Inverted Pendulum Velocity Planning for Safe Emergency Stops
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Solution Overview
Problem
Inverted pendulum type moving bodies face challenges in safely changing velocity and performing emergency stops, especially when their posture is disturbed during acceleration/deceleration or when navigating level differences, due to limitations in torque and acceleration, which can result in extended stopping distances or turnover.
Innovation Solution
The implementation of a velocity planning device that controls the angular velocity and angle of the upper body using a quadratic function relationship, allowing for safe velocity changes and emergency stops by generating a fixed wheel driving force and maintaining an inverted posture through a mechanism control part.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the inverted pendulum type moving body uses conventional velocity control methods, then the control system is simple, but the stopping distance is extended and the body may turnover during emergency stops
Solution Approach 1:
The velocity planning device performs preliminary calculations to generate optimal velocity commands before emergency situations occur. By pre-establishing the quadratic function relationship between upper body angular velocity and upper body angle, the system can immediately execute safe stopping maneuvers without real-time computational delays, ensuring reliable emergency stops while maintaining controlled system complexity.
2Speed
If the moving body maintains maximum acceleration for rapid posture recovery, then the response speed improves, but the body may turnover under excessive acceleration
Solution Approach 1:
The velocity planning device dynamically adjusts velocity parameters based on the quadratic function relationship between upper body angular velocity and upper body angle. This parameter transformation ensures that acceleration remains within safe limits while achieving rapid posture recovery, preventing turnover by converting direct acceleration commands into controlled velocity profiles that respect the inverted pendulum's stability constraints.
3Loss of time
If the velocity planning device generates velocity commands considering maximum torque, then the stopping distance is reduced, but the system cannot handle disturbed posture situations during acceleration/deceleration
Solution Approach 1:
The velocity planning device continuously receives feedback from posture sensors measuring upper body angle and angular velocity. This feedback loop allows the system to generate velocity commands that account for both maximum torque capabilities and current posture conditions, enabling the inverted pendulum to achieve short stopping distances while adapting to disturbed posture situations during acceleration and deceleration phases.
Data Source
AI summary
The present invention provides an inverted pendulum-type moving body having a pair of wheels suspended from the moving body, using a floor as a traveling plane, and is provided on the same plane vertical to its travelling direction, a driving mechanism for rotating these wheels, posture measurement means for measuring an inclination angular velocity of its upper body that a straight line connecting a center-of-gravity position of a body of the moving body and an axle of the one pair of wheels makes with a vertical direction, and a mechanism control part for maintaining an inverted state of the moving body by controlling the driving mechanism, by having a velocity planning device for performing a movement plan so that the upper body angular velocity and the upper body angle may be in a relationship of quadratic function when a velocity change is needed.