Switchable Wheel Layout for Indoor-Outdoor Mobile Robots
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Solution Overview
Problem
Existing mobile robots face challenges in efficiently navigating both indoor and outdoor environments due to their fixed wheel configurations, which limit their adaptability to varying space conditions.
Innovation Solution
A mobile robot design that includes a pair of front and rear drive wheels and four auxiliary wheels, with switching devices to transition between a four-wheel mode for outdoor stability and a two-wheel mode for indoor maneuverability, utilizing linear actuators to adjust wheel positions and orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a mobile robot uses a four-wheel configuration with a large support polygon, then outdoor stability is improved, but indoor maneuverability deteriorates
Solution Approach 1:
The mobile robot dynamically changes its wheel configuration between four-wheel mode for outdoor stability and two-wheel mode for indoor maneuverability. The switching device enables the robot to adjust its support polygon size and wheel arrangement based on the operating environment, transforming a static structure into a dynamic adaptive system that optimizes performance for different terrain and space conditions
2Adaptability or versatility
If a mobile robot uses a two-wheel configuration for indoor navigation, then maneuverability is improved, but outdoor stability deteriorates
Solution Approach 1:
The robot employs a dynamic switching mechanism that transitions between two-wheel and four-wheel configurations. When operating indoors, the robot adopts a two-wheel mode with a minimized support polygon for enhanced maneuverability in narrow spaces. When transitioning to outdoor environments, the switching device activates the four-wheel configuration to provide a larger support polygon and improved stability on uneven terrain
3Device complexity
If a mobile robot has a fixed wheel configuration, then device complexity is reduced, but adaptability to varying environments deteriorates
Solution Approach 1:
The wheel system is segmented into independent controllable units with a switching device that can selectively engage different wheel configurations. The four drive wheels are arranged in a configuration that allows selective engagement, and the switching device divides the system into operational modes (two-wheel mode and four-wheel mode), enabling the robot to adapt its structure to different environmental requirements without requiring a completely different design for each scenario
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 outdoor travel with increased support polygon and efficient indoor navigation by minimizing the support polygon, enhancing the robot's adaptability to diverse environments.
Implementation Method 1
a front wheel switching device including a front linear actuator disposed at an upper portion of the body; and a rear wheel switching device including a rear linear actuator disposed at a lower portion of the body
Data Source
AI summary
A mobile robot includes a body, a pair of front drive wheels at a front portion of the body, a pair of rear drive wheels at a rear portion of the body, four auxiliary wheels on a lower surface of the body, and a wheel switching device to switch the front drive wheels and the rear drive wheels into four-wheel mode or two-wheel mode. In four-wheel mode, the front drive wheels and the rear drive wheels contact a moving surface, and the four auxiliary wheels are spaced apart from the moving surface. In two-wheel mode, the front drive wheels are spaced apart from the moving surface and the rear drive wheels move to a center of the body and the body is lowered so that the rear drive wheels and the four auxiliary wheels contact the moving surface.