US 11,654,988 B2
Balancing system in an autonomous electronic bicycle
Justin Allan Corbett, Bothell, WA (US); and David Carlyle Hansen, Mercer Island, WA (US)
Assigned to WEEL AUTONOMY INC., Walnut, CA (US)
Filed by Weel Autonomy Inc., Seattle, WA (US)
Filed on Jun. 26, 2019, as Appl. No. 16/453,006.
Prior Publication US 2020/0406999 A1, Dec. 31, 2020
Int. Cl. B62H 1/10 (2006.01); B62K 11/00 (2006.01)
CPC B62H 1/10 (2013.01) [B62K 11/007 (2016.11)] 20 Claims
OG exemplary drawing
1. An autonomous electronic bicycle, comprising:
a frame coupled to a front wheel and a rear wheel;
a set of handlebars coupled to the frame and configured to change an orientation of the front wheel in response to movement of the handlebars;
a first electronic motor coupled to the frame and configured to spin one or both of the front wheel and the rear wheel;
a second electronic motor coupled to the frame and configured to turn the set of handlebars; and
a controller configured to:
identify a current state of the bicycle comprising a current pose of the bicycle;
identify a target pose of the bicycle; and
autonomously balance the bicycle by driving the first electronic motor and the second electronic motor based on a difference between the current pose of the bicycle and the target pose of the bicycle.