Inverted Vehicle Control via Load Distribution and Posture Detection
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Solution Overview
Problem
Inverted two-wheeled vehicles experience significant time lag between the rider's intention to move and the actual movement due to inertia forces acting on the handle, leading to delayed response and reduced control precision.
Innovation Solution
The vehicle incorporates a load distribution detector, center position computer, posture detector, and drive controller that set and adjust target travel velocity based on the rider's load distribution and handle posture, allowing for real-time control adjustments to minimize time lag and enhance responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the handle is operated by the rider to control the inverted two-wheeled vehicle, then the vehicle can be steered and controlled, but an inertia force acts on the handle causing a time lag between the rider's input and the vehicle's response
Solution Approach 1:
The load distribution detector proactively detects the rider's center of gravity position before the handle operation is completed, and the target travel velocity setting portion preemptively sets the target velocity based on this detected center position. This preliminary detection and setting action occurs before the handle inertia fully manifests, allowing the drive controller to begin adjusting the wheel speed in advance, thereby reducing the perceived time lag between rider input and vehicle response.
2Productivity
If the target travel velocity is set solely based on handle posture, then the control system is simple, but the response is delayed due to handle inertia
Solution Approach 1:
The target travel velocity setting portion merges two input sources: the center position of the load distribution (detected by the load distribution detector) and the posture of the operating bar (detected by the posture detector). By combining these two detection mechanisms, the system achieves faster response through proactive velocity setting while maintaining relatively simple individual detector designs, thus improving productivity without excessive complexity increase.
Data Source
AI summary
An inverted vehicle and control method thereof are provided. The inverted vehicle may include a main body having two wheels rotatably supported by the main body and driven by a driver. A load distribution detector may detect a distribution of load received by the main body due to the rider's weight. A computer may compute a center position of the load's distribution. The inverted vehicle may also include an operating bar supported by the main body and operated so as to be inclined by the rider. A posture detector may be used to detect a posture of the operating bar. The inverted vehicle may further include a central processing unit that sets a target travel velocity on the basis of the center position and the posture of the operating bar. Furthermore, a drive controller may control the driver on the basis of the target travel velocity.