Unitary rolling vehicle
First Claim
1. Unitary rolling vehicle (10) comprising a rolling member, a drive system supported by the rolling member and arranged to drive the rolling member for rotation, the centre of mass of the drive system being lower compared to the centre of the rolling member in the vertical direction at rest, and a control system for controlling the drive system, wherein the control system comprises dynamic state sensors arranged to detect an instant dynamic state of the vehicle and the drive system, wherein the control system is arranged to analyze the detected instant dynamic state over time and to control vehicle motion by feedback of the instant dynamic state, and wherein the control system further is arranged to compare the analyzed instant dynamic state with a desired state and to control the vehicle drive system in dependence of a deviation from the desired state, wherein the desired state is determined based on at least one setpoint specifying a desired route for the unitary rolling vehicle (10).
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Accused Products
Abstract
Unitary rolling vehicle including a rolling member (20), a drive system (30) supported by the rolling member and arranged to drive the rolling member for rotation, the centre of mass of the drive system being lower compared to the centre of the rolling member in the vertical direction at rest, and a control system for controlling the drive system, wherein the control system includes dynamic state sensors arranged to detect the instant dynamic state of the vehicle and the drive system.
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Citations
12 Claims
- 1. Unitary rolling vehicle (10) comprising a rolling member, a drive system supported by the rolling member and arranged to drive the rolling member for rotation, the centre of mass of the drive system being lower compared to the centre of the rolling member in the vertical direction at rest, and a control system for controlling the drive system, wherein the control system comprises dynamic state sensors arranged to detect an instant dynamic state of the vehicle and the drive system, wherein the control system is arranged to analyze the detected instant dynamic state over time and to control vehicle motion by feedback of the instant dynamic state, and wherein the control system further is arranged to compare the analyzed instant dynamic state with a desired state and to control the vehicle drive system in dependence of a deviation from the desired state, wherein the desired state is determined based on at least one setpoint specifying a desired route for the unitary rolling vehicle (10).
Specification