Three-Wheel Vehicle Motion Control for Narrow-Passage Turning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing omnidirectional moving bogies require simultaneous driving of four wheels with the same force, leading to potential structural enlargement or synchronization challenges, making it difficult to navigate narrow passages with a simplified wheel configuration.
Innovation Solution
A movement control device that controls a moving body with a first drivable and steerable wheel, a second and third steerable wheel, using a rotation signal and translation signal to change the traveling direction with one of the steerable wheels as a rotation center, synthesizing these signals for precise wheel control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If four wheels are driven simultaneously with the same force to change traveling direction, then the moving body can navigate narrow passages, but the driving structure becomes enlarged and synchronization becomes complex
Solution Approach 1:
The patent extracts the driving function from all four wheels and concentrates it on only the first wheel. The first wheel becomes both drivable and steerable, while the second and third wheels are steerable only. This extraction eliminates the need for complex four-wheel synchronization mechanisms while maintaining the ability to navigate narrow passages through differential steering of the steerable wheels.
Solution Approach 2:
The patent segments the wheel functions into distinct categories: the first wheel handles both driving and steering, while the second and third wheels handle only steering. This functional segmentation allows each wheel to have a simplified structure appropriate to its specific role, reducing overall system complexity while preserving maneuverability in narrow passages.
2Adaptability or versatility
If four wheels are driven simultaneously with the same force, then the moving body can change direction, but the driving structure becomes enlarged
Solution Approach 1:
The patent extracts the driving function from the multi-wheel system and concentrates it solely on the first wheel. By having only one drivable wheel instead of four, the driving structure (motors, transmission systems) is significantly reduced in size while direction changing capability is maintained through the steerable wheels' ability to change the vehicle's orientation.
3Adaptability or versatility
If four wheels require simultaneous driving with the same force, then the moving body can navigate effectively, but synchronization control becomes necessary
Solution Approach 1:
The patent extracts the driving control function from a multi-wheel control system and concentrates it on controlling only the first wheel's rotation. The steerable wheels' angles are controlled independently to achieve desired motion. This extraction eliminates the need for complex synchronization control algorithms while maintaining full maneuverability through differential steering.
Data Source
AI summary
This movement control device controls each wheel of a vehicle including a first wheel capable of driving and capable of steering, a second wheel capable of steering, and a third wheel capable of steering. The movement control device comprises: a rotation signal generation unit that generates a rotation signal for controlling each wheel such that a traveling direction of the vehicle is changed with one of the second wheel and the third wheel as a center of rotation when viewed from a vertical direction; a translation signal generation unit that generates a translation signal for controlling each wheel such that, when changing the traveling direction of the vehicle, one of the second wheel and the third wheel that is the center of rotation is moved in one direction that crosses the traveling direction; a signal combining unit that generates a wheel control signal in which the rotation signal and the translation signal are combined; and a wheel control unit that controls each wheel on the basis of the wheel control signal.