Two-Wheeled Robot Balance Control With Stable Camera View
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Solution Overview
Problem
Two-wheeled robots face challenges in maintaining stable obstacle detection and path generation due to changing camera or sensor angles when moving on inclined surfaces.
Innovation Solution
A mobile robot apparatus with wheels that rectilinearly move along an inclined reference axis, utilizing a second driving device to adjust the position of the main body relative to the wheels based on acceleration and deceleration, and sensors to maintain balance and camera orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the main body is inclined forward or backward for self-balancing control, then the robot can maintain balance on inclined surfaces, but the angle of view of the camera or sensor continually changes, making it difficult to detect obstacles or generate dynamic paths
Solution Approach 1:
The patent divides the balancing function into two independent parts: the first driving device controls wheel rotation for motion, while the second driving device controls main body movement along the inclined reference axis for balancing. This segmentation allows the camera angle to remain stable relative to the ground while the main body adjusts its position, resolving the contradiction between balancing stability and detection precision
Solution Approach 2:
Instead of tilting the main body forward or backward (vertical dimension adjustment), the patent moves the main body along an inclined reference axis (horizontal dimension adjustment). This dimensional change allows the camera to maintain a consistent angle of view while the second driving device adjusts the main body's position to compensate for inclination, thereby maintaining both balance and detection accuracy
2Reliability
If the main body moves rectilinearly along an inclined reference axis, then stable self-balancing and consistent camera view are achieved, but the device complexity increases due to the second driving device
Solution Approach 1:
The second driving device serves multiple functions: it controls the main body's position along the inclined reference axis for self-balancing, maintains the camera's angle of view stability, and compensates for gravitational torque. By making this single device multi-functional, the patent reduces the need for additional separate mechanisms, thereby managing device complexity while improving reliability
Solution Approach 2:
The second driving device acts as an intermediary between the gravitational force acting on the main body and the control system. It mediates the balancing action by adjusting the main body's position along the inclined axis, thereby maintaining stability without requiring direct manipulation of the camera or sensor systems, which keeps the overall device complexity manageable
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 stable self-balancing and precise obstacle detection and path generation by offsetting inertial and gravitational torques, ensuring consistent camera view for accurate navigation.
Implementation Method 1
a main body that rectilinearly moves relatively to wheels along an inclined reference axis
Implementation Method 2
offsetting inertial and gravitational torques
Implementation Method 3
a tilt sensor configured to detect a tilt of the main body
Implementation Method 4
an acceleration sensor configured to detect acceleration or deceleration of the mobile apparatus
Data Source
AI summary
A mobile robot apparatus includes a main body; a first wheel and a second wheel respectively provided on opposite sides of the main body; a first driving device configured to rotate the first wheel and the second wheel; a second driving device configured to rectilinearly move the main body along a reference axis that is offset from a vertical line in a direction toward a front of the main body by a predetermined angle; and at least one processor configured to: based on the mobile apparatus accelerating, control the second driving device to cause the main body to move in a traveling direction of the mobile apparatus, and based on the mobile apparatus decelerating, control the second driving device to cause the main body to move in a direction opposite to the traveling direction.