System for stabilizing an object to control tipping during omnidirectional movement

Number: 10732197
Published: 2020-08-04
Filed: 2018-09-19
Assignee: Disney Enterprises, Inc.
Inventors: Smoot; Lanny S., Christensen; David Loyal, Niemeyer; Gunter D.
CPC: H04W4/00; G06F3/012; G01B11/005; G01P15/08; A63B22/02; G01P15/18; G06F3/011; H04W4/027
Verdict: Medium Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Stabilization system controlling tipping of an omnidirectional rolling object (Smoot, granted).

Abstract

A system configured for stabilizing or balancing objects in an upright state. The system includes a motion system with an upper support surface for receiving an object that is positionable in a vertical state. The system includes a sensor assembly with at least one sensor generating sensor data by tracking at least one of three dimensional (3D) position and angular movement for the object. The system includes a controller with a stabilizing module to process the sensor data to determine when the object is tipping from the vertical state, and, in response to the tipping away of the object from the vertical state, the stabilizing module generates control signals to modify operations of the motion system to move at least a portion of the upper support surface in contact with a lower contact surface of the object through stabilizing movements, whereby the object remains balanced in the vertical state.

Background

BACKGROUND1. Field of the Description(1) The present description relates, in general, to techniques for maintaining an object such as a robot in an upright or vertical orientation or state while it is stationary or while it is moving or walking in a space. More particularly, the present description relates to a system (and corresponding control method) configured to stabilize or balance an object while the object is allowed to optionally move under its own power (or its own drive system) or to be moved by outside forces in any X-Y directions or with omnidirectional movement. The stabilizing or balancing is performed such that the object does not tip over or so that the object remains in an upright or vertical orientation or state (e.g., balance of object is retained in an ongoing manner).2. Relevant Background(2) There are many environments and situations where it is desirable to stabilize or balance an object that is otherwise tippable in an upright or vertical position. For example, there has been significant research in recent years toward providing robotic devices or robots in many spaces, and, of course, it is desirable for these robots to be stable devices that are not likely to fall over even while they move about the space and while they interact with their environment and people in the space.(3) In some facilities, numerous robots are used that perform work while other facilities such as amusement or theme parks will utilize animatronic robots to provide entertainmen

Claims

1. A system for vertically stabilizing objects, comprising: a motion system with an upper support surface for receiving an object that is positionable in a vertical state; a sensor assembly with at least one sensor generating sensor data by tracking at least one of three dimensional (3D) position of the object, acceleration of the object, or angular movement for the object; and a controller with a processor running a stabilizing module to process the sensor data to determine when the object is tipping away from the vertical state, wherein, in response to the tipping away of the object from the vertical state, the stabilizing module generates control signals to modify operations of the motion system to move at least a portion of the upper support surface in contact with a lower contact surface of the object through one or more stabilizing movements, whereby the object remains balanced in the vertical state. 16. A system for stabilizing objects to control tipping from an upright state, comprising: a motion system with an upper support surface for receiving an object; a sensor assembly with at least one sensor; and a controller processing data from the at least one sensor to determine a state of tilt relative to vertical for the object, wherein the controller generates control signals based on the state of tilt to cause the motion system to move at least a portion of the upper support surface in contact with a lower contact surface of the object through one or more stabilizing movements, whereby the object remains vertically balanced. 20. A system for vertically stabilizing objects, comprising: a bipedal robot positioned on a support surface in an upright state; a motion system for moving the bipedal robot on the support surface with omnidirectional movements; a sensor assembly monitoring the bipedal robot; and a controller with a processor running a stabilizing module to process data from the sensor assembly to determine when the bipedal robot is tipping away from the upright state and, in response, to generate control signals to operate the motion system to move at least one lower contact surface of the bipedal robot contacting the support surface with one or more stabilizing movements to counter the tipping away.