while operating in the autonomous pause mode.
A non-transitory computer readable storage medium comprising instructions which, when executed by a processor, cause the processor to perform the steps of:
- configuring an autonomous electronic bicycle to operate in an autonomous motion mode,
- the autonomous electronic bicycle comprising:
- a frame coupled to a front wheel and a rear wheel;
- an electronic drive motor configured to drive one of the front wheel and the rear wheel;
- an electronic steering motor configured to change an orientation of the front wheel relative to the frame responsive to an electronic input;
- and
- a controller configured to, when the autonomous electronic bicycle is operating in the autonomous motion mode, set the electronic drive motor to achieve a desired speed of travel and use the electronic steering motor to maintain the autonomous electronic bicycle's balance;
- in response to a determination to operate the autonomous electronic bicycle in an autonomous pause mode, selecting, based on a current pose of the autonomous electronic bicycle, a balance mode transition sequence comprising a timed series of commands for the electronic drive motor and the electronic steering motor;
- executing, by the electronic drive motor and the electronic steering motor, the balance mode transition sequence;
- and
- configuring the autonomous electronic bicycle to operate in the autonomous pause mode such that the autonomous electronic bicycle remains stationary and upright while operating in the autonomous pause mode.
Dependencies are inferred from the claim text.