Robot Drive Belt Support for Obstacle Crossing Without Wheel Slip

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Solution Overview

Problem

Robot cleaners face issues with idle rotation and wheel arrest when navigating uneven surfaces, leading to reduced cleaning range and increased manufacturing costs due to the need for auxiliary caterpillars and separate power supplies, which also increase weight and reduce power efficiency.

Innovation Solution

A moving robot with a driving unit comprising main and auxiliary wheels, where the driving unit includes a motor, pulleys, a belt, and a support member that adjusts the contact area and angle with the surface to maintain friction and prevent slip, allowing the robot to pass over obstacles without an auxiliary caterpillar, using sensors to control the operation and maintain optimal contact.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If auxiliary caterpillar is added to secure frictional force on obstacles, then the robot can pass through obstacles, but manufacturing cost increases and weight increases

Engineering Contradiction:

Improveability to pass through obstaclesVSAvoidweight of robot

Core Design Contradiction:

ReliabilityVSWeight of moving object

Solution Approach 1:

The patent applies the dynamics principle by making the caterpillar module adjustable in angle relative to the main body. The angle between the auxiliary caterpillar module and the main caterpillar can be dynamically changed according to the height or slope of obstacles, allowing the robot to adapt its configuration for optimal frictional force on obstacles without permanently adding excessive weight or complexity

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent segments the driving system into a main caterpillar module and an auxiliary caterpillar module that can be independently controlled. The auxiliary caterpillar module includes its own drive wheel and can be operated separately to provide additional frictional force when needed, rather than requiring a completely different driving system

Inventive Principle:

Principle #1Segmentation

2Reliability

If auxiliary caterpillar is added to secure frictional force on obstacles, then the robot can pass through obstacles, but manufacturing cost increases

Engineering Contradiction:

Improveability to pass through obstaclesVSAvoidmanufacturing cost

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The auxiliary caterpillar module serves multiple functions: it provides additional frictional force on obstacles, can be adjusted to different angles for various obstacle types, and can be independently controlled through separate power supply. This multi-functionality justifies the added manufacturing cost by providing versatile obstacle-crossing capability

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Reliability

If separate power is supplied to auxiliary caterpillar, then frictional force on obstacle is secured, but power efficiency decreases

Engineering Contradiction:

Improvefrictional force on obstacleVSAvoidpower efficiency

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The separate power supply to the auxiliary caterpillar module allows dynamic power distribution. The system can activate the auxiliary module only when obstacle-crossing is needed, rather than continuously powering all components, thereby improving overall power efficiency while maintaining the ability to generate sufficient frictional force on obstacles

Inventive Principle:

Principle #15Dynamics

4Reliability

If recognition reference for obstacle is set too strictly, then obstacles are avoided, but cleaning range is reduced

Engineering Contradiction:

Improveobstacle avoidanceVSAvoidcleaning range

Core Design Contradiction:

ReliabilityVSArea of stationary object

Solution Approach 1:

The patent changes the parameter of obstacle recognition by adjusting the angle of the auxiliary caterpillar module rather than relying solely on strict recognition references. This allows the robot to physically adapt to surfaces that would otherwise be classified as obstacles, expanding the cleaning range while maintaining reliable obstacle avoidance through mechanical adjustment

Inventive Principle:

Principle #35Parameter changes

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

The solution enhances the robot's ability to navigate rough surfaces and obstacles without idle rotation or wheel arrest, reducing manufacturing costs and weight, while maintaining efficient power use and improved cleaning efficiency.

Implementation Method 1

a belt rotated in contact with the plurality of pulleys... maintaining an area equal to or greater than a reference area with respect to a ground or an obstacle

Methodology Applied

Scientific EffectFriction: Friction

Data Source

PatentUS10427291B2Moving robot and control method thereof

Publication Date: 2019.10.01 LG ELECTRONICS INC

AI summary

A moving robot includes a main body, a drive assembly moving the main body, and a cleaner head performing cleaning on a cleaning area in which the main body is positioned, wherein the drive assembly includes a plurality of pulleys, a motor connected to any one of the plurality of pulleys and generating a driving force, a belt rotated in contact with the plurality of pulleys, and a support shaft connected to some of the plurality of pulleys and changing a position of the pulley such that an area in which the belt is in contact with a ground or an obstacle is maintained to be equal to or greater than a reference area.