EP 4143654 A1 20230308 - ROBOTIC VEHICLE
Title (en)
ROBOTIC VEHICLE
Title (de)
ROBOTERFAHRZEUG
Title (fr)
VÉHICULE ROBOTISÉ
Publication
Application
Priority
- IT 202000009040 A 20200427
- IB 2021053213 W 20210419
Abstract (en)
[origin: WO2021220103A1] A robotic vehicle (10) comprising a pair of rear wheels (11, 12), at least one front wheel (13, 14), at least one steering motor (50) mounted with said at least one front wheel (13, 14), wherein said at least one front wheel (13, 14) is adapted to freely rotate about a vertical axis (Zm) perpendicular to the ground, wherein said at least one steering motor (50) is adapted to impose a torque which steers said at least one front wheel (13,14) with which it is mounted making the robotic vehicle (10) steer by a steering angle (φ) with respect to an instantaneous direction of linear motion (Xm) of the robotic vehicle (10), wherein the robotic vehicle (10) comprises at least one processor (70) and at least one storage (80), wherein said at least one processor (70) controls said at least one steering motor (50) and calculates a spatial position and a spatial orientation of the robotic vehicle (10), wherein said at least one storage (80) contains at least one selection algorithm which implements a process for sharing a control authority for directing the robotic vehicle (10), wherein said at least one storage (80) contains a predefined preferred path (100) or the position of an obstacle to be overcome, wherein for each predefined time step said at least one selection algorithm selects depending on a metric a torque value which said at least one steering motor (50) imposes on said at least one front wheel (13, 14), wherein said torque value ranges between 0 and a predefined maximum torque value, wherein said metric is defined depending only on a distance of the robotic vehicle (10) from said predefined preferred path (100), or from an obstacle to be overcome, and on an angle of approach (δ), wherein the angle of approach (δ) of said metric is calculated by said at least one processor (70) depending on an approaching trajectory towards said predefined preferred path (100) or towards said obstacle to be overcome.
IPC 8 full level
G05D 1/02 (2006.01); A61H 3/04 (2006.01); B62D 15/00 (2006.01)
CPC (source: EP)
A61H 3/04 (2013.01); G05D 1/0212 (2024.01); A61H 2003/043 (2013.01); A61H 2003/046 (2013.01); A61H 2201/5007 (2013.01); A61H 2201/501 (2013.01); A61H 2201/5038 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5079 (2013.01); A61H 2201/5092 (2013.01); A61H 2201/5097 (2013.01)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
WO 2021220103 A1 20211104; EP 4143654 A1 20230308; IT 202000009040 A1 20211027
DOCDB simple family (application)
IB 2021053213 W 20210419; EP 21726187 A 20210419; IT 202000009040 A 20200427