Electrical Walker Slope Compensation for Stable Driving Force

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Solution Overview

Problem

Electrical walkers face challenges in accurately determining slope angles due to external forces and cumulative errors from gyroscopes, leading to improper assistance or resistance forces, causing discomfort and safety issues for users.

Innovation Solution

A control method for electrical walkers that measures slope angles, calculates a correction parameter value based on these measurements, and generates a corrected driving force value to mitigate the effects of external forces, using a combination of an angle measurement device, first and second calculation circuits, and a force generator to ensure stable operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If an accelerometer is used to measure slope angles, then the electrical walker can provide assistance force or resistance force on slopes, but the measured slope angle is influenced by sudden variations in acceleration from driving force or external force

Engineering Contradiction:

Improveability to provide assistance force on slopesVSAvoidslope angle measurement accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system performs preliminary filtering of acceleration data by comparing current acceleration values with historical data to identify and exclude abnormal values before calculating slope angle, thereby preventing sudden acceleration variations from affecting measurement accuracy

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent introduces an intermediary processing mechanism that mediates between raw acceleration data and slope angle calculation by filtering out abnormal acceleration values through comparison with historical data, ensuring accurate slope measurement despite external forces

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If the slope angle is used as the determination condition for assistance force, then the electrical walker can adapt to slope conditions, but incorrect slope angle determination causes sudden improper assistance force

Engineering Contradiction:

Improveadaptation to slope conditionsVSAvoiduser comfort

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The system performs preliminary validation of slope angle measurements by comparing with historical data before using them to determine assistance force, preventing incorrect measurements from causing sudden improper force application

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent implements feedback by continuously comparing current acceleration-based slope measurements with historical data, using this feedback to filter abnormal values and ensure smooth, comfortable force application

Inventive Principle:

Principle #23Feedback

3Measurement precision

If a gyroscope is used to correct the influence of driving force, then the slope angle measurement can be improved, but cumulative angular errors occur over time

Engineering Contradiction:

Improveslope angle measurement accuracyVSAvoidmeasurement reliability over time

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The patent extracts and eliminates the problematic gyroscope component from the measurement system, replacing it with an accelerometer-based solution that avoids cumulative errors by using alternative measurement and filtering approaches

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent employs a disposable-like approach by continuously using fresh acceleration measurements with historical comparison rather than relying on a gyroscope that accumulates errors over time, effectively replacing the unreliable long-term measurement approach

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Data Source

PatentUS11537129B2Control method and electrical walker

Publication Date: 2022.12.27 WISTRON CORP

AI summary

A control method for an electrical walker is provided. The control method includes measuring a plurality of slope angle values, determining a correction parameter value according to the plurality of slope angle values and generating a corrected driving force value according to the correction parameter value and an original driving force value.