Inverted Pendulum Vehicle Control Unit Notification Strategy
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Solution Overview
Problem
Inverted pendulum vehicles face challenges in maintaining upright control, particularly when operators lean excessively, as existing systems may fail to effectively notify the operator in noisy environments, leading to difficulties in maintaining balance.
Innovation Solution
A control unit for inverted pendulum vehicles that acquires state information and adjusts the vehicle's behavior by computing and applying tilt commands to notify the operator of impending loss of control, using a combination of tilt commands and translational speed adjustments to prevent excessive leaning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle issues an audible warning to notify the operator of excessive leaning, then the operator can be alerted, but the warning may be missed in noisy environments
Solution Approach 1:
The patent introduces a visual notification intermediary (display device) to complement the audible warning system. When excessive leaning is detected, the system activates both audible warnings and visual displays showing the degree of excessive leaning, providing redundant notification channels that ensure the operator receives the warning even in noisy environments where audible alerts alone may be missed
2Stability of the object's composition
If the vehicle tilts in the opposite direction to prevent excessive leaning, then upright control can be maintained, but the operator may still have difficulty maintaining balance without adequate notification
Solution Approach 1:
The patent implements a feedback mechanism where the display device shows the degree of excessive leaning to the operator in real-time. This visual feedback allows the operator to understand their leaning status and adjust their posture accordingly, making it easier to maintain balance while the system simultaneously applies counter-tilting control to prevent excessive leaning
Solution Approach 2:
The system performs preliminary notification by displaying the degree of excessive leaning before the vehicle reaches a critical state. This advance warning gives the operator time to correct their posture proactively, reducing the need for aggressive counter-tilting interventions and making the overall control experience easier for the operator
Data Source
AI summary
Provided is a control unit for an inverted pendulum vehicle that can warn the vehicle operator by changing the behavior of the vehicle before the upright control of the vehicle fails. The control unit includes a target tilt command computation unit for computing a target tilt command (M_cmd_xy) for the base frame, and an attitude control computation unit for computing a target translational speed (Vw1_cmd_xy) for fulfilling the target tilt command. When state information of the vehicle has deviated from a prescribed upright control tolerance range, the target tilt command computation unit generates a tilt command for notification, and superimposes the tilt command for notification (M_xy=M1_xy+M2_xy) onto the target tilt command.