In-Line Two-Wheel Robot Steering Control for Dynamic Balance
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Solution Overview
Problem
Existing two-wheeled robots face limitations in stability, control authority, and efficiency, particularly on uneven terrain and at higher speeds, due to constraints in wheel base length and height, and require complex mechanisms like gyroscopes or kickstands for stability.
Innovation Solution
In-line two-wheeled vehicles (Twills) equipped with modern controls, sensors, and actuators, utilizing a front-wheel with a vertical steering axis and a rear-wheel with a horizontal axis, stabilized by a control module that adjusts steering-angle and applies torque via traction motors to maintain roll angle during motion and stoppage, with optional hydraulic suspension for vertical motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the robot is made taller to increase its characteristic dimension, then the height is improved, but the stability deteriorates because the robot needs to be wider to prevent falling over
Solution Approach 1:
The patent implements dynamic balance control through a control module that continuously adjusts the steering angle of the front wheel based on real-time sensor feedback about the robot's roll angle and orientation. This dynamic adjustment allows the robot to maintain stability while taller, as the active control compensates for the reduced inherent stability that comes with increased height and reduced wheelbase width.
2Adaptability or versatility
If the wheel base length is reduced to make the robot narrower, then the adaptability to narrow spaces is improved, but the stability deteriorates on uneven terrain
Solution Approach 1:
The patent employs multiple sensors including gyroscopes and accelerometers that provide continuous feedback about the robot's orientation, roll angle, and position on uneven terrain. The control module processes this feedback and dynamically adjusts the front wheel steering angle to compensate for terrain variations, maintaining stability even with a reduced wheelbase that enables the robot to navigate narrow spaces.
3Stability of the object's composition
If the robot uses traditional balancing mechanisms like gyroscopes or kickstands, then the stability is improved, but the device complexity increases
Solution Approach 1:
The patent replaces traditional mechanical balancing mechanisms such as gyroscopes and kickstands with an electronic control system that uses sensors (gyroscopes, accelerometers) and a control module to actively manage balance. This substitution reduces mechanical complexity while maintaining stability through software-based control algorithms that adjust the front wheel steering angle in real-time.
4Productivity
If the robot speeds up to improve delivery efficiency, then the productivity is improved, but the control authority deteriorates because servo motors have maximum torque at zero speed
Solution Approach 1:
The patent utilizes dynamic steering control where the control module adjusts the front wheel steering angle based on the robot's current speed and desired trajectory. This dynamic approach allows the robot to maintain control authority at higher speeds by proactively adjusting the steering angle rather than relying on high-torque corrections, enabling faster operation while preserving maneuverability and control precision.
Data Source
AI summary
Techniques are disclosed for exploiting modern controls, sensors and actuators to realize a novel family of in-line two-wheeled vehicles (Twills) as robots. Each robot has a front-wheel with a substantially horizontal axis of rotation and a substantially vertical steering axis. The front-wheel with its substantially vertical steering axis has a steering-angle that can be sensed by one or more sensors. There is a rear-wheel with a substantially horizontal axis of rotation. A control module stabilizes the roll angle when the robot is in a forward motion as well as when it is substantially or fully stopped. One or both the wheels of the robot may be endowed by a steering motor for steering and a traction motor for providing traction/torque to the wheel.