Non-backdrivable passive balancing systems for single-axle dynamically-balanced robotic devices

Patent metadata

Field	Value
Publication number	US-10745071-B2
Application number	US-201815926783-A
Country	US
Kind code	B2
Filing date	Mar 20, 2018
Priority date	Mar 20, 2018
Publication date	Aug 18, 2020
Grant date	Aug 18, 2020

Abstract

A non-backdrivable passive balancing system for a single-axle dynamically balanced robotic device includes a body that includes a distal end and a proximal end, a controller module, and an actuator communicatively coupled to the controller module of the single-axle dynamically balanced robotic device. The actuator receives an engagement signal from the controller module, the engagement signal corresponding to an indication that the dynamically balanced robotic device is stationary, and the actuator causes the linkage to move the body from a disengaged position to an engaged position such that the distal end of the body contacts a ground surface and supports the dynamically balanced robotic device in a substantially upright position.

First claim

What is claimed is:

1. A non-backdrivable passive balancing system for a single-axle dynamically balanced robotic device, the system comprising:
a body comprising a distal end and a proximal end;
a controller module; and
an actuator communicatively coupled to the controller module of the single-axle dynamically balanced robotic device, the actuator coupled to the proximal end of the body via a linkage; wherein:
the actuator receives an engagement signal from the controller module, the engagement signal corresponding to an indication that the dynamically balanced robotic device is stationary, and
the actuator causes the linkage to move the body from a disengaged position to an engaged position such that the distal end of the body contacts a ground surface and supports the dynamically balanced robotic device in a substantially upright position.

2. The system of claim 1 , wherein the engagement signal further corresponds to a velocity of the single-axle dynamically balanced robotic device such that the actuator will not move the body from the disengaged position to the engaged position unless the velocity is below a threshold velocity value.

3. The system of claim 1 , wherein the engagement signal further corresponds to an acceleration of the single-axle dynamically balanced robotic device such that the actuator will not move the body from the disengaged position to the engaged position unless the acceleration is below a threshold acceleration value.

4. The system of claim 1 , wherein:
the controller module calculates a dynamic angle that is a difference between an actual orientation of the single-axle dynamically balanced robotic device and a robotic device true vertical orientation, and
the engagement signal further corresponds to the dynamic angle such that the actuator will not move the body from the disengaged position to the engaged position unless the dynamic angle is below a threshold dynamic angle value.

5. The system of claim 1 , wherein:
the actuator receives a disengagement signal from the controller module, the disengagement signal corresponding to an indication that a dynamic balancing system of the single-axle dynamically balanced robotic device is capable of producing a dynamic torque to dynamically balance the single-axle dynamically balanced robotic device.

6. The system of claim 5 , wherein:
the disengagement signal corresponds to one or more of a battery level, a battery capacity, and a battery use rate.

7. The system of claim 5 , wherein:
the controller module is configured to calculate an expected battery use rate of the single-axle dynamically balanced device based at least on an expected battery use rate of the dynamic balancing system, and
the disengagement signal corresponds to the expected battery use rate.

8. The system of claim 1 , wherein the body comprises an omnidirectional wheel at the distal end of the body.

9. The system of claim 8 , wherein the omnidirectional wheel comprises at least two axes of rotation.

10. The system of claim 1 , further comprising a second body, wherein:
the second body comprises a distal end and a proximal end;
a second actuator is coupled to the proximal end of the second body;
the second actuator is communicatively coupled to the controller module of the single-axle dynamically balanced robotic device, wherein:
the second actuator receives a second engagement signal from the controller module, the second engagement signal corresponding to an indication that the dynamically balanced robotic device is stationary, and
the second actuator causes the second body to move from a disengaged position to an engaged position such that the distal end of the second body contacts the ground surface and supports the dynamically balanced robotic device in the substantially upright position.

11. A dynamically balanced robotic device comprising:
one or more wheels rotatably coupled to a single axle;
a drive module coupled to the one or more wheels, the drive module directing movement of the one or more wheels;
a controller module communicatively coupled to the drive module, the controller module comprising a balance control sensor; and
a non-backdrivable passive balancing system comprising a body and an actuator, the actuator communicatively coupled to the controller module.

12. The device of claim 11 , wherein the controller module, upon receiving a signal indicating that the dynamically balanced robotic device is stationary, transmits an engagement signal to the non-backdrivable passive balancing system to engage the body such that the body contacts a ground surface and supports the dynamically balanced robotic device in a substantially upright position.

13. The device of claim 11 , wherein the controller module transmits an engagement signal when the velocity of the device is below a velocity threshold value and the acceleration of the device is below an acceleration threshold value.

14. The device of claim 11 , wherein the controller module transmits an engagement signal when a current battery use rate indicates a reduction in the battery level below a threshold battery level before an engagement time.

15. The device of claim 11 , wherein:
the controller module calculates a dynamic angle that is a difference between an actual orientation of the single-axle dynamically balanced robotic device and a robotic device true vertical orientation, and
the engagement signal further corresponds to the dynamic angle such that the actuator will not move the body from the disengaged position to the engaged position unless the dynamic angle is below a threshold dynamic angle value.

16. The device of claim 11 , further comprising a second body, wherein:
the second body comprises a distal end and a proximal end;
a second actuator is coupled to the proximal end of the second body;
the second actuator is communicatively coupled to the controller module of the single-axle dynamically balanced robotic device, wherein:
the second actuator receives a second engagement signal from the controller module, the second engagement signal corresponding to an indication that the dynamically balanced robotic device is stationary, and
the second actuator causes the second body to move from a disengaged position to an engaged position such that the distal end of the second body contacts a ground surface and supports the dynamically balanced robotic device in a substantially upright position.

17. The device of claim 11 , further comprising:
a robotic arm control module configured to extend and retract a robotic arm assembly from the single-axle dynamically balanced robotic device, wherein:
the robotic arm control module sends a robotic arm control signal to the controller module based on a state of the robotic arm assembly, and
the one or more engagement criteria include the robotic arm control signal.

18. A single-axle dynamically balanced robotic device comprising:
one or more wheels rotatably coupled to a single axle;
a drive module coupled to the one or more wheels, the drive module directing movement of the one or more wheels;
a controller module communicatively coupled to the drive module, the controller module comprising a balance control sensor; and
a non-backdrivable passive balancing system comprising a body and an actuator, the actuator communicatively coupled to the controller module, wherein:
when the single-axle dynamically balanced robotic device is in a stationary position, the controller module transmits an engagement signal to the actuator to:
move the body to an engaged position

Assignees

• Toyota Res Inst Inc

Inventors

• Zapolsky Samuel
• Ahumada Manuel
• Poursohi Arshan

Classifications

• G05D1/0891

  specially adapted for land vehicles · CPC title

• B60L2260/34

  Stabilising upright position of vehicles, e.g. of single axle vehicles · CPC title

• B60L2240/461

  Speed · CPC title

• B60L2220/46

  Wheel motors, i.e. motor connected to only one wheel · CPC title

• B60L2200/16

  Single-axle vehicles · CPC title