Mobile Assistance Robot Anti-Tilt Support System
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Solution Overview
Problem
Existing mobile assistance robots have a large footprint when equipped with walking devices, making it difficult to facilitate the positioning of a person relative to the robot, and lack effective stabilization systems to prevent tipping during user interaction.
Innovation Solution
A mobile robot with a grippable support system, including a handrail and handles, and an anti-tilt system with stabilization studs and actuators, which allows for stable user interaction and movement assistance by preventing tipping and adjusting to user position and force exertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a mobile assistance robot is equipped with a graspable support system (handrails, handles), then user interaction and positioning are facilitated, but the robot's footprint increases making it difficult to navigate in domestic environments
Solution Approach 1:
The patent implements a dynamic support system where handrails and handles can be moved between extended and retracted positions. The support system includes actuators that allow the handrails to extend outward when users need assistance and retract inward when navigation is required, enabling the robot to adapt its footprint based on operational needs
Solution Approach 2:
The support system is divided into multiple independent components (handrails, handles, stabilizing elements) that can be individually positioned and controlled. This segmentation allows different parts of the support system to be extended or retracted independently, optimizing both user interaction capabilities and navigation efficiency
2Ease of operation
If a graspable support system is added to the mobile robot, then users can grasp and exert force on the robot, but the robot may tip over during user interaction
Solution Approach 1:
The patent incorporates stabilizing elements including counterweight mechanisms that compensate for the tipping forces exerted by users. The counterweight system includes movable masses that shift position in response to user force, generating opposing moments to maintain rotational equilibrium and prevent the robot from tipping over
Solution Approach 2:
The stabilizing elements are designed to be active and adaptive, using sensors to detect user force and moment calculations to dynamically adjust the robot's posture and stabilizing element positions. This dynamic response allows the robot to maintain stability during user interaction while still providing necessary support
3Adaptability or versatility
If the robot provides support for user transitions between sitting and standing, then user assistance is improved, but the robot requires active stabilization mechanisms increasing device complexity
Solution Approach 1:
The patent implements a feedback control system using moment sensors and force sensors that continuously monitor user interaction forces. The control system calculates the moment exerted by users on the handrails and automatically adjusts the robot's posture and stabilizing element positions to maintain equilibrium, enabling versatile user support while managing system complexity through intelligent control
Solution Approach 2:
The support system is designed to perform multiple functions: providing handrails for user support, generating stabilizing moments to prevent tipping, and facilitating transitions between sitting and standing positions. This multi-functionality reduces the need for separate specialized mechanisms, thereby managing device complexity while maintaining adaptability
Data Source
Figure 1~5
Figure 6~8B
Figure 9A~9C
AI summary
The invention relates to a mobile robot comprising a mobile base (12) with a trunk (14), said mobile base (12) comprising at least three wheels (16, 16') arranged at the vertices of a ground-contacting polygon, characterised in that the robot (10) comprises at least one graspable support system (20, 22) and an anti-tilting system configured for preventing the tilting of the robot (10) when a person is bears on the graspable (5, 20, 22) support system.