Mobile Robot CoG Stabilization Using Plane-Pressure Sensing
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Solution Overview
Problem
Existing mobile robots face instability and risk of overturning due to unbalanced center of gravity (CoG) during movement, especially when payloads are added, leading to vibrations and potential overturning, which current methods address by overloading the chassis, resulting in a bulky design.
Innovation Solution
A mobile robot equipped with a plane-pressure sensor to monitor and dynamically adjust the CoG position by applying a reverse force through a movable tool, such as a robotic arm or conveyor, to maintain stability without increasing the chassis weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the chassis is overweighed to balance the CoG position, then the stability of the mobile robot is improved, but the mobile robot becomes bulky and its weight increases
Solution Approach 1:
The patent applies dynamics by making the CoG adjustable rather than fixed. The controller dynamically adjusts the CoG position based on real-time pressure distribution data from the plane-pressure sensor, allowing the system to maintain stability without requiring a heavily weighted chassis. The CoG can be actively repositioned in response to changing conditions such as payload variations.
Solution Approach 2:
The patent replaces the traditional mechanical approach of adding weight to the chassis with a sensor-based control system. Instead of using a heavy chassis to passively maintain stability, the system uses plane-pressure sensors to detect pressure distribution and a controller to actively adjust the CoG, substituting mechanical mass with electronic sensing and control.
2Quantity of substance
If the quantity of payloads is increased, then the carrying capacity of the mobile robot is improved, but the CoG position becomes higher and the mobile robot easily overturns
Solution Approach 1:
The patent implements feedback by continuously monitoring the pressure distribution on the chassis through plane-pressure sensors. The controller receives real-time data about the current CoG position and adjusts the CoG accordingly to maintain stability. This closed-loop feedback system allows the mobile robot to adapt to varying payload quantities and positions.
Solution Approach 2:
The patent changes the parameter of CoG position dynamically based on payload conditions. When payloads are added or their position changes, the system detects the pressure distribution changes and adjusts the CoG to an optimal position that maintains stability, rather than being constrained by a fixed CoG design.
3Device complexity
If the CoG position is not dynamically adjusted, then the device complexity is reduced, but the mobile robot cannot prevent overturning when payloads cause CoG to shift
Solution Approach 1:
The patent applies universality by using the plane-pressure sensor for multiple functions: detecting payload presence, determining payload distribution, calculating CoG position, and triggering appropriate compensation actions. The same sensor and control system handle various scenarios including different payload quantities, positions, and types without requiring separate detection mechanisms.
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 lightweight design and prevents overturning even with increased payloads, ensuring stability during acceleration, braking, and payload changes by continuously monitoring and compensating the CoG position.
Implementation Method 1
a plane-pressure sensor arranged on the body, sensing a pressure distribution of the body to obtain a center of gravity (CoG) position of the body
Data Source
AI summary
A stabilization method incorporated with a mobile robot having a body, a plane-pressure sensor, and a movement mechanism is disclosed and includes the following steps: sensing and obtaining a pressure distribution of the body through the plane-pressure sensor; computing a center of gravity (CoG) position of the body in accordance with the pressure distribution; determining whether the CoG position is located within a steady zone pre-defined upon the body; and, providing a reverse force toward a CoG offset direction of the CoG position when the CoG position is determined to be off the steady zone.