Swing Axle Stabilization for Autonomous Terrain Vehicles
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Solution Overview
Problem
Autonomous and self-propelled vehicles for uneven terrain experience excessive rolling due to large, low-pressure tires and uneven terrain, which disrupts navigation systems, especially when equipped with cameras.
Innovation Solution
A stabilizing mechanism is integrated into the vehicle, utilizing a ball hinge and swing axle with a prestressing system to maintain a defined rest swing position, preventing excessive swinging and rolling by only allowing swinging movements when the difference in wheel pressure exceeds a threshold, thereby minimizing vehicle movement on uneven terrain.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If large, low-pressure tires are used for uneven terrain, then ground-following ability is improved, but vehicle rolling increases excessively
Solution Approach 1:
The patent changes the parameter of tire pressure by using low-pressure tires to improve ground-following ability. This allows the vehicle to adapt to uneven terrain while the stabilizing mechanism compensates for the resulting excessive rolling through active control.
Solution Approach 2:
The stabilizing mechanism acts as an intermediary between the uneven terrain and the vehicle body. It includes a stabilizing element with a guiding surface and a follower element that detects and compensates for rolling movements, thereby reducing the impact of terrain variations on vehicle stability.
2Adaptability or versatility
If swing axle is allowed to swing freely on uneven terrain, then wheel ground-contact is improved, but vehicle rolling increases
Solution Approach 1:
The patent implements a dynamic stabilizing mechanism that actively adjusts to counteract rolling. The stabilizing element can move relative to the vehicle body through a guiding surface, allowing it to dynamically respond to terrain variations and maintain vehicle stability while permitting necessary swing axle movement for ground contact.
Solution Approach 2:
The follower element provides feedback about the vehicle's rolling state by contacting the guiding surface of the stabilizing element. This feedback mechanism allows the stabilizing system to detect rolling movements and adjust accordingly, creating a closed-loop control system that reduces excessive vehicle rolling.
3Stability of the object's composition
If prestressing force is increased to maintain rest swing position, then stability is improved, but complexity increases
Solution Approach 1:
The stabilizing mechanism is designed to be self-regulating through the interaction between the prestressing force, the guiding surface, and the follower element. The system automatically maintains the rest swing position and counteracts rolling without requiring external control systems or complex actuators, as the mechanical arrangement itself provides the stabilizing function.
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 stabilizing mechanism significantly reduces vehicle rolling on uneven terrain, ensuring better ground-following ability and minimizing disruption to navigation systems by controlling swinging movements and maintaining a defined rest swing position using simple mechanical components like pressure springs and guiding surfaces.
Implementation Method 1
the vehicle uses a ball hinge. In such a construction, the swing axis and the steering axis both extend through the ball hinge
Implementation Method 2
The stabilizing mechanism comprises prestressing means which are configured to prestress the swing axle to the defined rest swing position by exerting a prestressing force on the swing axle
Implementation Method 3
the stabilizing mechanism comprises a stabilizing element which is coupled to the frame and is movable with respect to frame about an axis which runs parallel to the steering axis, wherein the stabilizing element has a guiding surface, and wherein the prestressing means are configured to tension the guiding surface against a follower element which is coupled to the swing axle
Data Source
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AI summary
An autonomous and self-propelled vehicle for uneven terrain comprises the following components: a frame on which a ball hinge is situated, a pair of individually driven wheels and a swing axle to which the wheels are attached, wherein the swing axle is movable about a swing axis through the ball hinge in order to perform a swinging movement, which swing axis extends at right angles to rotation axes of the wheels, and wherein the swing axle is also movable about a steering axis through the ball hinge in order to perform a steering movement, which steering axis extends at right angles to both the swing axis and the rotation axes of the wheels, and a stabilizing mechanism which is coupled to the frame and is configured to keep the swing axle in a defined rest swing position below a threshold value for a difference in pressure of the wheels on the ground.