Inverted Moving Body State Switching via Angle Variation
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Solution Overview
Problem
Existing inverted moving bodies face inaccuracies in switching from a non-inverted control state to an inverted control state due to temperature drift and decreased attachment accuracy of posture detection units, leading to unstable switching.
Innovation Solution
An inverted moving body with a posture detection unit that measures the rotation angle in the front-back direction and a supporting part in contact with the ground, using a controller to switch states based on an angle variation threshold, which is less affected by temperature changes and oscillations, and includes load detection units to manage switching during one-leg and two-leg riding states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a posture detection unit is used to detect the posture angle of the vehicle axis, then the inverted moving body can be switched from non-inverted control state to inverted control state, but the detection accuracy deteriorates due to temperature drift and attachment accuracy issues
Solution Approach 1:
The patent changes the detection parameter from absolute posture angle (which is sensitive to temperature drift and attachment errors) to angle variation amount (difference between current and initial angles). This parameter transformation eliminates the influence of initial calibration errors and temperature-induced drift, as the variation amount remains accurate even when absolute angle readings shift due to environmental factors.
2Speed
If the switching threshold is set to be responsive to user input, then the inverted moving body can switch states quickly, but false switching occurs due to oscillation and unstable riding conditions
Solution Approach 1:
The patent performs preliminary action by measuring and storing the initial angle of the riding part before the user fully mounts. This initial angle serves as a reference point for calculating angle variation amounts during the riding phase. By establishing this baseline beforehand, the system can accurately detect genuine user-induced angle changes while filtering out initial instability and oscillations that occur during the mounting process.
3Device complexity
If the posture detection unit attachment is simplified, then the device complexity is reduced, but the attachment accuracy decreases leading to detection errors
Solution Approach 1:
The patent transforms the detection approach from measuring absolute angles (which require precise attachment) to measuring angle variations (which tolerate attachment inaccuracies). This parameter change allows the use of simpler attachment methods while maintaining detection accuracy, as the system measures changes relative to an initial state rather than requiring absolute angular precision from the outset.
Data Source
AI summary
An inverted moving body includes: a riding part; a posture detection unit that detects a rotation angle of the riding part in a front-back direction; and a controller that switches, when a switching condition is satisfied, a non-inverted control state to an inverted control state. The inverted moving body includes a supporting part capable of supporting the inverted moving body in the inverted state while being in contact with the ground in the non-inverted control state. The switching condition includes a condition that an angle variation amount from the rotation angle of the riding part in the front-back direction in a state in which the supporting part is in contact with the ground is equal to or larger than a threshold.