Mobile Robot Wheel Force Control for Vertical Obstacle Climbing
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Solution Overview
Problem
Existing mobile robots face challenges in traversing vertical obstacles such as curbstones and uneven terrain, lacking effective mechanisms for autonomous or semi-autonomous navigation and stable traction.
Innovation Solution
A mobile robot design featuring a frame structure with front, middle, and back wheels, equipped with motor-driven devices that apply downward or upward forces through middle and back wheels, and tilting levers to adjust wheel positions, combined with sensing devices for obstacle detection and central processing for motor control, enabling traversal of vertical obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mobile robot uses conventional wheel configurations for movement, then it can operate on flat surfaces, but it cannot effectively traverse vertical obstacles such as curbstones
Solution Approach 1:
The robot's wheel system is segmented into multiple independent wheels (front wheel, middle wheel, rear wheel) that can be individually controlled. This segmentation allows each wheel to perform specific functions during obstacle traversal - the front wheel initiates climbing, the middle wheel provides downward force, and the rear wheel completes the traversal, enabling vertical obstacle navigation without requiring a completely new wheel design
Solution Approach 2:
The robot employs dynamic control of wheel positions and forces during obstacle traversal. The motor-driven device dynamically adjusts the downward force applied by the middle wheel based on real-time sensing of obstacle height and position. This dynamic adaptation allows the robot to handle varying obstacle configurations while maintaining a relatively simple fixed wheel structure
2Force
If the robot applies downward force through the middle wheel to increase front wheel traction, then traction on vertical obstacles is improved, but the robot's stability may be compromised
Solution Approach 1:
The motor-driven device applies a controlled downward force through the middle wheel that acts as a counterweight mechanism. This downward force creates a counterbalancing moment that prevents the robot from tipping forward during obstacle traversal. The force is dynamically adjusted to maintain equilibrium between the gravitational force acting on the robot's center of mass and the reactive forces from the wheels, thereby maintaining stability while enhancing traction
3Extent of automation
If the robot uses a simple wheel configuration, then the device complexity is low, but it lacks the capability to sense and respond to obstacles autonomously
Solution Approach 1:
The robot incorporates a sensing device that continuously monitors the environment for obstacles and provides real-time feedback to the control system. The sensing device detects obstacle height, position, and type, and this information is fed back to the motor-driven device which automatically adjusts the downward force on the middle wheel and the actuation of wheels. This feedback loop enables autonomous obstacle response without requiring complex manual intervention systems
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 robot effectively navigates vertical obstacles up to 20 cm in height with enhanced traction and stability, ensuring smooth movement over uneven surfaces by dynamically adjusting wheel positions and applying forces as needed.
Implementation Method 1
a motor-driven device for exerting a downward and/or upward force with respect to the ground, selectively on the at least one middle wheel
Implementation Method 2
at least one tilting lever connecting the at least one middle wheel and the at least one back wheel, wherein the tilting lever can be turned around a lever bearing
Implementation Method 3
actuating the one or more front wheels with one or more motors to permit the one or more front wheels to start climbing the vertical obstacle; actuating the one or more middle and/or back wheels with one or more motors to provide a forward momentum of the robot and thereby increase friction between the one or more front wheels and the vertical obstacle
Data Source
AI summary
A mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.