Spherical Robot Pivot Turn Mechanism for Tight Space Navigation
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Solution Overview
Problem
Existing spherical robots face challenges in navigating tight spaces due to their large turning radius, which makes it difficult for them to change direction effectively, especially near walls, as they rely on rotating their main casing to turn.
Innovation Solution
The robot employs a pivot turn mechanism with a smaller turning radius by using a weight that tilts to control its movement, allowing it to turn in limited spaces by alternating forward and backward movements with the weight tilted to different sides, and adjusts speed and direction based on distance to objects using range finding sensors and control circuits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot rotates its main casing to change direction, then it can navigate in open spaces, but it requires a large turning radius that prevents effective navigation in tight spaces near walls
Solution Approach 1:
The patent applies dynamics by making the robot's center of gravity movable rather than fixed. The weight can be dynamically repositioned between the front and rear sections of the robot body, allowing the robot to adapt its turning characteristics in real-time. This dynamic adjustment enables the robot to achieve both large-radius turns for open spaces and small-radius pivot turns for tight spaces near walls
Solution Approach 2:
The patent changes the parameter of center of gravity position to resolve the turning radius contradiction. By moving the weight between front and rear positions, the robot can alter its rotational behavior - positioning the center of gravity at the rear enables pivot turns with minimal radius for tight spaces, while front positioning facilitates larger, smoother turns for open areas
2Ease of operation
If the robot positions the center of gravity at the rear for pivot turns, then it can turn 90 degrees clockwise, but it requires multiple sequential maneuvers to achieve 180 degree direction change
Solution Approach 1:
The patent implements continuity of useful action by seamlessly transitioning between different drive modes. The robot can switch from drive wheel propulsion to inverted pendulum-based pivot turning without stopping or repositioning components, maintaining continuous motion and reducing the time required for direction changes. This eliminates idle transitions between maneuvering modes
Solution Approach 2:
The patent uses periodic action through alternating between forward and backward pivot turns. By performing a sequence of controlled pivot movements - turning forward 90 degrees, then backward 90 degrees - the robot efficiently achieves 180 degree direction change. This periodic maneuvering pattern optimizes the use of the movable weight mechanism to accomplish complex reorientation tasks
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
This approach enables the robot to safely navigate through tight spaces with a reduced turning radius, avoiding collisions and allowing it to move autonomously and respond to user commands, even in environments without explicit instructions.
Implementation Method 1
a weight that is provided inside the main casing and that rotates around a shaft of the weight perpendicular to the shaft
Implementation Method 2
a range finding sensor disposed in one of the first spherical cap portion and the second spherical cap portion so as to be facing the same side as the display portion
Data Source
AI summary
A spherical shaped robot with a drive mechanism and a weight drive mechanism is provided. If a distance from the robot to an object is less than a predetermined value, the robot executes a pivot turn mode. In the pivot turn mode, the robot controls the drive mechanism to stop linear movements of the robot, controls the weight drive mechanism to tilt the weight to a first side representing one of the right hand side and left hand side of the robot, controls the drive mechanism to cause a forward movement of the robot with the weight tilted to the first side, controls the drive mechanism to stop the forward movement of the robot, controls the weight drive mechanism to tilt the weight to a second side different from the first side, and controls the drive mechanism to cause a backward movement of the robot with the weight tilted to the second side.