Robot and method for controlling robot
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Solution Overview
Problem
Conventional home robots, particularly two-wheeled mobile robots, face limitations in functionality, balance maintenance, and spatial adaptability when navigating obstacles and varying terrain, leading to continuous energy consumption and potential toppling over.
Innovation Solution
A robot design incorporating a robot body with leg units, wheels, and a detachable functional module, equipped with sensors and a controller, allows for obstacle detection and module lifting to maintain balance and adapt to obstacles, preventing toppling and expanding functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robot continuously operates motors to rotate wheels and counter-balance for maintaining balance, then balance stability is improved, but electrical energy consumption increases
Solution Approach 1:
The robot uses periodic action by operating motors only when needed for balance correction rather than continuous operation. The control unit activates motors based on balance detection feedback, creating intermittent periodic cycles of motor operation that maintain stability while conserving energy during stable periods.
Solution Approach 2:
The robot implements self-service through its balance detection system that automatically monitors and corrects its own balance state without external intervention. The counter-balance mechanism and control unit work together to self-regulate the robot's stability, reducing the need for continuous active control.
2Device complexity
If the robot uses a fixed functional module, then structural simplicity is improved, but functional versatility deteriorates
Solution Approach 1:
The robot applies universality by designing the functional module with multiple interchangeable components that can perform different functions. The module can be configured for various tasks such as cleaning, sensing, or manipulation, allowing a single base structure to serve multiple purposes and enhancing functional versatility without requiring completely different robot designs.
Solution Approach 2:
The robot uses segmentation by dividing the functional module into separable, interchangeable components that can be independently selected and attached. This modular approach allows the functional module to be segmented into different task-specific units, enabling versatility while keeping each individual module relatively simple in structure.
3Ease of operation
If the robot enters obstacles at an oblique angle with wheels on ground, then navigation flexibility is improved, but balance stability deteriorates due to wheel catching
Solution Approach 1:
The robot applies preliminary action by lifting the wheels off the ground before entering obstacles at oblique angles. The control unit detects upcoming obstacles and pre-activates the wheel lifting mechanism, ensuring wheels are already elevated when the robot begins oblique navigation, thereby preventing catching and maintaining balance stability throughout the maneuver.
Solution Approach 2:
The robot uses dynamics by making the wheel position dynamic rather than fixed on the ground. The wheels can be actively lifted and positioned in response to navigation requirements and obstacle detection, allowing the robot to transition between ground-contact and elevated states to maintain stability during flexible oblique navigation maneuvers.
Data Source
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AI summary
The present invention relates to a robot, and the robot includes a robot body in which a motor and a battery are accommodated, a pair of leg units provided on the robot body, a pair of wheels rotatably coupled to the pair of leg parts, respectively, an arm including a rotational coupling unit rotatably coupled to both side surfaces of the robot body and a connector connecting the pair of rotational coupling units, and a functional module detachably coupled to the robot body and moved together with the robot body, wherein, when an obstacle is detected, the robot body may be moved upward to lift the functional module, thereby preventing the robot from being caught on the obstacle and toppling over.