Inverted Pendulum Vehicle Turning via Differential Braking
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Solution Overview
Problem
Conventional inverted pendulum type vehicles with a single moving motion unit face difficulties in executing smooth and continuous turning motions, requiring high steering skills from occupants due to the need for coordinated body movements.
Innovation Solution
Incorporating a second moving motion unit with a brake device, controlled by a separate control unit, to create a differential in moving speeds between the first and second units, allowing for easy turning without complex mechanisms or high steering demands, and enabling variable brake force control for adjustable turning parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single moving motion unit is used, then the device complexity is reduced, but the ease of operation deteriorates due to difficulty in executing smooth turning motions
Solution Approach 1:
The vehicle is divided into multiple independent moving motion units (first and second moving motion units), each capable of independent movement. This segmentation allows the second unit to be independently controlled to create turning motion, resolving the contradiction by enabling easy turning without requiring complex coordination of a single unit.
Solution Approach 2:
The brake device acts as an intermediary mechanism between the second moving motion unit and the ground. By applying brake force to the second unit during turning, it creates the necessary speed differential without requiring complex drive control mechanisms, thus improving ease of operation while maintaining relatively simple device structure.
2Ease of operation
If body weight movement is used to control movement direction, then the ease of operation is improved, but the difficulty of detecting and measuring increases due to need for precise body movement coordination
Solution Approach 1:
The brake device serves as an intermediary that translates simple body weight movements into controlled vehicle turning. Instead of directly measuring and responding to complex body movements, the system uses the brake force application as an intermediate mechanism that creates the desired turning effect with simpler detection requirements.
Solution Approach 2:
The system replaces complex mechanical body movement coordination with a simpler braking mechanism. By using the brake device to create speed differential between moving motion units, the system achieves turning motion without requiring precise detection and measurement of body weight movements, thus resolving the contradiction.
3Ease of operation
If a second moving motion unit with brake device is added, then the ease of operation for turning motion is improved, but the device complexity increases
Solution Approach 1:
The second moving motion unit is equipped with its own brake device and control unit, making it self-sufficient for creating turning motion. This self-service approach allows the second unit to independently apply brake force without requiring complex coordination with the first unit, improving ease of operation while keeping the added complexity manageable through independent control.
Solution Approach 2:
The system achieves turning motion by changing the operational parameters (brake force application) of the second moving motion unit rather than changing the fundamental structure. By controlling the brake force parameter of the second unit, the system creates the desired turning effect with minimal additional complexity compared to fundamental structural changes.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables easy execution of turning motions with a low-cost configuration, improving steering performance and allowing for precise control of turning radius and angular velocity, reducing the need for complex control systems and enhancing user accessibility.
Implementation Method 1
a brake device configured to be capable of generating a brake force imparted to the second moving motion unit
Data Source
AI summary
An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit.