Self-Balancing Mobile Robot With Stable Camera Orientation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional two-wheeled robots face challenges in obstacle detection and path generation due to changes in the camera or sensor's angle of view when moving, making stable self-balancing difficult.
Innovation Solution
A mobile robot apparatus that moves rectilinearly along an inclined reference axis, using a processor to control the main body's position relative to the wheels, offsetting inertial and gravitational torques to maintain stability and ensure a consistent camera view for precise obstacle detection and path generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robot performs self-balancing control by inclining the main body forward or backward, then self-balancing is achieved, but the camera or sensor angle of view changes continually making obstacle detection difficult
Solution Approach 1:
The patent transitions from conventional two-dimensional self-balancing (forward/backward inclination only) to three-dimensional self-balancing by adding lateral (left/right) inclination capability. This allows the main body to move in multiple directions relative to the wheels, creating an inclined reference axis that maintains stable camera orientation while achieving balance
Solution Approach 2:
The system dynamically adjusts the inclination angle of the main body relative to the vertical axis based on real-time sensor feedback. By continuously modifying the inclination in both longitudinal and lateral directions, the robot maintains stable self-balancing while keeping the camera angle of view consistent for accurate obstacle detection
2Stability of the object's composition
If the main body is moved rectilinearly along an inclined reference axis, then stable self-balancing is achieved, but device complexity increases
Solution Approach 1:
The patent combines longitudinal and lateral inclination movements into a unified control framework. The processor integrates sensor data from both axes and coordinates the actuators to produce combined inclined movements, reducing the overall system complexity despite the increased degrees of freedom
Solution Approach 2:
The inclination mechanism serves multiple functions simultaneously: it provides self-balancing control, enables stable camera mounting, and allows rectilinear movement of the main body along an inclined reference axis. This multi-functionality reduces the need for separate systems for each purpose
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 by maintaining a consistent camera angle, allowing for accurate path planning and navigation.
Implementation Method 1
offsetting inertial and gravitational torques to maintain stability
Implementation Method 2
offsetting inertial and gravitational torques to maintain stability
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A mobile robot apparatus is disclosed. The mobile robot apparatus comprises: a main body; a first wheel and a second wheel provided on opposite sides of the main body, respectively; 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 inclined at a predetermined angle so as to be more forward than the vertical line; and a processor for controlling the second driving device so that the main body moves in the traveling direction of the mobile robot apparatus if the mobile robot apparatus accelerates, and the main body moves in the opposite direction of the traveling direction if the mobile robot apparatus decelerates.