Robot Caterpillar Drive With Adjustable Pulleys for Obstacle Climbing
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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 to secure frictional force over obstacles.
Innovation Solution
A moving robot with a driving unit comprising main and auxiliary wheels, where the driving unit includes a support member that adjusts the position of pulleys to maintain contact area and attack angle with the surface, allowing the robot to pass over obstacles without slipping, and a controller that manages the operation based on sensor data to prevent idle rotation and arrest.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot cleaner employs a caterpillar type driving unit to travel on uneven floor surfaces, then the robot can maintain contact with the surface, but when the robot meets an obstacle, the driving unit may be arrested by the obstacle and cannot properly pass through
Solution Approach 1:
The caterpillar driving unit is designed to be movable and adaptable in shape. When an obstacle is detected, the controller adjusts the shape of the caterpillar (changing from a straight configuration to a bent/configuration that wraps around the obstacle) to maintain contact with both the floor surface and the obstacle, enabling the robot to climb over obstacles while maintaining reliable surface contact
2Adaptability or versatility
If an auxiliary caterpillar is installed on a side surface of the main caterpillar to secure frictional force regarding an obstacle, then the robot can pass through obstacles, but the manufacturing cost increases and separate power should be supplied to the auxiliary caterpillar reducing power efficiency
Solution Approach 1:
The main caterpillar driving unit is designed to perform multiple functions: it serves as both the primary driving mechanism for moving the robot and as the climbing mechanism for overcoming obstacles. By controlling the shape change of the single caterpillar unit, it can adapt to both flat surfaces and obstacles, eliminating the need for separate auxiliary caterpillars and their associated power supplies
3Adaptability or versatility
If an auxiliary caterpillar is added to the robot, then the robot can secure frictional force regarding an obstacle, but the weight of the main body increases causing user inconvenience
Solution Approach 1:
The single caterpillar driving unit is designed to perform both locomotion on flat surfaces and climbing on obstacles. By utilizing the same caterpillar structure for both functions through shape control, the robot avoids the additional weight that would result from adding separate auxiliary caterpillars, maintaining lightweight design while achieving obstacle-passing capability
4Adaptability or versatility
If the width of the main body is excessively increased to make frictional force regarding an obstacle using the auxiliary caterpillar, then the robot can pass through obstacles, but it becomes more difficult for the robot to pass through an obstacle than a robot without such an auxiliary caterpillar
Solution Approach 1:
Rather than increasing the width of the main body, the invention uses dynamic shape control of the caterpillar. The caterpillar can bend and adjust its configuration to wrap around obstacles of various sizes, providing adaptability to different obstacle dimensions without requiring a wider robot body, thus maintaining maneuverability while achieving obstacle-passing capability
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 efficiently, reducing manufacturing costs and weight by eliminating the need for auxiliary wheels, while maintaining effective cleaning performance and power efficiency.
Implementation Method 1
a spring member (134) connected to each of a portion of the support member (135) and the main body (10), wherein the support member (135) changes a position of the pulley in response to an external force
Implementation Method 2
maintaining an area equal to or greater than a reference area with respect to a ground or an obstacle... without causing a slip to occur between the belt and the ground or the obstacle
Data Source
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.