Apparatus and method for control of a vehicle

摘要

An apparatus and method for transporting a payload over a surface is provided. A vehicle supports a payload with a support partially enclosed by an enclosure. Two laterally disposed ground-contacting elements are coupled to at least one of the enclosure or support. A motorized drive is coupled to the ground-contacting elements. A controller coupled to the drive governs the operation of the drive at least in response to the position of the center of gravity of the vehicle to dynamically control balancing of the vehicle.

主权项

1. A vehicle for transporting a payload over a surface, comprising:
a platform; a support, disposed on the platform, configured to support the payload; an enclosure, coupled to the platform and the support, configured to at least partially enclose the payload when the payload is disposed on the support; at least one surface-contacting element, coupled to the platform, configured to contact the surface and move the vehicle over the surface in response to received control signals; and a drive controller, coupled to the at least one surface-contacting element, configured to dynamically control balancing of the vehicle by providing the control signals as a function of a position of the center of gravity of a combination comprising the vehicle and the payload disposed on the support, wherein the support and the enclosure are further configured to move with respect to the platform.