{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9845101","patent":{"patent_number":"US-9845101","title":"Pushcart","assignee":null,"inventors":[],"filing_date":"2017-02-27T00:00:00.000Z","publication_date":"2017-12-19T00:00:00.000Z","cpc_codes":["B62D","B62D","G05D"],"num_claims":7,"abstract":"A pushcart includes a left wheel, a right wheel, a left wheel driver, a right wheel driver, a control unit, a left wheel rotary encoder, and a right wheel rotary encoder. The left wheel driver rotates the left wheel. The right wheel driver rotates the right wheel. The left wheel rotary encoder detects a rotational angle of the left wheel. The right wheel rotary encoder detects a rotational angle of the right wheel. The pushcart performs feedback control on angular velocities of the left wheel and the right wheel at least using an integral operation. The control unit calculates a weighted average of an integral element with respect to the angular velocity of the left wheel and an integral element with respect to the angular velocity of the right wheel, and then separately controls the left wheel driver and the right wheel driver based on the weighted average."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Pushcart","description":"A pushcart includes a left wheel, a right wheel, a left wheel driver, a right wheel driver, a control unit, a left wheel rotary encoder, and a right wheel rotary encoder. The left wheel driver rotates","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9845101","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9845101","citation_suggestion":"Patentable. \"Pushcart\" (US-9845101). https://patentable.app/patents/US-9845101","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9845101","json":"https://patentable.app/api/llm-context/US-9845101","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T09:51:51.383Z"}