Two-Wheeled Mobile Robot With Vertical Body Positioning for Travel Stability
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Solution Overview
Problem
Two-wheeled robots are susceptible to swaying due to rotational inertial forces, leading to instability and difficulty in stable travel and returning to the original position after falling.
Innovation Solution
A mobile robot apparatus with a first and second wheel, a first and second drive device, and a processor that controls vertical movement and contact with or spacing from the surface, using racks, pinions, and motors to stabilize the body's position and prevent overturning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the center of mass is positioned above the rotational axis of the wheel, then the robot can be designed with a compact structure, but the robot becomes susceptible to swaying due to rotational inertial forces and cannot stably travel
Solution Approach 1:
The patent applies dynamics by making the body vertically movable relative to the wheel through a second drive device. The body can dynamically adjust its vertical position to maintain stability during travel, transitioning from a fixed position above the wheel axis to a controllable position that optimizes stability while preserving compact structure.
2Loss of information
If the robot travels with the body contacting the surface, then the robot can collect information effectively, but the robot cannot efficiently avoid obstacles and return to original position after falling
Solution Approach 1:
The patent enables the body to dynamically change its vertical position through the second drive device. When obstacles are detected, the body can be raised away from the surface to avoid collisions. After falling, the body can be returned to its original position using the same vertical movement mechanism, thereby improving reliability while maintaining information collection capability when on flat surfaces.
3Area of stationary object
If the robot uses a two-wheeled configuration, then the robot occupies a small surface area, but the robot is difficult to control and cannot stably travel
Solution Approach 1:
The patent adds a second drive device that enables vertical movement of the body relative to the wheels. This dynamic adjustment capability provides an additional degree of freedom for control, making the two-wheeled robot easier to control and stabilize while maintaining its compact surface area occupation advantage.
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 travel and efficient obstacle avoidance by maintaining the center of mass below or above the wheel axis, reducing energy consumption and enhancing the robot's ability to return to its original position after falling.
Implementation Method 1
The second drive device may include a rack provided in at least one of the first wheel and the second wheel, and a pinion provided in the body and engaged with the rack
Data Source
AI summary
A mobile robot apparatus is provided. The mobile robot apparatus includes: a body; a first wheel disposed at a first side surface of the body; a second wheel disposed at a second side surface of the body opposite to the first side surface; a first drive device configured to provide a driving force to each of the first wheel and the second wheel; a second drive device configured to move the body in a vertical direction relative to at least one of a first center axis of the first wheel and a second center axis of the second wheel; and a processor configured to control the second drive device to move the body to contact a surface on which the mobile robot apparatus is disposed, or move the body away from the surface on which the mobile robot apparatus is disposed.