Luggage Transport Vehicle Torque Control
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Solution Overview
Problem
Existing vehicles for transporting luggage or goods have complex constructions and error-prone control algorithms, making them inefficient and prone to control errors.
Innovation Solution
A vehicle with a control unit that separates speed and direction control using single input single output (SISO) algorithms, applying equal basic drive torque to all wheels and opposing steering torque for direction changes, eliminating the need for translational wheel modules and simplifying the structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a complex control algorithm is used to control wheel rotation speeds, then the vehicle can navigate accurately, but the control unit becomes error-prone and difficult to implement
Solution Approach 1:
The control algorithm is segmented into two independent parts: a speed control component that maintains predetermined vehicle speed by applying equal basic drive torque to all wheels, and a steering control component that changes direction by applying opposing steering torque to wheels on opposite sides. This segmentation simplifies the control logic and reduces error susceptibility while maintaining navigation accuracy.
Solution Approach 2:
The control system changes parameters dynamically: basic drive torque is adjusted to maintain speed, while steering torque is superimposed to change direction. By separating speed control (basic drive torque) from direction control (steering torque), the system achieves accurate navigation with a simpler, more reliable control algorithm.
2Measurement precision
If translational wheel modules are used for control correction, then positioning accuracy can be maintained, but the vehicle construction becomes complex
Solution Approach 1:
The invention extracts and eliminates the translational wheel module component from the vehicle construction. Instead of using mechanical translation of wheel modules for control correction, the system uses torque-dependent control of fixed wheels, achieving the same positioning accuracy without the complex mechanical structure.
Solution Approach 2:
The mechanical system of translational wheel modules is replaced with a torque-based control system. By applying different torques to wheels on opposite sides of the vehicle, directional control and positioning accuracy are achieved through rotational force distribution rather than mechanical module translation, significantly simplifying the vehicle construction.
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
The solution results in a more robust and dynamic vehicle suitable for rapid and reliable transport of loosely placed objects, even under variable loads, with improved structural simplicity and reduced error susceptibility.
Implementation Method 1
per wheel an electric drive motor connected thereto for driving the relevant wheel
Implementation Method 2
a source of electrical energy such as a battery which is connected to each of the drive motors and to the control unit
Data Source
Figure 1~2
Figure 3~4
Figure 5
AI summary
The present invention relates to a method and an automatically controlled vehicle for transporting an object such as an item of luggage, with two pivotable axles each having at the outer ends two wheels driven with drive motors, with a control unit which is configured to perform the steps of controlling each of the drive motors such that an at least substantially equal basic drive torque is applied to each of the wheels and, for the purpose of changing the direction of the vehicle, controlling the drive motors associated with a wheel support arm such that a steering torque which is of the same magnitude but of opposite direction is applied in addition to the basic drive torque to the associated wheels.