公开(公告)号：EP3353043A1

公开(公告)日：2018-08-01

申请号：EP16791436.5

申请日：2016-09-22

申请人： Universita' Degli Studi Di Trieste

发明人： UKOVICH, Walter ,  NOLICH, Massimiliano ,  ROMAN, Fabrizio

IPC分类号： B62K3/00 ,  B62K1/00

摘要： The present invention relates to a method for managing the movement of a ball- mounted vehicle (10) and to a vehicle (10) which implements such a method, comprising the steps of measuring at least one parameter (101 ), related to the position of the vehicle (10) with respect to the ground (S), processing the measurement of said parameter (102) in a first subsystem which represents the pattern of the vehicle (10) along the vertical plane yz which divides the vehicle (10) into its front and rear halves and in a second subsystem which represents the pattern of the vehicle (10) along the vertical plane xz, orthogonal to plane yz, which divides the vehicle (10) into its right and left halves, estimating a dynamic state (103) of the vehicle (10) and calculating control information (104) and actuating at least one mechanism (20) in response to the calculation of the control information (104) to maintain the vehicle (10) in an equilibrium state, characterized in that the processing of the measurement of the parameter (102) in the first and in the second subsystems takes place in a parallel and synchronized manner.

公开(公告)号：EP3353043B1

公开(公告)日：2019-12-18

申请号：EP16791436.5

申请日：2016-09-22

申请人： Universita' Degli Studi Di Trieste

发明人： UKOVICH, Walter ,  NOLICH, Massimiliano ,  ROMAN, Fabrizio

IPC分类号： B62K3/00 ,  B62K1/00