Self-Lifting Wheel Units for Smooth Floor Obstacle Traversal

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Solution Overview

Problem

Existing solutions for transporting heavy, fragile, and expensive assets in industrial settings, such as foundries and clean rooms, struggle to navigate floor obstacles like cables, hoses, and pipes without causing vibrations or load shifts, leading to delays and increased costs.

Innovation Solution

A modular transport system that integrates four-dimensional range sensing, advanced motion planning, wheel-lifting actuation, and smooth control mechanisms to enable human-propelled carts and autonomous mobile robots to detect and traverse conduit obstacles without touching them, maintaining stability and safety at human-walking speeds.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If climbing mechanisms are used to traverse obstacles, then obstacle traversal capability is improved, but vibrations and abrupt accelerations increase causing damage to fragile components

Engineering Contradiction:

Improveobstacle traversal capabilityVSAvoidvibrations and abrupt accelerations

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The system dynamically adjusts wheel lift height and timing based on real-time sensor data about obstacle characteristics. The wheel units transition smoothly between ground contact and elevated positions, creating a dynamic adaptation to varying obstacle heights and types rather than using fixed climbing mechanisms.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes operational parameters (wheel elevation angle, lift height, actuation timing) based on detected obstacle parameters. By measuring obstacle height and adjusting the wheel unit configuration accordingly, the system traverses obstacles smoothly without abrupt movements that would cause vibrations.

Inventive Principle:

Principle #35Parameter changes

2Weight of moving object

If conventional carts are used to transport heavy loads, then payload capacity is improved, but the ability to navigate floor obstacles without manual intervention deteriorates

Engineering Contradiction:

Improvepayload capacityVSAvoidobstacle navigation capability

Core Design Contradiction:

Weight of moving objectVSEase of operation

Solution Approach 1:

The cart system performs obstacle detection and wheel unit actuation autonomously without requiring manual intervention. Sensors continuously scan for obstacles, and the control system automatically commands the wheel units to lift and lower, enabling the heavy-load cart to navigate obstacles independently.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The wheel units serve multiple functions: they provide propulsion during normal operation and transform into elevation mechanisms when obstacles are detected. This multi-functionality allows the same structural elements to handle both heavy payload transport and obstacle traversal without requiring separate climbing devices.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If stop-and-go motion is used to traverse obstacles, then obstacle clearance is achieved, but productivity decreases due to interruptions

Engineering Contradiction:

Improveobstacle clearance capabilityVSAvoidtransport continuity

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The wheel units are actuated in a continuous sequence rather than stopping the entire cart for each obstacle. As wheels encounter obstacles, they lift and lower continuously while the cart maintains forward motion, eliminating stop-and-go interruptions and maintaining continuous transport action.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The sensor system detects obstacles in advance before the cart reaches them, allowing the control system to pre-position wheel units for smooth traversal. This preliminary detection and preparation enable the cart to maintain steady speed through obstacles without sudden stops or decelerations.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS20250128560A1Transport system with self-lifting wheel units for floor obstacle traversal

Publication Date: 2025.04.24 INTEL CORP

AI summary

A transport system, including: a plurality of self-lifting wheel units individually controllable and mounted to a transport platform; one or more sensors mounted to the transport platform and configured to detect a floor obstacle, floor elevation change, or floor surface irregularity; a control system operatively connected to the plurality of self-lifting wheel units and the one or more sensors, wherein the control system is configured to: receive floor obstacle, elevation change, or surface irregularity detection data from the one or more sensors; plan and control the plurality of self-lifting wheel units to selectively lift or lower to maintain stability of the transport platform when traversing the floor obstacle, the floor elevation change, or the floor surface irregularity; and regulate movement of the transport platform to traverse the floor obstacle, the floor elevation change, or the floor surface irregularity based the plan and control.