Autonomous Mobile Robot Asynchronous Wheel Drive
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Solution Overview
Problem
Existing autonomous mobile robots face challenges in navigating indoor and outdoor environments without user-input paths, particularly in recognizing and overcoming obstacles like stairs and steps, especially in varying environmental conditions.
Innovation Solution
An autonomous mobile robot design featuring an upper module with a cargo space, a lower module providing driving force, and a driving module with asynchronously contacting wheels, along with sensors and control units for obstacle recognition and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If conventional single-wheel or synchronous wheel configurations are used, then the robot structure is simple, but it cannot overcome steps or stairs effectively
Solution Approach 1:
The driving module is segmented into multiple independent wheel units (first, second, third, and fourth wheels) that can contact the ground asynchronously. Each wheel can be independently controlled to navigate different terrain conditions, enabling the robot to overcome steps and stairs while maintaining manageable structural complexity through modular design
Solution Approach 2:
The wheel configuration transitions from static synchronous contact to dynamic asynchronous contact with the ground. The control unit dynamically adjusts which wheels contact the ground based on terrain detection, allowing the robot to adapt its driving pattern to overcome obstacles like steps and stairs effectively
2Adaptability or versatility
If the robot is designed for indoor environments only, then the navigation system is simpler, but it cannot operate in outdoor environments with varying conditions
Solution Approach 1:
The robot is designed with universal functionality to operate in both indoor and outdoor environments. The sensor system includes cameras, LIDAR, and other detectors that can function across varying environmental conditions, while the path generation unit creates adaptive navigation plans suitable for different terrains and obstacles, making the robot versatile without requiring environment-specific configurations
Solution Approach 2:
The robot employs continuous feedback mechanisms where sensors detect environmental conditions and obstacle positions, the control unit processes this information, and the driving module adjusts its motion accordingly. This closed-loop control system enables the robot to adapt to varying indoor and outdoor conditions automatically, enhancing environmental adaptability through real-time feedback and adjustment
3Extent of automation
If user-input paths are required for navigation, then the control system is simpler, but the robot cannot autonomously generate and follow paths
Solution Approach 1:
The robot performs self-navigation through autonomous path generation. The path generation unit automatically creates navigation paths based on sensor-detected environmental information without requiring external user input. The control unit then autonomously executes these paths, enabling the robot to serve itself in navigation tasks while maintaining manageable system complexity through integrated self-contained systems
Solution Approach 2:
The path generation unit performs preliminary action by pre-planning navigation paths before the robot begins movement. Based on detected environmental conditions and target positions, the system generates optimal paths in advance, allowing the robot to follow predetermined routes systematically. This preliminary path planning simplifies real-time control while achieving autonomous navigation
4Reliability
If the robot uses synchronous wheel contact for driving, then the control system is simpler, but it cannot recognize and avoid obstacles like stairs and steps
Solution Approach 1:
The sensor system continuously provides feedback on ground conditions and obstacle positions to the control unit. Based on this feedback, the control unit dynamically adjusts wheel contact patterns to avoid obstacles like stairs and steps. The asynchronous wheel contact allows different wheels to respond differently to sensor feedback, enhancing obstacle recognition and avoidance reliability while managing control complexity through distributed sensor-wheel coordination
Data Source
AI summary
An autonomous mobile robot is provided. The autonomous mobile robot includes an upper module including a cargo space provided therein, and a cover, a lower module positioned under the upper module and providing a driving force, and a driving module provided in the lower module, in which the driving module includes a plurality of pairs of wheels capable of asynchronously contacting a road surface or ground so as to overcome a step or a stair.