Mobile Device Gravity Center Adjustment for Step Navigation
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Solution Overview
Problem
Existing mobile devices with driving and driven wheels face challenges in navigating steps and irregularities due to complex structures and lack of stabilization mechanisms for the driven wheel, limiting their ability to move autonomously or automatically over obstacles.
Innovation Solution
A mobile device with a gravity center position adjustment mechanism that changes the angle or position of the upper body relative to the lower body, allowing the driven wheel to pass over steps by shifting the center of gravity within specific ranges, ensuring stable movement and preventing the driven wheel from becoming immovable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a movement mechanism (air cylinder) is installed to operate the steering wheel in the vertical direction to pass over steps, then the mobile device can overcome steps and obstacles, but the structure becomes complicated and requires movement mechanisms for all steering wheels
Solution Approach 1:
The mobile device uses its own center of gravity adjustment capability to pass over steps without requiring additional movement mechanisms. By changing the center of gravity position forward or backward, the device leverages its existing structural properties to overcome obstacles, making the system self-sufficient and avoiding the need for complex auxiliary mechanisms.
Solution Approach 2:
The invention changes the position parameter of the center of gravity to enable step crossing. By adjusting the center of gravity position within a predetermined range forward or backward, the mobile device modifies its gravitational parameters to achieve different operational states, allowing it to pass over steps without structural modifications.
2Reliability
If the center of gravity is stabilized during driving wheel passage over steps, then traveling stability is improved, but there is no technique for stabilization when the driven wheel passes over a step
Solution Approach 1:
The center of gravity adjustment mechanism serves multiple functions: it stabilizes the mobile device when both driving wheels and driven wheels pass over steps. This single mechanism handles all step-crossing scenarios universally, eliminating the need for separate stabilization techniques for different wheel types.
3Adaptability or versatility
If the driven wheel height is changed using a vertical movement mechanism on the driving wheel, then the mobile device can pass over steps, but it requires human hand operation and is hardly applicable to automatic or autonomous traveling
Solution Approach 1:
The mobile device autonomously adjusts its center of gravity position to pass over steps without human intervention. The system self-regulates by changing gravitational parameters, making it suitable for automatic and autonomous traveling applications where human operation is not feasible.
Solution Approach 2:
The invention replaces manual mechanical operation with automated center of gravity adjustment. Instead of requiring human hands to operate vertical movement mechanisms, the system uses automated control of the center of gravity position, enabling autonomous step-crossing capability.
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 the mobile device to navigate environments with steps or irregularities by adjusting the upper body's position to maintain stability, preventing the driven wheel from being caught and allowing for smooth passage over obstacles, thus enhancing movement control and autonomy.
Implementation Method 1
a gravity center position adjustment means for changing an angle or a position of the upper body with respect to the lower body... controls the angle or the position of the upper body within a range in which a center of gravity falls within a first gravity center position range
Data Source
AI summary
Providing a movement control means for detecting a collision between a driving wheel and a step and a catch of a driven wheel by the step and temporarily changing a gravity center control region of a mobile device and moving the mobile device to pass over the step, and a mobile device including the same in order to prevent immovability under an environment having a step or an irregularity. Thus, a mobile device is configured to include: a lower body; an upper body provided in an upper portion of the lower body; a gravity center position adjustment means for changing an angle or a position of the upper body with respect to the lower body; and a driving wheel and a driven wheel provided in a lower portion of the lower body, and during movement in a direction in which the driving wheel is on a front side and the driven wheel is on a rear side, the gravity center position adjustment means inclines or moves the upper body to the front side when the driven wheel passes over the step, and moves the upper body toward an original angle or position after the driven wheel passes over the step.