Crawler Device Auxiliary Crawler Stair Ascent Control
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Solution Overview
Problem
Small-sized crawler devices equipped with video cameras face challenges in ascending stairs due to increased tilt angles, leading to potential toppling, as reducing the length of the main crawler compromises stability.
Innovation Solution
A crawler device design featuring a pair of main crawlers and auxiliary members with an actuator and tilt sensor, where the auxiliary members can be rotated to adjust their angle relative to the main crawlers, maintaining stability by aligning or rotating downward when the tilt angle exceeds a threshold, allowing both crawlers to ascend and descend stairs effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the length of the main crawler is reduced to meet the demand for downsizing, then the crawler device can be made smaller, but the crawler device will not be able to ride over stairs stably
Solution Approach 1:
The crawler device is divided into multiple crawlers (main crawler and auxiliary crawler) that can operate independently. The auxiliary crawler is detachable and can be positioned at different locations (front, rear, or aligned with the main crawler), allowing the system to segment the climbing function across multiple components rather than relying on a single long main crawler.
Solution Approach 2:
The auxiliary crawler is designed with rotatability, allowing it to dynamically adjust its position and orientation relative to the main crawler. The actuator enables the auxiliary crawler to rotate to various angles (aligned, front, rear positions) based on the climbing situation, providing dynamic adaptability to maintain stability during stair ascent.
2Stability of the object's composition
If the main crawler straddles over three stair nosings to ascend stably, then the crawler device can ride over stairs stably, but the length of the main crawler becomes greater than twice the distance between adjacent nosings
Solution Approach 1:
The climbing function is segmented between the main crawler and auxiliary crawler. The auxiliary crawler contacts the stair nosing first and provides initial support, allowing the main crawler to be shorter while still achieving stable ascent. The auxiliary crawler effectively extends the reach of the crawling system without increasing the main crawler's length.
Solution Approach 2:
The auxiliary crawler performs preliminary action by contacting the stair nosing before the main crawler does. This preliminary contact provides early support and stabilizes the device body, allowing the main crawler to be shorter while maintaining stability during the ascent process.
3Ease of operation
If the auxiliary crawler is positioned forward and raised at a predetermined angle to ascend stairs, then the auxiliary crawler can hit the nosing of the first stair, but the auxiliary crawler may never contact nosings of the stairs when in alignment with the main crawler
Solution Approach 1:
The auxiliary crawler is designed with rotatability, allowing it to dynamically adjust its position and orientation. It can rotate to be aligned with the main crawler for stable ascent, or rotate to a front position to contact the stair nosing first. This dynamic repositioning capability provides adaptability to different climbing situations.
Solution Approach 2:
The crawling function is segmented between the main crawler and auxiliary crawler, with each having specific roles. The auxiliary crawler can be positioned to contact the nosing first for initiation, or aligned with the main crawler for sustained climbing. This segmentation allows both functions to be performed by different components as needed.
Data Source
AI summary
ThemeTo provide a small-sized crawler device that can stably ride over bumps or steps or stairs.Means to SolveThe crawler device includes a device body (1) having main crawlers (20) on its left and right and auxiliary crawlers (30) provided as auxiliary members at one end portion of the device body. Before the crawler device ascends a step or stairs with the auxiliary crawler (30) positioned backward, the controller (65) brings the auxiliary crawler (30) into a preparatory state in which the auxiliary crawler (30) is freely rotatable with respect to the main crawler (20) or the auxiliary crawler (30) is maintained in a position above a line extending longitudinally from the main crawler by a predetermined angle. After the main crawler (20) starts ascending the step or stairs and when a tilt angle of the device body (1) detected by a tilt sensor (60) reaches or exceeds a threshold angle, the controller (65) controls the auxiliary crawler (30) to be rotated downward to reduce the tilt angle of the device body (1), thereby preventing the crawler device from toppling backward.