Mobile Body Wheel Speed Control for Stair Collision Reduction
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Solution Overview
Problem
Autonomous mobile robots with wheels face challenges in navigating uneven terrains like stairs due to wheel collisions, which result in significant impact when moving at constant speeds.
Innovation Solution
A mobile body with front and rear wheels, equipped with angle sensors and a processor, adjusts wheel speeds based on body tilt to prevent collisions by reducing wheel speed as the body's angular velocity increases, using low-pass filters to smooth transitions over stairs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the wheels are driven at a constant speed, then the mobile body can move efficiently on flat surfaces, but the wheels collide quickly with the stairs and a large amount of impact is applied to the moving body
Solution Approach 1:
The patent applies dynamics by making the wheel speed variable rather than constant. The processor dynamically adjusts the wheel rotation speed based on real-time body inclination data from the angle acquisition unit. When approaching stairs (detected by body tilt angle exceeding a threshold), the system automatically reduces wheel speed to prevent harsh collisions, and restores normal speed after clearing the obstacle.
Solution Approach 2:
The patent implements feedback control through a closed-loop system. The body angle acquisition unit continuously monitors the body's inclination angle, feeds this information to the processor, which then adjusts the wheel driving unit's output accordingly. This feedback mechanism enables the system to respond adaptively to terrain changes, reducing impact when stairs are detected and maintaining efficiency on flat surfaces otherwise.
2Object-affected harmful factors
If the wheel speed is reduced to prevent collision impact, then the impact on the moving body decreases, but the movement efficiency on flat surfaces is reduced
Solution Approach 1:
The system dynamically adjusts wheel speed based on real-time terrain conditions detected through body inclination monitoring. On flat surfaces, the wheels rotate at normal high speed to maintain movement efficiency. When stairs are detected (body tilt angle exceeds threshold), the speed is temporarily reduced to prevent impact, then restored after clearing the obstacle. This dynamic adjustment resolves the contradiction by making speed reduction conditional rather than continuous.
Solution Approach 2:
The patent changes the wheel rotation speed parameter adaptively based on the body inclination angle parameter. The processor monitors the inclination angle and adjusts the wheel speed parameter accordingly - maintaining high speed when the angle is within normal range (flat surfaces) and reducing it when the angle exceeds the threshold (stairs detected). This parameter-based control strategy optimizes both movement efficiency and impact reduction.
Data Source
AI summary
A mobile body includes a body, a front wheel and a rear wheel rotatably coupled to the front side and the rear side of the body respectively, a front wheel driving unit and a rear wheel driving unit coupled to the body and the front wheel and the rear wheel to transmit a driving force to the front wheel and the rear wheel respectively, a body angle acquisition unit to acquire a degree at which the body is tilted, and a processor. When a forward movement signal is input, the processor controls the front wheel driving unit so that when an inclination of the body to the ground is greater than a forward movement inclination threshold, the front wheel rotates at a speed based on a control value corresponding to an angular velocity of the body. As the angular velocity increases, the control value decreases.