Wheel-Integrated Step Module for Stair-Climbing Driving Robots
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Solution Overview
Problem
Existing driving robots struggle to overcome obstacles with high step differences, such as stairs, due to their fundamental design limitations, which restrict their ability to navigate discontinuous floor surfaces effectively.
Innovation Solution
The introduction of a step overcoming module that includes a rotatable stepping unit with a support unit protruding longer than the wheel radius, allowing the driving robot to rotate and lift its wheels onto the top surface of steps, thereby overcoming high step differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot uses circular wheels for stable contact on flat surfaces, then driving performance on flat surfaces is improved, but the robot cannot overcome obstacles higher than the wheel radius
Solution Approach 1:
The robot employs a movable support unit that can rotate between a stored position during normal driving and a protruding position when encountering steps. This dynamic transformation allows the robot to adapt its structure based on terrain requirements, maintaining stable circular wheel contact on flat surfaces while extending the support unit to overcome steps and obstacles.
2Adaptability or versatility
If a robot is designed to overcome high steps, then the ability to navigate discontinuous surfaces is improved, but the structure becomes complicated and production cost increases
Solution Approach 1:
The support unit is integrated with the wheel assembly, sharing common structural elements and mounting mechanisms. This merging of functions allows the step-over capability to be achieved without adding a completely separate complex mechanism, thereby reducing overall device complexity while maintaining the ability to overcome high steps.
Solution Approach 2:
The support unit serves multiple functions: it acts as a structural component of the wheel assembly during normal driving, provides step-over capability when rotated to the protruding position, and can support the robot's body weight during the transition. This multi-functionality eliminates the need for separate dedicated mechanisms, reducing device complexity.
3Productivity
If a robot uses existing wheels to drive on flat surfaces, then driving efficiency is improved, but the robot cannot overcome floor structures with high steps
Solution Approach 1:
The robot maintains efficient circular wheel rotation for normal driving on flat surfaces, and only when a step is detected does it activate the movable support unit by rotating it to the protruding position. This dynamic switching preserves driving efficiency while providing the necessary adaptability to overcome floor structures with high steps.
Data Source
AI summary
A driving robot that can overcome a difference between stairs by using rotation of a protruding support unit when encountering an obstacle such as stairs while driving, and a method for controlling the same are disclosed. A driving robot for overcoming one or more steps includes a body formed to allow various members to be mounted thereon, at least one wheel located below the body and configured to provide a driving function, a wheel motor configured to drive the wheel, a step overcoming module provided to be rotatable on the same line as an axis of the wheel motor so that the driving robot overcomes at least one step while driving, and a controller configured to control the wheel and the step overcoming module. The step overcoming module includes a stepping unit that includes a support unit that protrudes longer than a radius of the wheel. The controller enables the stepping unit to rotate so that the support unit touches a top of the step and moves the wheel to a top surface of the step.