Mobile Body Stabilization via Elastic Rocking and Auxiliary Contact
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Solution Overview
Problem
Existing mobile bodies with inverted pendulum mechanisms face issues where excessive tilting of the occupant riding section occurs due to the movement operation section's rapid forward movement, leading to instability and increased speed, as the auxiliary wheels on the back side come into contact with the floor, limiting further rearward tilt and causing acceleration in the forward direction.
Innovation Solution
A mobile body design featuring a tiltable base body with an occupant riding section connected via an elastic connection mechanism that allows the riding section to rock relative to the base, generating a restoring force to prevent excessive tilting, and an auxiliary ground contact section that slides or rolls to stabilize the attitude, ensuring smooth movement by controlling the movement operation section's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the movement operation section is driven to stabilize the attitude of the mobile body by controlling the overall center of gravity, then the attitude stability is improved, but the occupant riding section may excessively tilt forward or backward causing inconvenience
Solution Approach 1:
The patent introduces an auxiliary ground contact section (auxiliary wheels) as an intermediary element between the occupant riding section and the floor. When the occupant riding section tilts excessively, the auxiliary wheels make contact with the floor to provide a mechanical stop, preventing further tilting and ensuring occupant comfort while maintaining the primary stabilization control system's attitude stability function
Solution Approach 2:
The auxiliary ground contact section is positioned in advance at locations that will contact the floor when excessive tilting occurs. This preliminary arrangement of anti-action elements prevents the harmful effect of excessive tilting before it can significantly impact the occupant, working in conjunction with the control system
2Stability of the object's composition
If the auxiliary wheels are brought into contact with the floor to prevent further tilting, then the tilting is limited, but the mobile body accelerates excessively in the forward direction
Solution Approach 1:
The stabilization control device continuously monitors the attitude of the mobile body and the contact state of the auxiliary ground contact section. When auxiliary wheels contact the floor indicating excessive tilting, the control system adjusts the driving force of the movement operation section to prevent excessive acceleration, creating a feedback loop that maintains both tilting limitation and speed control
Solution Approach 2:
The system dynamically adjusts the interaction between the auxiliary ground contact section and the floor based on the current operating state. The auxiliary wheels can make contact to limit tilting while the control system simultaneously modulates the driving force to maintain appropriate speed, allowing the system to adapt to varying conditions
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 effectively prevents excessive tilting of the occupant riding section while maintaining the capability for smooth movement by dynamically adjusting the center of gravity and ground contact points, enhancing stability and control during operation.
Implementation Method 1
a connection mechanism that connects the occupant riding section and the base body to each other and that allows the occupant riding section to rock with respect to the base body in an elastic manner
Implementation Method 2
an auxiliary ground contact section which is connected to the occupant riding section in such a manner as to tilt together with the occupant riding section with respect to the floor surface, which is placed in a state in which a ground contact load for preventing further tilting of the occupant riding section can be generated
Data Source
AI summary
A mobile body (1A) includes: a base body (3) tiltably assembled to a movement operation section (2) that can move on a floor surface; an occupant riding section 6 installed to the base body (3) by a connection mechanism (4); an auxiliary ground contact section 7 connected to the occupant riding section (6) and in contact with the floor surface in a slidable or rollable manner when a tilt amount of the occupant riding section (6) with respect to the floor surface increases to a predetermined amount; and a control device (80) which controls the movement of the movement operation section (2) to stabilize the attitude of the mobile body (1A). The connection mechanism (4) elastically rocks the occupant riding section (6) with respect to the base body (3) according to the movement of the center of gravity of a user P riding on the occupant riding section (6).