Autonomous Robot Driving Module for Stair and Obstacle Climbing
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Solution Overview
Problem
Autonomous mobile robots face challenges in navigating indoor and outdoor environments due to obstacles like stairs and uneven terrain, requiring solutions that maintain compact design and improve driving performance without user input.
Innovation Solution
A driving module with a first wheel in constant contact and a pair of wheels that can swing relative to each other, controlled by a unit adjusting contact and damping force to overcome obstacles, allowing the robot to autonomously generate and move paths while maintaining compact size and performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the radius of the wheel is increased to overcome steps or stairs, then the obstacle overcoming capability is improved, but the autonomous mobile robot becomes large
Solution Approach 1:
The patent applies dynamics by making the wheel radius variable rather than fixed. The wheel can dynamically change its radius to match the height of obstacles like steps or stairs, allowing the robot to overcome various obstacle heights without being permanently large. The wheel expands to the required radius when encountering an obstacle and returns to its minimum radius for normal operation, resolving the contradiction between obstacle overcoming capability and compact size.
2Reliability
If a separate driving assistance device is provided to overcome steps or stairs, then the obstacle overcoming capability is improved, but the autonomous mobile robot becomes large and economical efficiency is reduced
Solution Approach 1:
The patent makes the wheel multi-functional by enabling it to serve both as the primary driving wheel for normal movement and as an obstacle overcoming device when needed. The wheel can dynamically adjust its radius to overcome various heights of steps and stairs, eliminating the need for separate driving assistance devices. This universal design resolves the contradiction by having one component perform multiple functions, thereby reducing structural complexity while maintaining obstacle overcoming capability.
3Reliability
If the wheel radius is increased to overcome vertical obstacles like sidewalk-driveway boundary stones, then the obstacle overcoming capability is improved, but the autonomous mobile robot becomes large
Solution Approach 1:
The patent applies dynamics by making the wheel radius variable rather than fixed. The wheel can dynamically change its radius to match the height of obstacles like steps or stairs, allowing the robot to overcome various obstacle heights without being permanently large. The wheel expands to the required radius when encountering an obstacle and returns to its minimum radius for normal operation, resolving the contradiction between obstacle overcoming capability and compact size.
4Reliability
If the damping force of the suspension unit is increased to improve obstacle overcoming, then the robot can handle rough terrain better, but the robot becomes less responsive on smooth surfaces
Solution Approach 1:
The patent applies dynamics by making the damping force of the suspension unit variable rather than fixed. The damping force can be dynamically adjusted based on the terrain conditions: increased when encountering obstacles or rough terrain to provide better cushioning and obstacle overcoming capability, and decreased on smooth surfaces to maintain driving responsiveness and speed. This dynamic adjustment resolves the contradiction between obstacle overcoming capability and driving responsiveness.
Data Source
AI summary
A driving module of an autonomous mobile robot is provided. The driving module includes a first wheel in constant contact with ground or road surface and having a first rotational axis; second and third wheels constrained in their positions relative to each other; a rear bar on which a second rotational axis of the second wheel is positioned at one end, an upper axis portion is provided at the other end, and an intermediate axis portion is provided in the middle; a front bar on which a third rotational axis of the third wheel is positioned at one end, in which the other end of the front bar is pivotably coupled to the intermediate axis portion; and a suspension unit of which one end is pivotably coupled to the upper axis portion and the other end is pivotably coupled to the third rotational axis or the front bar.