UGV Stability Control via Dynamic Center of Gravity Adjustment
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Solution Overview
Problem
Unmanned Ground Vehicles (UGVs) are unstable on sloped or inclined terrain, leading to a high probability of tipping over, which can result in damage and mission failure due to their high Center of Gravity and difficulty in maintaining balance.
Innovation Solution
An electronic circuit on the UGV continuously measures stability and attitude, adjusts the position and orientation of movable components like manipulator arms or flippers to maintain balance, and constrains movement based on predefined parameters to prevent tipping, allowing for automatic dynamic adjustment of the Center of Gravity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the UGV operates on sloped or inclined terrain, then the UGV can access diverse terrains and perform missions, but the UGV becomes unstable and prone to tipping over
Solution Approach 1:
The patent implements dynamic stability control by continuously adjusting the configuration of movable components (manipulator arm, flipper) based on real-time stability measurements. The system transitions from a static vehicle configuration to a dynamic one where components actively adapt to maintain stability on varying terrains, resolving the contradiction between terrain accessibility and vehicle stability
Solution Approach 2:
The patent employs a feedback mechanism where an electronic circuit continuously measures the UGV's stability footprint and center of gravity position, then uses this information to calculate and execute configuration adjustments of movable components. This closed-loop control system enables the UGV to maintain stability on inclined terrain while preserving terrain accessibility
2Adaptability or versatility
If the UGV maintains a high Center of Gravity for operational flexibility, then the UGV can accommodate various payloads and components, but the UGV becomes more prone to tipping over
Solution Approach 1:
The patent changes the positional parameters of movable components (manipulator arm, flipper) to adjust the overall center of gravity position. By dynamically modifying these parameters, the system maintains payload accommodation capability while compensating for the high center of gravity instability through active repositioning of components
3Adaptability or versatility
If the UGV uses movable components like manipulator arms for task performance, then the UGV can perform diverse operations, but the UGV's stability is compromised
Solution Approach 1:
The patent transforms the manipulator arm from a purely task-execution component to a dual-function component that simultaneously performs operations and contributes to stability control. The system dynamically adjusts the manipulator arm's configuration based on stability requirements, enabling it to counterbalance the vehicle while maintaining operational capability
Solution Approach 2:
The patent makes the manipulator arm and flipper multi-functional, serving both their primary operational purposes and a secondary stability control function. This universal application allows the same components to perform both task execution and balance maintenance, resolving the contradiction between operational capability and balance maintenance
Data Source
AI summary
Systems (100) and methods (600) for providing a robotic vehicle (100) with tip over prevention. The methods involve: determining a stability footprint, attitude and orientation of the robotic vehicle; computing a center of gravity of the robotic vehicle; projecting the center of gravity onto the stability footprint; determining whether the center of gravity is within an acceptable region of the stability footprint; calculating a new desired configuration for a movable component of the robotic vehicle when a determination is made that the center of gravity is within the acceptable region of the stability footprint; and commanding the movable component (106) to the new desired configuration.