Coaxial Vehicle Inversion Control Suspension via Ground Contact Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Coaxial two-wheeled vehicles face instability issues when inversion control is malfunctioning, making it difficult to get on or off, and the use of a ground touching member can interfere with acceleration/deceleration and potentially cause wheel rotation due to snagging.
Innovation Solution
Incorporating ground touching detection and braking detection means, which utilize sensors to suspend inversion control when the ground touching member is in contact with the road, thereby stabilizing the vehicle and preventing unnecessary torque application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a ground touching member is provided to stabilize the vehicle when inversion control is suspended, then the vehicle stability is improved, but the ground touching member may touch the ground during acceleration/deceleration and prevent intended motion, and may get snagged causing excessive torque
Solution Approach 1:
The control unit continuously monitors the state of the ground touching member through detection means (such as load cells or proximity sensors) and automatically suspends inversion control when contact with the ground is detected. This feedback mechanism prevents the ground touching member from interfering with acceleration/deceleration operations while maintaining vehicle stability when needed.
Solution Approach 2:
The inversion control is dynamically adjusted based on the real-time state of the ground touching member. The control system transitions between active and suspended states depending on whether the ground touching member is in contact with the ground, allowing the vehicle to adapt its control characteristics to current operating conditions and prevent harmful interactions.
2Stability of the object's composition
If the ground touching member is brought into contact with the ground to stabilize the vehicle, then the vehicle stability is improved, but the wheel may abruptly rotate due to excessive torque when the ground touching member gets snagged
Solution Approach 1:
The detection means monitors the load or position of the ground touching member in real-time, providing feedback to the control unit. When snagging is detected through abnormal load increases or position changes, the system immediately suspends inversion control to prevent excessive torque from causing abrupt wheel rotation, thereby maintaining reliable wheel control.
Solution Approach 2:
The control system proactively suspends inversion control when the ground touching member is detected to be in contact with the ground or experiencing abnormal conditions, preventing harmful torque buildup before it can cause abrupt wheel rotation. This preemptive action protects the wheel drive system from damage.
Data Source
AI summary
A traveling device 10 includes ground touching detection means to detect a ground touching state in which a ground touching member touches a road surface, and control means to perform inversion control by controlling the driving of a wheel. When a ground touching state of the ground touching member is detected by the ground touching detection means, the control means suspends the inversion control. Further, when the start of braking is detected by the braking detection means and a ground touching state of the ground touching member is detected by the ground touching means, the control means may suspend the inversion control.