Inverted Pendulum Moving Body with Adjustable Support and Restriction
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Solution Overview
Problem
Conventional moving bodies with stand mechanisms struggle to maintain stable attitude during operations like self-supporting control and traveling, especially when stopping or getting on/off, due to limitations in supporting backward rotation and arbitrary backward rotation of the base body.
Innovation Solution
An inverted pendulum control type moving body with a first driving portion, a frame portion, a second driving portion connected via a link, and restriction mechanisms that allow for attitude control through adjustable support and rotation, enabling appropriate attitude control during self-supporting and traveling operations while ensuring stability in uncontrolled states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a stand mechanism is provided to support the base body when stopping, then stability during stopping is improved, but the mechanism cannot support backward rotation of the entire base body in uncontrolled states
Solution Approach 1:
The patent applies dynamics by making the supporting portion movable rather than fixed. The supporting portion can be raised to separate from the movement plane during controlled operations, and lowered to contact the movement plane during uncontrolled states. This dynamic adjustment allows the system to adapt between different operational requirements - providing stability when needed while allowing backward rotation support when required
Solution Approach 2:
The patent segments the support function into two distinct modes: a controlled state where the supporting portion is raised and does not contact the movement plane, and an uncontrolled state where the supporting portion is lowered and contacts the movement plane. This segmentation allows each mode to optimize for its specific function - attitude control during movement and stable support during stopping
2Device complexity
If the supporting portion is fixed on the base body, then structure simplicity is improved, but arbitrary backward rotation of the base body is not restricted in uncontrolled states
Solution Approach 1:
The operation portion dynamically adjusts the position of the supporting portion relative to the base body. During uncontrolled states, the supporting portion is lowered to contact the movement plane, creating a stable support structure that restricts arbitrary backward rotation. During controlled operations, the supporting portion is raised to separate from the movement plane, allowing the inverted pendulum control to function properly
3Device complexity
If the distance between restriction portions is fixed, then structural simplicity is improved, but the system cannot simultaneously achieve appropriate attitude control during self-supporting operations and stable support during uncontrolled states
Solution Approach 1:
The operation portion dynamically adjusts the distance between the first restriction portion and the second restriction portion by rotating the second restriction portion about the rotation center. This dynamic adjustment allows the system to optimize the restriction geometry for different operational states - enabling appropriate attitude control during self-supporting operations while ensuring stable support during uncontrolled states
Solution Approach 2:
The patent segments the operational states into controlled operations (self-supporting and traveling) and uncontrolled states (stopping and getting on/off). During controlled operations, the restriction portions are positioned to enable precise attitude control. During uncontrolled states, the restriction portions are repositioned to provide stable support and prevent arbitrary backward rotation
Data Source
AI summary
An inverted pendulum control type moving body includes: a first driving portion capable of driving in all directions on a movement plane; a frame portion rotatably supporting the first driving portion; a second driving portion rotatable about the rotation center of the first driving portion via a link portion; a first restriction portion restricting rotation of the link portion in a first direction about the rotation center; a second restriction portion restricting rotation of the link portion in a second direction about the rotation center; and a supporting portion supporting the frame portion in an uncontrolled state. An operation portion operates: a first operation which separates the supporting portion from the movement plane and increases a distance between the first and second restriction portions; and a second operation which brings the supporting portion into contact with the movement plane and reduces the distance between the first and second restriction portions.