Autonomous Mobile Drive Mechanism for Door Sill Traversal
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Solution Overview
Problem
Autonomous mobile devices face difficulties in overcoming traversable obstacles like door sills due to jamming issues with their driving mechanisms, especially when encountering slant or protruding surfaces, which hinders their ability to successfully move across these obstacles.
Innovation Solution
The autonomous mobile device employs a method involving two parallel driving mechanisms that alternate in rotation to overcome obstacles, where one mechanism retreats backwardly and applies braking while the other rotates forwardly around it, allowing the device to move onto or across the obstacle without additional parts or increased motor power.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous mobile device moves in a straight line at constant velocity or acceleration to thrust across the obstacle, then the device attempts to overcome the obstacle directly, but the driving mechanism gets jammed on slant or protruding surfaces
Solution Approach 1:
The patent applies dynamics by switching from static straight-line motion to dynamic alternate rotation motion. The driving mechanisms alternately rotate forward and backward, creating a dynamic motion pattern that prevents jamming on obstacle surfaces while maintaining obstacle overcoming capability
Solution Approach 2:
The patent implements periodic action through the alternating rotation of the two driving mechanisms. One mechanism rotates forward while the other rotates backward, then they switch roles periodically. This periodic alternate action prevents continuous jamming and enables successful obstacle traversal
2Productivity
If the device uses additional parts or increased motor power to overcome obstacles, then the obstacle overcoming capability improves, but the device complexity and cost increase
Solution Approach 1:
The patent makes the existing driving mechanisms multi-functional by enabling them to perform both forward propulsion and backward rotation. This eliminates the need for separate obstacle overcoming mechanisms, maintaining simplicity while enhancing capability
Solution Approach 2:
The driving mechanisms serve themselves by alternating their rotation directions. The system uses its own existing components in a self-contained manner to overcome obstacles without requiring external assistance or additional specialized parts
Data Source
AI summary
The present disclosure provides an autonomous mobile device and its obstacle overcoming method and a computer-readable storage medium. The method includes: controlling the autonomous mobile device to move in a predetermined obstacle overcoming mode, and then controlling the autonomous mobile device to continue moving. Here moving in a predetermined obstacle overcoming mode includes: controlling the autonomous mobile device to retreat backwardly from a current location for a first distance; applying braking to a second driving mechanism, and controlling a first driving mechanism to rotate forwardly for a first angle around the second driving mechanism; securing the first driving mechanism, and controlling the second driving mechanism to rotate forwardly for a second angle around the first driving mechanism. As such, by utilizing alternate rotation movements of the two driving mechanisms, the autonomous mobile device can move onto a traversable type obstacle or move across the traversable type obstacle.