Electric Walking Assist Vehicle Torque Control for Slope Operation
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Solution Overview
Problem
Conventional electric walking assisting vehicles face increased burden on initial motion and steering on uphill roads and with loaded baggage, leading to inefficient operation.
Innovation Solution
An electric walking assisting vehicle with driving and driven wheels, an operation part, and inclination detection, allowing torque control based on user input and terrain, shifting operation origin to adjust motor torque for uphill and downhill conditions, and compensating for baggage weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the driving motor is controlled to start only when the user pushes the device and wheels start moving, then the device structure is simple, but the burden on initial motion increases on uphill roads and the burden on steering increases
Solution Approach 1:
The control unit activates the driving motor to rotate the driving wheels before the user actually pushes the device, based on detection of uphill inclination. This preliminary action reduces the initial motion burden by providing motor assistance during the starting phase on slopes, allowing the user to push the device more easily without requiring manual effort to overcome the full weight and gravity component.
2Device complexity
If the driving motor is controlled to start only when the user pushes the device and wheels start moving, then the device structure is simple, but the burden on steering increases
Solution Approach 1:
The control unit activates the driving motor in advance when uphill inclination is detected, before the user performs steering operations. This preliminary activation ensures the motor is already providing torque when steering is needed, reducing the steering burden by having mechanical assistance ready rather than requiring the user to steer a stationary or slowly responding device.
3Quantity of substance
If baggage is loaded on the device, then the carrying capacity is improved, but the burden on initial motion increases due to weight of loaded baggage
Solution Approach 1:
When the inclination detection unit detects uphill slope, the control unit activates the driving motor before the user pushes the device, even when baggage is loaded. This preliminary motor activation compensates for the additional weight of loaded baggage during initial motion, reducing the burden on the user by providing torque assistance that offsets the gravitational force on the total weight (device plus baggage).
4Device complexity
If the operation origin remains fixed on flat land, then the control is simple, but the operability on uphill roads deteriorates
Solution Approach 1:
The control unit dynamically adjusts the operation origin position based on inclination detection. When uphill slope is detected, the operation origin is shifted to the pulling operation side, changing the reference point for torque control. This dynamic adjustment adapts the control system to uphill conditions, improving operability by aligning the control reference with the actual force requirements on slopes rather than using a fixed flat-land reference.
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
Enables operability similar to flat land on uphill and downhill roads and with loaded baggage, by adjusting torque output and applying braking, maintaining efficient user assistance.
Implementation Method 1
an inclination detection part detecting an inclination in the forward-backward direction of the vehicle body
Implementation Method 2
the driving motor is controlled so as to be caused to generate torque in a forward direction by operation of pushing the operation part forward
Implementation Method 3
to generate torque in a backward direction by operation of pulling the operation part backward
Implementation Method 4
on a downhill road on which the inclination is the threshold value or more, the operation origin is shifted to a pushing operation side, and on a downhill road on which the inclination is the threshold value or more, the operation origin is shifted to a pushing operation side and braking is thereby applied by the driving motors
Data Source
AI summary
An electric walking assisting vehicle configured such that in accordance with operating amounts acting on an operation part, driving of driving motors is controlled and includes an inclination detector which detects inclination of a vehicle body in a forward-backward direction, and on flat land where inclination is less than a threshold, with an operation origin of the operation part as a center, the driving motors are controlled to generate torque in a forward direction by operation of pushing the operation part forward and to generate torque in a backward direction by operation of pulling the operation part backward, on an uphill road on which the inclination is the threshold value or more, the operation origin is shifted to an pulling operation side, and on a downhill road on which the inclination is the threshold value or more, the operation origin is shifted to a pushing operation side.